A bionic amphibious detection snake

Abstract

The present invention is an amphibious detection snake based on bionics. The present invention relates to the technical field of amphibious detection snakes. The present invention is mainly composed of an STM32F103ZET6 single-chip microcomputer main control component, a MIPI camera, an ESP8266WIFI module, a universal wheel, a servo, etc. The present invention can automatically switch between land mode and water mode according to changes in the external environment. When in land mode, the driving motor is driven by the main control component, and the rotation of the servo between the snake joints drives the universal wheel to generate forward rotational power, thereby realizing two-dimensional forward movement. When in water mode, the propeller automatically pops up, and multi-dimensional movement can be realized quickly. The camera detects real-time images in the water and transmits data to the remote control terminal according to the serial communication protocol. Based on the bionic principle, the present invention imitates the movement posture of the snake during movement to have better camouflage, and can realize reconnaissance and detection in a variety of environments.

Description

Technical Field

[0001] The invention relates to the technical field of amphibious detection snakes, in particular to an amphibious detection snake based on bionics. Background Art

[0002] Bionic robots are a key research area in the robotics industry today. The bionic snake robot, developed using biomimetic principles and mimicking the morphology of a snake, offers significant advantages over conventional robots in detection, camouflage, and searching confined areas. Furthermore, purely bionic snake robots have lower system efficiency and greater concealment, while conventional robots offer higher efficiency and lower concealment. Summary of the Invention

[0003] In order to overcome the defects of the prior art, the present invention provides an amphibious detection snake based on bionics.

[0004] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0005] The present invention provides an amphibious detection snake based on bionics, and the present invention provides the following technical solutions:

[0006] A bionic amphibious detection snake, comprising: an underwater bionic snake portion and a remote control terminal;

[0007] The underwater bionic snake includes a MIPI camera, a universal wheel, a waterproof board, a first servo, a second servo, a first shell, a second shell, a third shell, a spiral sleeve hose, a screw propeller, a screw propeller, an infrared risk avoidance device, a pressure sensor, a 5dB gain antenna, a navigation light, a battery pack, an STM32F103ZET6 single-chip microcomputer main control module, an ESP8266WIFI module, an A4957 drive motor, an nRF24L01 wireless module, a lighting module, and a motor drive module.

[0008] The remote control terminal includes an STM32 main control module, an OLED display module, and an nRF24L01 wireless module.

[0009] Preferably, the MIPI camera includes a lens and a camera, and the lens can be replaced according to the requirements of the task and the site environment;

[0010] The PA2 and PA3 pins of the STM32F103ZET6 microcontroller main control module are connected to the RX and TX pins of the ESP8266WIFI module to collect image data and transmit the data to the remote control end according to the serial communication protocol; the 5dB gain antenna is connected to the antenna interface of the ESP8266WIFI module.

[0011] Preferably, the lens is inlaid and connected with the hole of the first housing, and the camera is fixed to the first housing through a hole-shaft structure; the STM32F103ZET6 single-chip microcomputer main control module is fixed to the housing through the hole-shaft structure;

[0012] The servo is connected to the second shell through an inserting structure; the battery pack is insertingly connected through a hole-shaft structure; the first shell and the second shell, and the second shell and the third shell are connected through hinges; the outer surfaces of the shells are connected by a spiral sleeve hose; a pair of screw propellers are installed on the outer surface of the second shell; the screw propellers can be retracted into the second shell.

[0013] Preferably, a pair of screw propellers are mounted on the outer surface of the third housing and can be retracted into the interior of the third housing;

[0014] The first servo is placed at the junction of the first and second shells, and the second servo is placed at the junction of the second and third shells; the universal wheel device is placed outside the first servo, and the universal wheel is placed outside the second servo; the STM32F103ZET6 single-chip microcomputer main control module drives the A4957 drive motor to work by controlling different circuits of the motor drive module; the infrared risk avoidance device is connected to the STM32F103ZET6 single-chip microcomputer main control module, and processes the collected data in real time and transmits it to the motor drive module in real time; the pressure sensor collects and transfers external pressure data to the STM32F103ZET6 single-chip microcomputer main control module to control the propeller and the propeller ejection.

