A polyhedron swarm manipulation soft robot and multi-body fusion method thereof

Abstract

The present invention discloses a polyhedron swarm manipulation soft robot and a multi-body fusion method thereof. The polyhedron swarm manipulation soft robot comprises: a controller and at least three polyhedron soft robots, wherein the polyhedron soft robots comprise: a plurality of corner brakes and a plurality of side brakes; the two ends of the side brakes are movably connected to the two corner brakes respectively; the corner brakes and the side brakes are both connected to the controller; the controller is used to control the size of the corner brakes and the size of the side brakes; the corner brake at the top vertex of each polyhedron soft robot is used to support a storage tray. Since the size of the corner brakes and the size of the side brakes are adjustable, the height of the polyhedron soft robot can be changed by changing the size of the corner brakes and the size of the side brakes. When some polyhedron soft robots are adjusted, the tilt state of the storage tray can be changed, thereby changing the state of the items placed on the storage tray, thereby broadening the application scenarios of the polyhedron soft robot.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a polyhedron swarm manipulation soft robot. Background Art

[0002] Robots can adapt to mission requirements and environmental changes, finding widespread application in manufacturing, aerospace, extreme environment operations, and food and pharmaceutical packaging. Prior art, patent publication CN102672716A describes a polyhedron-shaped closed triangle mechanism and connecting rod components as telescopic rods. During self-reconfiguration, the robot can adjust its configuration by extending or retracting the corresponding rods. However, these robots are controlled and used individually, resulting in a single application scenario.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a polyhedron swarm manipulation soft robot in response to the above-mentioned defects of the prior art, aiming to solve the problem of a single application scenario of robots in the prior art.

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0006] A polyhedron swarm manipulation soft robot, comprising: a controller and at least three polyhedron soft robots, wherein the at least three polyhedron soft robots are evenly arranged on a plane; the polyhedron soft robots include:

[0007] Several corner brakes are located at the vertices of the polyhedron;

[0008] a plurality of edge brakes, each located at the edge of the polyhedron;

[0009] Wherein, the two ends of the side brake are movably connected to the two corner brakes respectively;

[0010] The corner brake and the side brake are both connected to the controller;

[0011] The controller is used to control the size of the corner brake and the size of the side brake;

[0012] The angular brake at the top vertex of each polyhedron soft robot is used to support the storage tray.

[0013] The polyhedron swarm manipulation soft robot, wherein the side brake comprises:

[0014] expansion structure;

[0015] Two first magnetic bodies, respectively located at two ends of the expansion structure;

[0016] The side brake is movably connected to the angle brake via a connecting seat; the connecting seat comprises:

[0017] A flexible sticker, attached to the surface of the corner brake and provided with a plurality of mounting structures;

[0018] A plurality of second magnetic bodies are installed on corresponding installation structures;

[0019] Wherein, the second magnetic body is magnetically connected to the first magnetic body.

[0020] The polyhedron swarm manipulation soft robot, wherein the expansion structure is a porous expansion structure, and the porous expansion structure becomes larger in size after absorbing gas; the side brake further includes:

[0021] a wrapping bag, wherein the porous expansion structure and the first magnetic body are both located in the wrapping bag;

[0022] The first air supply pipe is connected to the wrapping bag.

[0023] The polyhedron swarm manipulation soft robot, wherein the controller includes a gas conveyor; the flexible patch is provided with a through hole; the angular brake includes:

[0024] a balloon, abutting against the flexible patch;

[0025] a second air supply tube, connected to the balloon;

[0026] Wherein, the second air supply pipe is located in the through hole;

[0027] The first air supply pipe and the second air supply pipe are both communicated with the gas conveyor.

[0028] A multi-body fusion method for a polyhedron swarm manipulation soft robot, wherein the method is applied to any of the polyhedron swarm manipulation soft robots described above, wherein a tray loaded with a plurality of particles is placed on the polyhedron swarm manipulation soft robot; the multi-body fusion method comprises the steps of:

[0029] Obtaining the initial position information and initial height information of each polyhedral soft robot;

[0030] According to the initial position information and initial height information of the polyhedron soft robot, the initial height information of the polyhedron soft robot is continuously adjusted by controlling the size of the corner brake and / or the size of the side brake to obtain updated height information so that the particles in the placement tray can be moved.

