A multi-directional piezoelectric driven bionic mechanical star nose flexible detection system and control method thereof

Abstract

The present invention belongs to the technical field of micro-electromechanical integration, and discloses a multi-directional piezoelectric driven bionic mechanical star nose flexible detection system and a control method thereof, comprising a basic platform, a horizontal rotation device is arranged on the basic platform, and a pitch device is arranged on the horizontal rotation device; the pitch device is arranged with a height flexible self-sensing unit and a width flexible self-sensing unit; the present invention provides a multi-directional piezoelectric driven bionic mechanical star nose flexible detection system and a control method thereof that can realize automatic high-precision sensing.

Description

Technical Field

[0001] The invention belongs to the technical field of micro-electromechanical integration, and specifically discloses a multi-directional piezoelectric driven bionic mechanical star nose flexible detection system and a control method thereof. Background Art

[0002] At present, robots have made progress in detecting and moving in large flat environments under fixed functional tasks. However, when special and complex tasks such as post-earthquake search and rescue and walking on complex terrain are required, conventional robots will be subject to certain functional and detection limitations. For example, when robots detect environmental information in a small space, they often use a single camera for visual imaging. When the surrounding environment is extremely unfavorable, it is easy to cause problems such as blurred visual imaging and image occlusion, which will directly affect the robot's motion control. In addition, when detecting the aperture of a small space, the aperture environmental information obtained by using a non-contact sensor is not accurate enough. Even when using a contact sensor for detection, there are still problems such as easy damage, poor flexibility, low precision, low degree of automation, and inability to build a three-dimensional space model. Especially in some occasions where the automatic sensing of environmental information is required to be high, it cannot meet the special needs of automatic and flexible detection of the detection aperture in a small space. Summary of the invention

[0003] The object of the present invention is to provide a multi-directional piezoelectric driven bionic mechanical star nose flexible detection system and a control method thereof which can realize automatic high-precision sensing.

[0004] Based on the above purpose, the present invention adopts the following technical solution:

[0005] A multi-directional piezoelectric driven bionic mechanical star nose flexible detection system comprises a basic platform, a horizontal rotating device is arranged on the basic platform, a pitch device is arranged on the horizontal rotating device; the pitch device is arranged with a height flexible self-sensing unit and a width flexible self-sensing unit.

[0006] Furthermore, the highly flexible self-sensing unit includes a horizontally arranged third piezoelectric rod, a pair of vertical fourth piezoelectric rods are connected to the front of the third piezoelectric rod, and the two fourth piezoelectric rods are symmetrically arranged about the third piezoelectric rod; vertical buffer piezoelectric rod groups are evenly distributed on the rear side of the fourth piezoelectric rod; a protective piezoelectric rod group is arranged on the rear side of the buffer piezoelectric rod group; the buffer piezoelectric rod group and the protective piezoelectric rod group are both connected to the third piezoelectric rod.

[0007] Furthermore, a pair of symmetrical flexible V-shaped piezoelectric rods are connected to the front end of the third piezoelectric rod; the flexible V-shaped piezoelectric rods are located at the front side of the fourth piezoelectric rod.

[0008] Furthermore, each buffer piezoelectric rod group includes a pair of vertically arranged buffer piezoelectric rods, one end of each buffer piezoelectric rod is connected to the third piezoelectric rod, and the other end is connected to the horizontal rod; a gap is arranged between the front end of each horizontal rod and the adjacent buffer piezoelectric rod or the fourth piezoelectric rod.

[0009] Furthermore, the protective piezoelectric rod group includes a pair of inclined ninth piezoelectric rods, and the pair of ninth piezoelectric rods are symmetrically arranged; each ninth piezoelectric rod is in contact with the buffer piezoelectric rod located at the rear side of the third piezoelectric rod, and each ninth piezoelectric rod is in contact with an end of the buffer piezoelectric rod away from the third piezoelectric rod.

[0010] Furthermore, the highly flexible self-sensing unit includes a vertically arranged first piezoelectric rod, the top end of which is connected to a horizontally arranged eighteenth piezoelectric rod; the front end of the eighteenth piezoelectric rod is connected to a first support rod parallel to the first piezoelectric rod, and the top end of the first support rod is connected to a first visual imaging device.

[0011] Furthermore, the width flexible self-sensing unit includes a tenth piezoelectric rod connected to the eighteenth piezoelectric rod, and a pair of horizontal eleventh piezoelectric rods are connected to the tenth piezoelectric rod; each eleventh piezoelectric rod is connected to a vertical second support rod; each second support rod is evenly distributed with horizontal flexible parallel piezoelectric rods, and the flexible parallel piezoelectric rods on the two second support rods are arranged back to back; each eleventh piezoelectric rod is connected to a second visual imaging device at one end away from the tenth piezoelectric rod.