[0015] Preferably, the lighting module includes a photoresistor circuit and a searchlight interface circuit. The photoresistor transmits light intensity data through the PA5 pin of the STM32F103ZET6 single-chip microcomputer main control module, and controls the brightness of the navigation light according to the output PWM waveform; the nRF24L01 wireless module and the nRF24L01 wireless module select PB14 and PB15 of the STM32F103ZET6 single-chip microcomputer main control module as the MISO and MISI data line interfaces in the SPI communication protocol.

[0016] Preferably, the OLED display module is connected to the STM32 main control module, and through different programming settings, real-time display of the test transmission data packet loss rate is achieved.

[0017] Preferably, when it is on land, the pressure sensor detects that the external environmental pressure decreases, and it switches to land mode at this time; the control instruction is issued through the STM32F103ZET6 single-chip microcomputer main control module, so that the STM32F103ZET6 single-chip microcomputer changes the duty cycle of the PWM wave to realize the control of the steering gear rotation angle, and the rotation of the steering gear drives the universal wheel to generate forward rotational power, realizing forward movement in two dimensions.

[0018] Preferably, the real-time image captured by the MIPI camera is connected to the RX and TX pins of the ESP8266WIFI module through the PA2 and PA3 pins of the STM32F103ZET6 single-chip microcomputer main control module to collect image data, and the data is transmitted to the remote control end according to the serial communication protocol. The use of a 5dB gain antenna makes its data transmission more stable and reliable. In unobstructed conditions, the straight-line communication distance can reach 50 meters.

[0019] Preferably, when it is in water, the pressure sensor detects the increase in external environmental pressure, and then the STM32F103ZET6 single-chip microcomputer main control module issues instructions to control the A4957 drive motor to adjust the propeller and the expansion of the propeller, providing power for its underwater operation; through the nRF24L01 wireless module and the remote terminal's remote control instructions are transmitted to the bionic robot snake, realizing real-time movement in six dimensions of front, back, left, right, up and down.

[0020] Preferably, the lighting module collects photoelectric data through a photoresistor for control, transmits light intensity data through the PA5 pin of the built-in STM32F103ZET6 single-chip microcomputer main control module, processes the light intensity through the internal ADC analog-to-digital converter and sets the light intensity threshold, controls PA9 and PA12 to output PWM waveforms, and realizes brightness control of the navigation lights; the infrared risk avoidance device detects the external environment in real time, and cooperates with the A4957 drive motor to perform emergency braking when the control command is not transmitted in time to ensure the normal operation of the bionic snake robot.

[0021] The present invention has the following beneficial effects:

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] The purpose of this invention is to provide an amphibious detection snake based on bionic principles. The amphibious detection snake has the following characteristics:

[0024] ① The STM32F103ZET6 microcontroller is used as the main control component. On land, the servo is controlled to generate rotational power to make the snake twist and move forward. In water, the microcontroller drives the motor to control the propeller to generate driving force in four directions: up, down, left, and right.

[0025] ② The pressure is detected by the sensor to determine whether it is in water, and the propeller is automatically ejected to achieve free switching between water and land modes.