[0031] The multi-body fusion method for controlling a soft robot by a polyhedron swarm, wherein the storage tray is a circular sieve tray provided with a plurality of sieve holes, and the particulate matter includes: large-diameter spherical beans, small-diameter spherical beans, and non-spherical debris, wherein the particle size of the large-diameter spherical beans is larger than the aperture size of the sieve holes, and the particle size of the small-diameter spherical beans is smaller than the aperture size of the sieve holes;

[0032] The method of continuously adjusting the initial height information of the polyhedron soft robot by controlling the size of the corner brake and / or the size of the side brake according to the initial position information and the initial height information of the polyhedron soft robot to obtain updated height information includes:

[0033] According to the initial position information of the polyhedron soft robot, the area where the polyhedron soft robot is located is divided into at least three areas, each area having at least one polyhedron soft robot;

[0034] Determining updated height information of the polyhedron soft robot based on the initial position information and initial height information of the polyhedron soft robot, and controlling the size of the corner brake and / or the size of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in a certain area;

[0035] Continue to determine the updated height information of the polyhedron soft robot, and control the size of the corner brake and / or the size of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in the next area adjacent to the area, until the large-diameter spherical beans are separated from the particles and the polyhedron soft robot is restored to the initial height information.

[0036] The multi-body fusion method for a polyhedron swarm manipulation soft robot, wherein the method determines updated height information of the polyhedron soft robot based on initial position information and initial height information of the polyhedron soft robot, and controls the size of the corner brake and / or the size of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in a certain area, includes:

[0037] Increasing the size of the corner brake and / or the size of the side brake of the polyhedron soft robot in a certain area so that the updated height information of the polyhedron soft robot in the area is greater than the initial height information; and / or

[0038] The size of the corner brake and / or the size of the side brake of the polyhedron soft robot in other areas outside a certain area is reduced so that the updated height information of the polyhedron soft robot in other areas is less than the initial height information.

[0039] The multi-body fusion method for polyhedron swarm manipulation of soft robots further comprises the following steps:

[0040] According to the initial position information of the polyhedron soft robot, the initial position information of the polyhedron soft robot is continuously adjusted by controlling the size of the angular brake to obtain updated position information so as to move the storage tray.

[0041] A computer device comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0042] A computer-readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0043] Beneficial effects: Since the size of the corner brake and the side brake are adjustable, the height of the polyhedron soft robot can be changed by changing the size of the corner brake and the side brake. When adjusting some of the polyhedron soft robots in the polyhedron group manipulation soft robot, the tilt state of the storage tray can be changed, which also changes the state of the items placed on the storage tray, thereby expanding the application scenarios of the polyhedron soft robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the structure of the soft robot in an embodiment of the present invention.

[0045] Figure 2 It is a structural schematic diagram of the connecting seat and the angle brake in an embodiment of the present invention.

[0046] Figure 3 2 is a schematic structural diagram of a connecting base in an embodiment of the present invention.

[0047] Figure 4 Schematic diagram of the structure of the side brake in an embodiment of the present invention.

[0048] Figure 5 Schematic diagram of the soft robot rising from an initial height to different heights in an embodiment of the present invention.

[0049] Figure 6 Schematic diagram of the soft robot lowering from an initial height in an embodiment of the present invention.

[0050] Figure 7 Schematic diagram of the sequential changes of the highest point of the soft robot in an embodiment of the present invention.

[0051] Figure 8 These are photos showing the sequential changes in the highest point of the soft robot according to an embodiment of the present invention.

[0052] Figure 9 It is a flow chart of a multi-body fusion method for polyhedron swarm manipulation of a soft robot in an embodiment of the present invention.