[0012] Furthermore, the upper and lower parts of each second support rod are connected with horizontal whisker-shaped piezoelectric rods, and the flexible parallel piezoelectric rod is located between the two whisker-shaped piezoelectric rods; the whisker-shaped piezoelectric rod is longer than the flexible parallel piezoelectric rod.

[0013] The control method of the above-mentioned multi-directional piezoelectric driven bionic mechanical star nose flexible detection system comprises the following steps:

[0014] Step 1, initialization of the piezoelectric drive of the bionic mechanical star nose flexible detection system; determine the position of the target detection aperture through the first visual imaging device, control the basic platform, horizontal rotation device and pitch device to adjust the position of the height flexible self-sensing unit and the width flexible self-sensing unit, so that the third piezoelectric rod is facing the target detection aperture, and complete the initialization.

[0015] Step 2, the highly flexible self-sensing unit realizes highly flexible detection; adjusts the vertical position of the first visual imaging device to perform visual imaging of the target detection aperture; then the eighteenth piezoelectric rod is extended, and the initial height is obtained through the deformation of the flexible V-shaped piezoelectric rod when it first contacts the target detection aperture; then the fourth piezoelectric rod is controlled to extend and retract to the initial height, and the fourth piezoelectric rod is used to contact the target detection aperture for the second time, and the multi-stage buffer piezoelectric rod is coupled and deformed, and the coupling deformation variable σ1 is sensed by the ninth piezoelectric rod, and the coupling deformation variable σ1 is integrated into the host computer to calculate the actual height H1 at the first height position.

[0016] Step 3, the width flexibility self-sensing unit realizes the width flexibility detection; when the eighteenth piezoelectric rod is extended, the eleventh piezoelectric rod is driven to extend at the same time, and the eleventh piezoelectric rod drives the second visual imaging device to move, and when the end of the flexible parallel piezoelectric rod away from the second support rod is at the central field of view of the second visual imaging device, the eleventh piezoelectric rod stops; at this time, the initial width is obtained by the deformation of the whisker-shaped piezoelectric rod when it first contacts the target detection aperture; the flexible parallel piezoelectric rod is controlled to be extended to the initial width, the flexible parallel piezoelectric rod is used to contact the target detection aperture for the second time, and the second visual imaging device is used to perform visual imaging on the individual deformation of the flexible parallel piezoelectric rod, and the individual deformation of the flexible parallel piezoelectric rod is integrated into the upper computer to calculate the actual widths L1, L2, ..., L on both sides from the first height position to the Nth height position N .

[0017] Step 4, the bionic mechanical star nose flexible detection system automatically detects the target detection aperture in the circumferential direction; after the first flexible detection of the target detection aperture, the basic platform is controlled to simultaneously drive the height flexible self-sensing unit and the width flexible self-sensing unit to rotate in sequence around the length direction of the third piezoelectric rod, and steps 1 to 3 are repeated to obtain the circumferential actual data of the target detection aperture, and the circumferential actual data of the target detection aperture are transmitted and integrated into the host computer for calculation, and the bionic mechanical star nose flexible detection system is used to automatically detect the target detection aperture in the circumferential direction.

[0018] Step 5, automatically construct a three-dimensional space virtual model of the target detection aperture; discretize the actual circumferential data of the target detection aperture through the host computer, and use the actual circumferential data detected by the width flexible self-sensing unit and the height flexible self-sensing unit to construct the three-dimensional space virtual model of the target detection aperture, and automatically construct the three-dimensional space model of the target detection aperture.

[0019] Further, in step 2, after calculating the actual height H1 at the first height position, the fourth piezoelectric rod is controlled to be extended to the actual height H1, the eighteenth piezoelectric rod is extended, the fourth piezoelectric rod is used to contact the target detection aperture for the third time, and the multi-stage buffer piezoelectric rod is coupled and deformed, and the ninth piezoelectric rod is used to automatically sense the coupling deformation variable σ2, and the coupling deformation variable σ2 is integrated into the upper computer to calculate the actual height H2 at the second height position, and the above process is repeated to set the coupling deformation variable σ N Integrated into the host computer to calculate the actual height H at the Nth height position N ; The actual height of the target detection aperture H1, H2, ..., H N The actual height model diagram is constructed by the host computer, so as to automatically perform high-precision flexible detection of the actual height at different positions of the target detection aperture; in step 3, after measuring the actual widths L1, L2, ..., L on both sides of the current position N Afterwards, the eighteenth piezoelectric rod continues to extend and lengthen, and repeatedly calculates the actual width on both sides of the next position, and simultaneously performs automatic high-precision flexible detection on the actual width on both sides at different positions of the target detection aperture.