[0026] ③ The front-end camera transmits the captured real-time images to the control terminal via the WiFi module for real-time monitoring. The captured images are processed and obstacles are avoided through the infrared avoidance device. At the same time, the searchlight is controlled to turn on and off according to the value of the collected photoresistance sensor, realizing the lighting function. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 It is the overall appearance diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the appearance of the present invention with three joints separated;

[0030] Figure 3 This is a schematic diagram of the appearance of the present invention with three joints separated;

[0031] Figure 4 is an overall cross-sectional view of the upper surface of the present invention;

[0032] Figure 5 is a cross-sectional view of the upper surface of the head portion of the first portion of the present invention;

[0033] Figure 6 is a cross-sectional view of the upper surface of the middle portion of the processor module of the present invention;

[0034] Figure 7 It is a cross-sectional view of the universal wheel part;

[0035] Figure 8 It is the overall design block diagram of the present invention;

[0036] Figure 9 It is a design block diagram of the software construction part of the present invention. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0040] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] The present invention is described in detail below with reference to specific embodiments. Specific embodiment one:

[0043] according to Figures 1 to 9 As shown, the specific optimization technical solution adopted by the present invention to solve the above technical problems is: the present invention relates to an amphibious detection snake based on bionics.

[0044] The invention discloses an amphibious detection snake based on bionics, which consists of two parts: an underwater bionic snake part and a remote control terminal.

[0045] The exterior of the underwater bionic snake is composed of a MIPI camera 1, a universal wheel 2, a waterproof board 3, a servo 4, a first shell 5, a second shell 6, a third shell 7, a spiral sleeve hose 8, a screw propeller 9, a screw propeller 10, an infrared avoidance device 11, a pressure sensor 12, a 5dB gain antenna 13, a navigation light 14, a battery pack 15, and the like.

[0046] The underwater bionic snake is equipped with an STM32F103ZET6 microcontroller main control module, an ESP8266WIFI module, an A4957 drive motor, an nRF24L01 wireless module, a lighting module, and a motor drive module.

[0047] The remote terminal mainly has an STM32 main control module, an OLED display module, and an nRF24L01 wireless module.

[0048] MIPI camera 1 consists of a lens and a video camera. The lens can be replaced according to the task and environment requirements. The PA2 and PA3 pins of the STM32F103ZET6 microcontroller main control module are connected to the RX and TX pins of the ESP8266 WIFI module to capture image data and transmit the data to the remote control terminal according to the serial communication protocol. A 5dB gain antenna 13 is connected to the antenna port of the ESP8266 WIFI module, increasing the transmit power of the Wi-Fi module and extending the communication range.

[0049] The lens is connected to the hole of the first shell 5 by inlaying, and the camera is fixed to the first shell by a hole-axis structure. The STM32F103ZET6 single-chip microcomputer main control module is fixed to the first shell 5 by a hole-axis structure. The servo 4 is connected to the second shell 6 by an inserting structure. The battery pack 15 is plug-in connected by a hole-axis structure. The first shell 5 and the second shell 6, and the second shell 6 and the third shell 7 are connected by hinges. The outer surfaces of the shells are connected by a spiral sleeve hose 8. A pair of propellers 9 are installed on the outer surface of the second shell 6. The propeller 9 can be placed inside the second shell 6. Similarly, a pair of propellers 10 are also installed on the outer surface of the third shell 7, which can also be placed inside the third shell 7. The shell is a sealed pressure-resistant chamber made of acrylic material, which plays a key role in underwater navigation in conjunction with the waterproof plate 3 at the key connection part.

[0050] The steering gear 4 includes a first steering gear and a second steering gear. The first steering gear is placed at the junction of the first housing 5 and the second housing 6, and the second steering gear is placed at the junction of the second housing 6 and the third housing 7. The universal wheel 2 includes a first universal wheel and a second universal wheel. The first universal wheel device is placed outside the first steering gear, and the second universal wheel is placed outside the second steering gear. The STM32F103ZET6 single-chip microcomputer main control module drives the A4957 drive motor to operate by controlling different circuits of the motor drive module. The infrared risk avoidance device 11 is connected to the STM32F103ZET6 single-chip microcomputer main control module and processes the collected data in real time, transmitting it to the motor drive module in real time. The pressure sensor 12 collects and transfers external pressure data to the STM32F103ZET6 single-chip microcomputer main control module to control the ejection of the propeller 9 and the propeller 10.

[0051] The lighting module primarily consists of a photoresistor circuit and a searchlight interface circuit. The photoresistor transmits light intensity data via pin PA5 of the STM32F103ZET6 microcontroller. This output PWM waveform controls the brightness of navigation lights 14. The nRF24L01 wireless module uses pins PB14 and PB15 of the STM32F103ZET6 microcontroller as the MISO and MISI data lines in the SPI communication protocol. An OLED display module is connected to the STM32 control module. Through various programming settings, it displays the packet loss rate of the tested transmission data in real time. Specific embodiment two:

[0053] The camera is inserted into the first housing 5 along the axis of the hole, so that the lens 1-1 aligns with the cavity 5-1. The microcontroller interface 1 is connected to the camera via an image transmission module. The microcontroller host is inserted into the first housing 5 along the axis of the hole and located behind the camera. The first housing 5 is connected to the second housing 6, and the second housing 6 is connected to the third housing 7 via a hinge. The servo 4 is connected to the second housing 6 via a plug-in structure. The universal wheel 2 is fixed at the junction of the first housing 5, the second housing 6, and the second housing 6 and the third housing 7 via a rotating structure. The outer surfaces of the housings are connected by a spiral sleeve hose 8. The propeller 9 is fixed to the rotatable second housing, and the propeller 10 is fixed to the rotatable third housing. The rotatable housings are extended and retracted through a gear tooth structure and the third housing. The built-in battery and charging port are plug-in connected to the third housing 7. The charging port is connected to the servo 4, the STM32F103ZET6 microcontroller main control module, the MIPI camera 1, the propellers 9 and 10, and the gear drive unit via wires.

[0054] The navigation light 14 is fixed to the first housing 5 via a hole-and-shaft structure, with wires connecting to the STM32F103ZET6 single-chip microcomputer main control module. The pressure sensor 12 is fixed to the second housing, collecting data and connecting it to the ADC conversion circuit in the STM32F103ZET6 single-chip microcomputer main control module via internal wires. The collected data is then output via the main control module 16 in the form of a PWM wave, which controls the A4957 drive motor to achieve the expansion and contraction of the gear structure and the ejection and retraction of the propellers 9 and 10. The infrared safety device 11 is fixed to the bottom of the first housing 5 via a hole-and-shaft structure, with wires connecting to the A4957 drive motor and the main control module, cooperating to achieve emergency braking in dangerous moments.

[0055] The 5dB gain antenna 13 is fixed to the upper surface of the second shell 6 by a hole-axis structure and is connected to the internal nRF24L01 wireless module through a wire. The image data collected by the STM32F103ZET6 microcontroller main control module through the MIPI camera 1 is transmitted more stably through the ESP8266WIFI module 17, greatly reducing the packet loss rate during data transmission.

[0056] Working principle:

[0057] When it is on land, the pressure sensor 12 detects a decrease in the external environmental pressure and switches to land mode. The STM32F103ZET6 single-chip microcomputer main control module issues control instructions, causing the STM32F103ZET6 single-chip microcomputer to change the duty cycle of the PWM wave to control the servo rotation angle (setting a timer interrupt can effectively control its duty cycle). The rotation of the servo drives the universal wheel to generate forward rotational force, achieving two-dimensional forward movement. The real-time image captured by the MIPI camera 1 is connected to the RX and TX pins of the ESP8266WIFI module 17 via the PA2 and PA3 pins of the STM32F103ZET6 single-chip microcomputer main control module to collect image data and transmit the data to the remote control terminal according to the serial communication protocol. The use of a 5dB gain antenna 13 makes its data transmission more stable and reliable. In unobstructed conditions, the straight-line communication distance can reach 50 meters.