[0020] Furthermore, in step 2, the method for sensing the coupling deformation amount is: after the fourth piezoelectric rod is deformed, it squeezes the horizontal rod behind it to deform the buffer piezoelectric rod, and the buffer piezoelectric rod is squeezed backward step by step to deform the ninth piezoelectric rod, and the coupling deformation amount is sensed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The width flexible self-sensing unit includes a bilaterally symmetrical structure. The tenth piezoelectric rod of the width flexible self-sensing unit is fixedly connected to the pitch device, and the tenth piezoelectric rod can automatically adjust the vertical height of the width flexible self-sensing unit in the Z direction; the upper end surface of the tenth piezoelectric rod of the width flexible self-sensing unit is horizontally fixedly connected to the eleventh piezoelectric rod, and the eleventh piezoelectric rod can achieve the purpose of automatically adjusting the horizontal width of the width flexible self-sensing unit in the Y direction.

[0023] 2. The initial height is obtained by deforming the flexible V-shaped piezoelectric rod when it first contacts the target detection aperture. The outermost side of the fourth piezoelectric rod contacts the target detection aperture for the second time. Through the multi-stage piezoelectric rod coupling deformation, the deformation of the fourth piezoelectric rod can be transmitted backward step by step through the horizontal rod and the buffer piezoelectric rod. The coupled deformation is automatically sensed by the ninth piezoelectric rod, and the coupled deformation is integrated into the upper computer to calculate the actual height H at the Nth height position in the X direction. N The multiple buffer piezoelectric rods and the ninth piezoelectric rod at the rear play a buffering and supporting role for the fourth piezoelectric rod in the front, improving the disadvantage that the piezoelectric rod is easily damaged during measurement. NThe actual height model diagram is constructed by the host computer, so as to achieve the purpose of automatic high-precision flexible detection of the actual height of the target detection aperture at different positions along the X direction.

[0024] 3. The whisker-shaped piezoelectric rods are respectively fixedly connected to the upper side of the twelfth piezoelectric rod and the lower side of the seventeenth piezoelectric rod. The length of the outer free cantilever end surface of the whisker-shaped piezoelectric rod is greater than the outer free cantilever end surface of the flexible parallel piezoelectric rod, thereby achieving the purpose of two-stage coupling width flexible self-sensing using the whisker-shaped piezoelectric rod and the flexible parallel piezoelectric rod.

[0025] 4. Drive the eleventh piezoelectric rod to extend simultaneously on both sides along the Y direction, obtain the initial width through the deformation of the whisker-shaped piezoelectric rod when it first contacts the target detection aperture, control the flexible parallel piezoelectric rod to adjust and extend to the initial width, use the outermost side of the flexible parallel piezoelectric rod to contact the target detection aperture for the second time, and use the second visual imaging device to perform visual imaging through the individual deformation of the flexible parallel piezoelectric rod. The individual deformation amount of the flexible parallel piezoelectric rod is integrated into the upper computer to calculate the actual height L of both sides at the Nth height position in the X direction. N ; The actual heights of the target detection aperture on both sides along the X direction are L1, L2, ..., L N The actual width on both sides model diagram is constructed by the host computer, so as to achieve the purpose of automatic high-precision flexible detection of the actual width on both sides of the target detection aperture at different positions along the X direction at the same time.

[0026] 5. Control the basic platform of the bionic mechanical star nose flexible detection system to drive the height flexible self-sensing unit and the width flexible self-sensing unit to rotate 5° around the X direction in sequence, repeat steps 1 to 4, obtain the circumferential actual data of the target detection aperture, and integrate the circumferential actual data of the target detection aperture into the host computer for calculation, so as to achieve the purpose of automatically detecting the target detection aperture circumferentially using the bionic mechanical star nose flexible detection system.

[0027] 6. Utilize the actual circumferential data detected by the width flexible self-sensing unit and the height flexible self-sensing unit to automatically construct a three-dimensional space virtual model of the target detection aperture, thereby achieving the purpose of automatically constructing the three-dimensional space model of the target detection aperture.

[0028] In summary, the present invention solves the problems of easy damage, poor flexibility, low precision, low automation, etc. in the existing narrow space environment aperture detection, and can realize automatic high-precision sensing, multi-directional piezoelectric sensing, flexible bionics, three-dimensional space model construction and other functions. It has the characteristics of multi-directional flexible detection, multi-level piezoelectric drive, simultaneous height and width detection, automatic circumferential construction of aperture, image-assisted feedback, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of Example 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of a highly flexible self-sensing unit according to Embodiment 1 of the present invention;

[0031] Figure 3 Schematic diagram of the structure of a width flexible self-sensing unit according to Embodiment 1 of the present invention;

[0032] Figure 4 This is a flow chart of the control method of Embodiment 2 of the present invention;

[0033] Figure 5 This is a flow chart of a highly flexible self-sensing unit control method according to Embodiment 2 of the present invention;

[0034] Figure 6 This is a flow chart of a width flexible self-sensing unit control method according to Embodiment 2 of the present invention.

[0035] In the figure: a second piezoelectric rod 1, a first visual imaging device 2, a third piezoelectric rod 3, a ninth piezoelectric rod 4, an eighth piezoelectric rod 5, a fourth horizontal rod 6, a seventh piezoelectric rod 7, a third horizontal rod 8, a sixth piezoelectric rod 9, a second horizontal rod 10, a fifth piezoelectric rod 11, a first horizontal rod 12, a fourth piezoelectric rod 13, a flexible V-shaped piezoelectric rod 14, a first piezoelectric rod 15, an eighteenth piezoelectric rod 16, a first support rod 17, a twelfth piezoelectric rod 18, a whisker-shaped piezoelectric rod 19, a second support rod 20, a thirteenth piezoelectric rod 21, a fourteenth piezoelectric rod 22, a fifteenth piezoelectric rod 23, a sixteenth piezoelectric rod 24, a seventeenth piezoelectric rod 25, a second visual imaging device 26, a nineteenth piezoelectric rod 27, an eleventh piezoelectric rod 28, a tenth piezoelectric rod 29, a highly flexible self-sensing unit 30, a width flexible self-sensing unit 31, a basic platform 32, a horizontal rotation device 33, and a pitch device 34. DETAILED DESCRIPTION

[0036] Example 1

[0037] A multi-directional piezoelectric driven bionic mechanical star nose flexible detection system, such as Figure 1-3 As shown, it includes a basic platform, which is fixedly connected to the head of the bionic star-nosed mole robot, and a horizontal rotation device is connected to the basic platform, and a pitch device is connected to the horizontal rotation device; the pitch device is provided with a height flexible self-sensing unit and a width flexible self-sensing unit. The basic platform can drive the height flexible self-sensing unit and the width flexible self-sensing unit to rotate around the X direction.

[0038] like Figure 2As shown, the highly flexible self-sensing unit includes a first piezoelectric rod 15 fixedly connected to the pitch device, and the first piezoelectric rod 15 is vertically arranged; the top of the first piezoelectric rod 15 is connected to the horizontally arranged eighteenth piezoelectric rod 16, and the length direction of the eighteenth piezoelectric rod 16 is in the X direction; the front end of the eighteenth piezoelectric rod 16 is connected to a first support rod 17 parallel to the first piezoelectric rod 15, and the top of the first support rod 17 is fixedly connected to a vertical second piezoelectric rod 1, and the top of the second piezoelectric rod 1 is connected to a first visual imaging device 2 parallel to the eighteenth piezoelectric rod 16. The first visual imaging device 2 is fixedly connected to the upper end of the first support rod 17 through the second piezoelectric rod 1, so as to achieve the purpose of using the second piezoelectric rod 1 to automatically extend and retract to drive the first visual imaging device 2 to obtain the initial height of the target detection aperture.

[0039] Furthermore, the highly flexible self-sensing unit also includes a third piezoelectric rod 3 arranged horizontally, the length direction of the third piezoelectric rod 3 is the X direction, the third piezoelectric rod 3 is fixedly connected to the center position of the first support rod 17, and the third piezoelectric rod 3 is perpendicular to the first support rod 17; the front end of the third piezoelectric rod 3 is connected to a pair of symmetrical flexible V-shaped piezoelectric rods 14; the flexible V-shaped piezoelectric rod 14 is a horizontal V-shaped structure. A pair of vertical fourth piezoelectric rods 13 are fixedly connected to the front of the third piezoelectric rod 3, the two fourth piezoelectric rods 13 are symmetrically arranged about the third piezoelectric rod 3, and the two fourth piezoelectric rods 13 are respectively arranged on the upper and lower sides of the third piezoelectric rod 3; the flexible V-shaped piezoelectric rod 14 is located in front of the fourth piezoelectric rod 13. Four vertical buffer piezoelectric rod groups are evenly distributed on the rear side of the fourth piezoelectric rod 13; a protective piezoelectric rod group is arranged on the rear side of the buffer piezoelectric rod group; the buffer piezoelectric rod group and the protective piezoelectric rod group are both connected to the third piezoelectric rod 3.