[0058] When submerged in water, pressure sensor 12 detects the increase in ambient pressure, triggering the STM32F103ZET6 microcontroller to issue commands to the A4957 drive motor to adjust the expansion of propellers 9 and 10, providing power for underwater operation. Remote control commands from a remote terminal are transmitted to the bionic snake via the nRF24L01 wireless module 24, enabling real-time forward, backward, left, right, up, and down motion in six dimensions. The lighting module collects photoelectric data for control via photoresistor 20-1. Light intensity data is transmitted via pin PA5 of the STM32F103ZET6 microcontroller. The internal ADC processes the light intensity and sets a threshold, controlling PA9 and PA12 to output a PWM waveform, achieving brightness control for navigation lights 14. The infrared safety device 11 monitors the external environment in real time. If control commands are not transmitted in a timely manner, it cooperates with the A4957 drive motor to initiate emergency braking, ensuring the normal operation of the bionic snake. Specific embodiment three:

[0060] The biomimetic amphibious detection robot snake consists of a MIPI camera 1, universal wheels 2, a waterproof plate 3, a servo 4, a first housing 5, a second housing 6, a third housing 7, a spiral sleeve hose 8, a propeller 9, a propeller 10, an infrared safety device 11, a pressure sensor 12, a 5dB gain antenna 13, a navigation light 14, a battery pack 15, an STM32F103ZET6 microcontroller main control module, an ESP8266 Wi-Fi module 17, an A4957 drive motor, an nRF24L01 wireless module, a lighting module, a motor driver module, an STM32 main control module, an OLED display module, and an nRF24L01 wireless module. The biomimetic amphibious detection robot snake can automatically adjust to either land or underwater detection mode based on the external pressure.

[0061] When moving forward on land, the rotation of servo 4 drives the movement of the snake's joints, which, combined with universal wheel 2, provides the snake's forward momentum. This twisting motion better mimics the snake's form. Servo 4 is controlled by an STM32F103ZET6 microcontroller. Changing the PWM duty cycle controls the servo's rotation angle, allowing for different angle settings to more closely mimic the snake's twisting motion.

[0062] During underwater exploration, propellers 9 and 10 provide underwater power, greatly improving work efficiency. The propellers' ejection and retraction are determined by the A4957 drive motor. The STM32F103ZET6 microcontroller module issues different commands based on changes in external pressure.

[0063] During detection, the image captured by the placed MIPI camera is transmitted in real time to a remote terminal. The PA2 and PA3 pins of the STM32F103ZET6 microcontroller main control module are connected to the RX and TX pins of the ESP8266 Wi-Fi module, enabling real-time image transmission based on the serial communication protocol. A 5dB gain antenna is connected to the antenna port of the Wi-Fi module, extending the communication range.

[0064] The above description is merely a preferred embodiment of a biomimetic amphibious detection snake. The scope of protection for a biomimetic amphibious detection snake is not limited to the aforementioned embodiment; all technical solutions based on this concept fall within the scope of protection of the present invention. It should be noted that improvements and variations that do not depart from the principles of the present invention, as readily apparent to those skilled in the art, should also be considered within the scope of protection of the present invention.