[0040] Each buffer piezoelectric rod group includes a pair of vertically arranged buffer piezoelectric rods, one end of each buffer piezoelectric rod is connected to the third piezoelectric rod 3, and the other end is connected to a horizontal rod; a gap a (gap a is the distance in the X direction) is provided between the front end of each horizontal rod and the adjacent buffer piezoelectric rod or the adjacent fourth piezoelectric rod 13, for example, the X-direction gap between the first horizontal rod 12 and the fourth piezoelectric rod 13 is a. The buffer piezoelectric rod includes a fifth piezoelectric rod 11, a sixth piezoelectric rod 9, a seventh piezoelectric rod 7 and an eighth piezoelectric rod 5 which are arranged vertically in sequence on the rear side of the fourth piezoelectric rod 13 in pairs. The fifth piezoelectric rod 11, the sixth piezoelectric rod 9, the seventh piezoelectric rod 7 and the eighth piezoelectric rod 5 are all connected above and below the third piezoelectric rod 3. The outermost sides (the end away from the third piezoelectric rod 3) of the fifth piezoelectric rod 11, the sixth piezoelectric rod 9, the seventh piezoelectric rod 7 and the eighth piezoelectric rod 5 are respectively horizontally mounted with the first horizontal rod 12, the second horizontal rod 10, the third horizontal rod 8 and the fourth horizontal rod 6, and the outer end surfaces (the end away from the third piezoelectric rod 3) of the first horizontal rod 12, the second horizontal rod 10, the third horizontal rod 8 and the fourth horizontal rod 6 are respectively flush with the outer end surfaces (the end away from the third piezoelectric rod 3) of the fourth piezoelectric rod 13, the fifth piezoelectric rod 11, the sixth piezoelectric rod 9 and the seventh piezoelectric rod 7.

[0041] The protective piezoelectric rod group includes a pair of ninth piezoelectric rods 4 arranged obliquely, and the pair of ninth piezoelectric rods 4 are symmetrically arranged; the first support rod 17 is symmetrically and obliquely arranged with two ninth piezoelectric rods 4 at a certain distance from the center position. The ninth piezoelectric rod 4 is in contact with the outermost side (the end away from the third piezoelectric rod 3) of the eighth piezoelectric rod 5, so that the piezoelectric rod self-protection can be achieved while the multi-stage piezoelectric rod coupled deformation is used to perform height detection.

[0042] like Figure 3 As shown, the width flexible self-sensing unit includes a bilaterally symmetrical structure, and the width flexible self-sensing unit includes a pair of tenth piezoelectric rods 29 whose upper end faces are fixedly connected to the eighteenth piezoelectric rod 16. The tenth piezoelectric rod 29 is vertically arranged and its orthographic projection on the YZ plane is symmetrical about the fourth piezoelectric rod 13. The tenth piezoelectric rod 29 can realize automatic adjustment of the vertical height of the width flexible self-sensing unit in the Z direction. A pair of horizontal eleventh piezoelectric rods 28 are fixedly connected to the lower end face of the tenth piezoelectric rod 29; the eleventh piezoelectric rod 28 can achieve the purpose of automatically adjusting the horizontal width of the width flexible self-sensing unit in the Y direction. The upper end face of each eleventh piezoelectric rod 28 is fixedly connected to a vertical second support rod 20; the outer side of each second support rod 20 (the side of the second support rod 20 away from the other second support rod 20) is evenly distributed with flexible parallel piezoelectric rods along the Z direction on the central surface, and the flexible parallel piezoelectric rods are horizontally arranged along the Y direction and fixedly connected to the second support rod 20. The flexible parallel piezoelectric rods include a twelfth piezoelectric rod 18 , a thirteenth piezoelectric rod 21 , a fourteenth piezoelectric rod 22 , a fifteenth piezoelectric rod 23 , a sixteenth piezoelectric rod 24 and a seventeenth piezoelectric rod 25 , and the outer free cantilever end surfaces of the flexible parallel piezoelectric rods are flush along the Y direction.

[0043] Each second support rod 20 is connected to a horizontal whisker-shaped piezoelectric rod 19 at the top and bottom, and the flexible parallel piezoelectric rod is located between the two whisker-shaped piezoelectric rods 19; the whisker-shaped piezoelectric rod 19 is longer than the flexible parallel piezoelectric rod. All piezoelectric rods are retractable. Two whisker-shaped piezoelectric rods 19 are symmetrically fixedly connected to the outer center plane of the second support rod 20 along the Z direction, and the whisker-shaped piezoelectric rods 19 are respectively fixedly connected to the upper side of the twelfth piezoelectric rod 18 and the lower side of the seventeenth piezoelectric rod 25. The length of the outer free cantilever end face of the whisker-shaped piezoelectric rod 19 is greater than the outer free cantilever end face of the flexible parallel piezoelectric rod (the outer free cantilever end face is the end face away from the second support rod 20), so that the whisker-shaped piezoelectric rod 19 and the flexible parallel piezoelectric rod can be used to achieve the purpose of two-stage coupling width flexible self-sensing.

[0044] Each eleventh piezoelectric rod 28 is fixedly connected to the nineteenth piezoelectric rod 27 at one end away from the tenth piezoelectric rod 29, and a second visual imaging device 26 vertically upward is fixedly connected to the nineteenth piezoelectric rod 27. The second visual imaging device 26 is fixedly connected to the outermost position of the eleventh piezoelectric rod 28 through the nineteenth piezoelectric rod 27, and the central axis of the field of view of the second visual imaging device 26 is flush with the central plane of the eleventh piezoelectric rod 28 and the outer free cantilever end of the second support rod 20 along the Z direction.

[0045] Example 2

[0046] This embodiment is a control method for the multi-directional piezoelectric driven bionic mechanical star nose flexible detection system of embodiment 1. Figure 4 As shown, the following steps are included:

[0047] Step 1, initialization of the piezoelectric drive of the bionic mechanical star nose flexible detection system: determine the position of the target detection aperture through the first visual imaging device 2, control the basic platform of the bionic mechanical star nose flexible detection system to move to the position of the target detection aperture along the Z direction, drive the horizontal rotation device of the bionic mechanical star nose flexible detection system to rotate circumferentially until it is facing the target detection aperture, and adjust the inclination angle of the pitch device of the bionic mechanical star nose flexible detection system according to the needs of the target detection aperture, so as to automatically align the bionic mechanical star nose flexible detection system with the target detection aperture position to complete the initialization.

[0048] Step 2, such as Figure 5 As shown, the highly flexible self-sensing unit realizes highly flexible detection; the second piezoelectric rod 1 is driven to fine-tune the vertical position of the first visual imaging device 2 along the Z direction, and the first visual imaging device 2 is used to perform visual imaging of the target detection aperture; then the eighteenth piezoelectric rod 16 is driven to extend along the X direction, and the initial height is obtained by the deformation of the flexible V-shaped piezoelectric rod 14 when it first contacts the target detection aperture; then the fourth piezoelectric rod 13 is controlled to be extended to the initial height, and the fourth piezoelectric rod 13 is used to contact the target detection aperture for the second time, and the multi-stage buffer piezoelectric rod coupling deformation (the multi-stage coupling deformation is: after the fourth piezoelectric rod 13 is deformed, the first horizontal rod 12 is squeezed to deform the fifth piezoelectric rod 11, and the sixth piezoelectric rod 9 and the seventh piezoelectric rod 9 are squeezed backward step by step to deform the sixth piezoelectric rod 9 and the seventh piezoelectric rod 9. The piezoelectric rod 7, the eighth piezoelectric rod 5 and the ninth piezoelectric rod 4 are all deformed), the ninth piezoelectric rod 4 is used to sense the coupling deformation amount σ1, and the coupling deformation amount σ1 is integrated into the host computer to calculate the actual height H1 at the first height position; then the fourth piezoelectric rod 13 is controlled to be extended to the actual height H1, the height flexibility self-sensing unit and the width flexibility self-sensing unit are moved forward in the X direction, the outermost side of the fourth piezoelectric rod 13 is used to contact the target detection aperture for the third time, and the coupling deformation of the multi-stage buffer piezoelectric rod is achieved. The ninth piezoelectric rod 4 is used to automatically sense the coupling deformation amount σ2, and the coupling deformation amount σ2 is integrated into the host computer to calculate the actual height H2 at the second height position in the X direction, and the above process is repeated.N Integrated into the host computer to calculate the actual height H at the Nth height position N ; The actual height of the target detection aperture H1, H2, ..., H N The actual height model diagram is constructed by the host computer, so that the actual height at different positions of the target detection aperture can be automatically and accurately detected.

[0049] Step 3, such as Figure 6 As shown, the width flexibility self-sensing unit realizes the width flexibility detection; when the eighteenth piezoelectric rod 16 is extended along the X direction in step 2, the eleventh piezoelectric rod 28 is driven to extend simultaneously along both sides of the Y direction, and the eleventh piezoelectric rod 28 drives the second visual imaging device 26 to move, and when the end of the flexible parallel piezoelectric rod away from the second support rod 20 is at the central field of view of the second visual imaging device 26, the eleventh piezoelectric rod 28 stops; at this time, the initial width is obtained by the deformation of the whisker-shaped piezoelectric rod 19 when it first contacts the target detection aperture; control multiple flexible parallel piezoelectric rods to extend to the initial width, use the flexible parallel piezoelectric rods to contact the target detection aperture for the second time, use the second visual imaging device 26 to perform visual imaging on the individual deformation of the flexible parallel piezoelectric rods, and integrate the individual deformation of each flexible parallel piezoelectric rod into the upper computer to calculate the actual widths L1, L2, ..., L on both sides from the first height position in the X direction to the Nth height position in the X direction N The eighteenth piezoelectric rod 16 continues to extend in the X direction to the next position, repeating the above process, the actual widths L1, L2, ..., L on both sides of the 1st to Nth height positions at different positions in the X direction can be calculated. N ; The actual widths of the target detection aperture at different positions along the X direction are L1, L2, ..., L N The actual width on both sides is modeled by the host computer, and the actual width on both sides at different positions of the target detection aperture are automatically and simultaneously detected with high precision and flexibility.