Claims

1. A bionic amphibious detection snake, characterized by: The detection snake comprises: an underwater bionic snake part and a remote control terminal; The underwater bionic snake includes a MIPI camera, a universal wheel, a waterproof board, a first servo, a second servo, a first shell, a second shell, a third shell, a spiral sleeve hose, a first propeller, a second propeller, an infrared risk avoidance device, a pressure sensor, a 5dB gain antenna, a navigation light, a battery pack, an STM32F103ZET6 single-chip microcomputer main control module, an ESP8266WIFI module, an A4957 drive motor, an nRF24L01 wireless module, a lighting module, and a motor drive module. The remote control terminal includes STM32 main control module, OLED display module, and nRF24L01 wireless module; The MIPI camera includes a lens and a camera. The lens can be replaced according to the requirements of the task and the site environment. The PA2 and PA3 pins of the STM32F103ZET6 microcontroller main control module are connected to the RX and TX pins of the ESP8266WIFI module to collect image data and transmit the data to the remote control terminal according to the serial communication protocol; the 5dB gain antenna is connected to the antenna interface of the ESP8266WIFI module; The lens is inlaid and connected with the hole of the first housing, and the camera is fixed to the first housing through a hole-axis structure; the STM32F103ZET6 single-chip microcomputer main control module is fixed to the housing through the hole-axis structure; The servo is connected to the second housing via an inserting structure; the battery pack is insertingly connected via a hole-shaft structure; the first housing and the second housing, and the second housing and the third housing are connected via hinges; the outer surfaces of the housings are connected by spiral sleeve hoses; a pair of first propellers are installed on the outer surface of the first housing; the first propellers can be retracted into the interior of the first housing; A pair of second screw propellers are mounted on the outer surface of the third housing and can be retracted into the interior of the third housing; The first servo is placed at the junction of the first and second housings, and the second servo is placed at the junction of the second and third housings; the universal wheel includes a first universal wheel and a second universal wheel; the first universal wheel device is placed outside the first servo, and the second universal wheel is placed outside the second servo; the STM32F103ZET6 single-chip microcomputer main control module drives the A4957 drive motor to work by controlling different circuits of the motor drive module; the infrared risk avoidance device is connected to the STM32F103ZET6 single-chip microcomputer main control module, and processes the collected data in real time and transmits it to the motor drive module in real time; the pressure sensor collects and transfers external pressure data to the STM32F103ZET6 single-chip microcomputer main control module to control the ejection of the first propeller and the second propeller; The lighting module includes a photoresistor circuit and a searchlight interface circuit. The photoresistor transmits light intensity data via the PA5 pin of the STM32F103ZET6 microcontroller main control module and controls the brightness of the navigation lights based on the output PWM waveform. The nRF24L01 wireless module uses PB14 and PB15 of the STM32F103ZET6 microcontroller main control module as the MISO and MISI data line interfaces in the SPI communication protocol. The OLED display module is connected to the STM32 main control module, and through different programming settings, it realizes the real-time display of the test transmission data packet loss rate; When it is on land, the pressure sensor detects a decrease in external pressure and switches to land mode. The STM32F103ZET6 microcontroller main control module issues control instructions, causing the STM32F103ZET6 microcontroller to change the duty cycle of the PWM wave to control the servo rotation angle. The rotation of the servo drives the universal wheel to generate forward rotational force, achieving two-dimensional forward movement. The real-time images captured by the MIPI camera are connected to the RX and TX pins of the ESP8266WIFI module through the PA2 and PA3 pins of the STM32F103ZET6 microcontroller main control module to collect image data. The data is then transmitted to the remote control end according to the serial communication protocol. The use of a 5dB gain antenna makes its data transmission more stable and reliable. In unobstructed conditions, the straight-line communication distance can reach 50 meters. When it is in water, the pressure sensor detects the increase in external environmental pressure, which in turn causes the STM32F103ZET6 single-chip microcomputer main control module to issue instructions to control the A4957 drive motor to adjust the expansion of the first and second propellers, providing power for its underwater operation. The remote control instructions of the remote terminal are transmitted to the bionic robot snake through the nRF24L01 wireless module, realizing real-time movement in six dimensions: front, back, left, right, up and down. The lighting module collects photoelectric data through a photoresistor for control, transmits light intensity data through the PA5 pin of the built-in STM32F103ZET6 single-chip microcomputer main control module, processes the light intensity through the internal ADC analog-to-digital converter and sets the light intensity threshold, controls PA9 and PA12 to output PWM waveforms, and realizes brightness control of the navigation lights. The infrared risk avoidance device monitors the external environment in real time. If the control command is not transmitted in time, it cooperates with the A4957 drive motor to perform emergency braking to ensure the normal operation of the bionic snake robot.

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