[0050] Step 4, the bionic mechanical star nose flexible detection system automatically detects the target detection aperture in the circumferential direction; after the bionic mechanical star nose flexible detection system performs the first flexible detection on the target detection aperture, the control base platform simultaneously drives the height flexible self-sensing unit and the width flexible self-sensing unit to rotate 5° around the length direction of the third piezoelectric rod 3 in sequence, and repeats steps 1 to 3 to obtain the circumferential actual data of the target detection aperture, and integrates the circumferential actual data of the target detection aperture into the host computer for calculation, thereby using the bionic mechanical star nose flexible detection system to automatically detect the target detection aperture in the circumferential direction.

[0051] Step 5, automatically construct a three-dimensional space virtual model of the target detection aperture; discretize the actual circumferential data of the target detection aperture through the host computer, and use the actual circumferential data detected by the width flexible self-sensing unit and the height flexible self-sensing unit to construct the three-dimensional space virtual model of the target detection aperture, and automatically construct the three-dimensional space model of the target detection aperture.

Claims

1. A multi-directional piezoelectric driven bionic mechanical star nose flexible detection system, characterized in that: It comprises a basic platform, on which a horizontal rotating device is arranged, on which a pitching device is arranged; on which a height-flexible self-sensing unit and a width-flexible self-sensing unit are arranged; The highly flexible self-sensing unit includes a horizontally arranged third piezoelectric rod, a pair of vertical fourth piezoelectric rods are connected to the front of the third piezoelectric rod, and the two fourth piezoelectric rods are symmetrically arranged about the third piezoelectric rod; vertical buffer piezoelectric rod groups are evenly distributed on the rear side of the fourth piezoelectric rod; a protective piezoelectric rod group is arranged on the rear side of the buffer piezoelectric rod group; the buffer piezoelectric rod group and the protective piezoelectric rod group are both connected to the third piezoelectric rod; a pair of symmetrical flexible V-shaped piezoelectric rods are connected to the front end of the third piezoelectric rod; the flexible V-shaped piezoelectric rod is located on the front side of the fourth piezoelectric rod.

2. The multi-directional piezoelectric driven bionic mechanical star nose flexible detection system according to claim 1, characterized in that: Each of the buffer piezoelectric rod groups includes a pair of vertically arranged buffer piezoelectric rods, one end of each of the buffer piezoelectric rods is connected to the third piezoelectric rod, and the other end is connected to a horizontal rod; a gap is arranged between the front end of each horizontal rod and the adjacent buffer piezoelectric rod or the fourth piezoelectric rod.

3. The multi-directional piezoelectric driven bionic mechanical star nose flexible detection system as claimed in claim 2, characterized in that: The protective piezoelectric rod group includes a pair of ninth piezoelectric rods arranged obliquely, and the pair of ninth piezoelectric rods are symmetrically arranged; each of the ninth piezoelectric rods is in contact with the buffer piezoelectric rod located at the rear side of the third piezoelectric rod, and each of the ninth piezoelectric rods is in contact with an end of the buffer piezoelectric rod away from the third piezoelectric rod.

4. The multi-directional piezoelectric driven bionic mechanical star nose flexible detection system as claimed in claim 3, characterized in that: The highly flexible self-sensing unit includes a vertically arranged first piezoelectric rod, the top of which is connected to a horizontally arranged eighteenth piezoelectric rod; the front end of the eighteenth piezoelectric rod is connected to a first supporting rod parallel to the first piezoelectric rod, and the top of the first supporting rod is connected to a first visual imaging device.

5. The multi-directional piezoelectric driven bionic mechanical star nose flexible detection system as claimed in claim 4, characterized in that: The width flexible self-sensing unit includes a tenth piezoelectric rod connected to an eighteenth piezoelectric rod, and a pair of horizontal eleventh piezoelectric rods are connected to the tenth piezoelectric rod; each of the eleventh piezoelectric rods is connected to a vertical second support rod; each of the second support rods is evenly distributed with horizontal flexible parallel piezoelectric rods, and the flexible parallel piezoelectric rods on the two second support rods are arranged back to back; each of the eleventh piezoelectric rods is connected to a second visual imaging device at one end away from the tenth piezoelectric rod.

6. The multi-directional piezoelectric driven bionic mechanical star nose flexible detection system as claimed in claim 5, characterized in that: The upper and lower parts of each of the second support rods are connected with horizontal whisker-shaped piezoelectric rods, and the flexible parallel piezoelectric rod is located between the two whisker-shaped piezoelectric rods; the whisker-shaped piezoelectric rod is longer than the flexible parallel piezoelectric rod.

7. The control method of the multi-directional piezoelectric driven bionic mechanical star nose flexibility detection system according to claim 6, characterized in that: The following steps are involved: Step 1, initializing the piezoelectric drive of the bionic mechanical star nose flexible detection system; determining the position of the target detection aperture through the first visual imaging device, controlling the basic platform, the horizontal rotation device and the pitch device to adjust the positions of the height flexible self-sensing unit and the width flexible self-sensing unit, so that the third piezoelectric rod is facing the target detection aperture, and completing the initialization; Step 2, the highly flexible self-sensing unit realizes highly flexible detection; the vertical position of the first visual imaging device is adjusted to perform visual imaging of the target detection aperture; then the eighteenth piezoelectric rod is extended, and the initial height is obtained through the deformation of the flexible V-shaped piezoelectric rod when it first contacts the target detection aperture; then the fourth piezoelectric rod is controlled to be extended to the initial height, and the fourth piezoelectric rod is used to contact the target detection aperture for the second time, and the coupling deformation is achieved through the multi-stage buffer piezoelectric rod coupling deformation, and the coupling deformation variable σ1 is sensed by the ninth piezoelectric rod, and the coupling deformation variable σ1 is integrated into the host computer to calculate the actual height H1 at the first height position; Step 3, the width flexibility self-sensing unit realizes the width flexibility detection; when the eighteenth piezoelectric rod is extended, the eleventh piezoelectric rod is driven to extend at the same time, and the eleventh piezoelectric rod drives the second visual imaging device to move, and when the end of the flexible parallel piezoelectric rod away from the second support rod is at the central field of view of the second visual imaging device, the eleventh piezoelectric rod stops; at this time, the initial width is obtained by the deformation of the whisker-shaped piezoelectric rod when it first contacts the target detection aperture; the flexible parallel piezoelectric rod is controlled to be extended to the initial width, the flexible parallel piezoelectric rod is used to contact the target detection aperture for the second time, and the second visual imaging device is used to perform visual imaging on the individual deformation of the flexible parallel piezoelectric rod, and the individual deformation of the flexible parallel piezoelectric rod is integrated into the upper computer to calculate the actual widths L1, L2, ..., L on both sides from the first height position to the Nth height position N ; Step 4, the bionic mechanical star nose flexible detection system automatically detects the target detection aperture in the circumferential direction; after the first flexible detection of the target detection aperture, the basic platform is controlled to simultaneously drive the height flexible self-sensing unit and the width flexible self-sensing unit to rotate in sequence around the length direction of the third piezoelectric rod, and steps 1 to 3 are repeated to obtain the circumferential actual data of the target detection aperture, and the circumferential actual data of the target detection aperture are integrated into the host computer for calculation, and the bionic mechanical star nose flexible detection system is used to automatically detect the target detection aperture in the circumferential direction; Step 5, automatically construct a three-dimensional space virtual model of the target detection aperture; discretize the actual circumferential data of the target detection aperture through the host computer, and use the actual circumferential data detected by the width flexible self-sensing unit and the height flexible self-sensing unit to construct the three-dimensional space virtual model of the target detection aperture, and automatically construct the three-dimensional space model of the target detection aperture.

8. The control method of the multi-directional piezoelectric driven bionic mechanical star nose flexibility detection system according to claim 7, characterized in that: In step 2, after calculating the actual height H1 at the first height position, the fourth piezoelectric rod is controlled to be extended to the actual height H1, the eighteenth piezoelectric rod is extended, the fourth piezoelectric rod is used to contact the target detection aperture for the third time, and the multi-stage buffer piezoelectric rod is coupled and deformed. The ninth piezoelectric rod is used to automatically sense the coupling deformation variable σ2, and the coupling deformation variable σ2 is integrated into the upper computer to calculate the actual height H2 at the second height position, and the above process is repeated to set the coupling deformation variable σ N Integrated into the host computer to calculate the actual height H at the Nth height position N ; The actual height of the target detection aperture H1, H2, ..., H N The actual height model diagram is constructed by the host computer, so as to automatically perform high-precision flexible detection of the actual height at different positions of the target detection aperture; in step 3, after measuring the actual widths L1, L2, ..., L on both sides of the current position N Afterwards, the eighteenth piezoelectric rod continues to extend and lengthen, and the actual width on both sides of the next position is calculated. The above process is repeated to simultaneously perform automatic high-precision flexible detection on the actual width on both sides at different positions of the target detection aperture.

9. The control method of the multi-directional piezoelectric driven bionic mechanical star nose flexible detection system according to claim 8, characterized in that: In step 2, the method for sensing the coupling deformation is as follows: after the fourth piezoelectric rod is deformed, it squeezes the horizontal rod behind it to deform the buffer piezoelectric rod, and the buffer piezoelectric rod is squeezed backward step by step to deform the ninth piezoelectric rod, and the coupling deformation is sensed.

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