[0053] Description of reference numerals:

[0054] 100. Angle brake; 110. Second air supply pipe; 120. Cable tie; 130. Connecting seat; 131. Second magnetic body; 132. Flexible patch; 133. Through hole; 140. Balloon; 200. Side brake; 201. Expansion structure; 202. Wrapping bag; 203. First magnetic body; 204. Bag opening; 205. First air supply pipe. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] Please also see Figures 1-8 , the present invention provides some embodiments of a polyhedron swarm manipulation soft robot.

[0057] like Figure 1 and Figure 8 As shown, a polyhedron swarm manipulation soft robot of the present invention comprises: a controller and at least three polyhedron soft robots, wherein the at least three polyhedron soft robots are evenly arranged on a plane; the polyhedron soft robots comprise:

[0058] A plurality of corner brakes 100 are located at the vertices of the polyhedron;

[0059] a plurality of edge brakes, each located at the edge of the polyhedron;

[0060] Wherein, both ends of the side brake are movably connected to the two corner brakes 100 respectively;

[0061] The corner brake 100 and the side brake are both connected to the controller;

[0062] The controller is used to control the size of the corner brake 100 and the size of the side brake;

[0063] The corner brake 100 at the top vertex of each polyhedron soft robot is used to support the storage tray.

[0064] It is worth noting that the polyhedron soft robot is in the shape of a polyhedron. A polyhedron is a solid formed by four or more polygons, and a polygon is a closed figure composed of three or more line segments connected end to end. Corner brake 100 is a scalable device located at the corner of a polygon in a polyhedron. The size of corner brake 100 is adjustable. Side brake 200 is a scalable device located at the edge of a polygon in a polyhedron. The size of side brake 200 is adjustable. Adjusting the size of corner brake 100 and side brake 200 changes the size of the polyhedron soft robot, specifically its height. Corner brake 100 is located at the vertex of the polyhedron, and side brake 200 serves as the edge of the polyhedron. Corner brake 100 is movably connected to both ends of side brake 200. The polygonal faces of the polyhedron are hollow.

[0065] All polyhedron soft robots use the same structure. For example, when the polyhedron soft robot is a tetrahedron, all polyhedron soft robots are tetrahedrons. The polyhedron soft robot has at least three corner brakes 100 in contact with a plane (for example, the ground), and at least one corner brake 100 is located at the top vertex. The corner brake 100 located at the top vertex contacts and supports the storage tray. For example, when the polyhedron soft robot is a tetrahedron, three corner brakes 100 contact the plane and one corner brake 100 contacts the storage tray; when the polyhedron soft robot is a regular hexahedron, four corner brakes 100 contact the plane and four corner brakes 100 contact the storage tray.

[0066] Since the size of the corner brake 100 and the size of the side brake are adjustable, the height of the polyhedron soft robot can be changed by changing the size of the corner brake 100 and the size of the side brake. When adjusting some of the polyhedron soft robots in the polyhedron group manipulation soft robot, the tilt state of the storage tray can be changed, which also changes the state of the items placed on the storage tray, thereby expanding the application scenarios of the polyhedron soft robot.

[0067] For example, if soybeans are placed on a tray and the tray is tilted, the plump soybeans, which are spherical, will roll on the tray, while other non-spherical debris, such as soybean shells or broken beans, will not easily roll on the tray. This allows the plump soybeans to be separated from the other debris. For another example, since polyhedral soft robots can roll, when multiple polyhedral soft robots roll in a certain direction, they can drive the tray to move.

[0068] In a preferred implementation of the embodiment of the present invention, Figure 1 As shown, the number of faces of the polyhedron is 4 to 12.

[0069] Specifically, the polyhedron has polygonal surfaces, and the number of surfaces is 4 to 12. The number of surfaces can be configured as needed. Different numbers of surfaces can result in different stability and rolling difficulties for the polyhedron soft robot. The number of surfaces can be determined based on different application scenarios.

[0070] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 8 As shown, at least three polyhedral soft robots are arranged in an array.

[0071] Specifically, the array arrangement can be a circular array or a rectangular array. The array arrangement method is related to the shape of the storage tray. For example, when a circular storage tray is used, the array can be arranged in a circular array; when a rectangular storage tray is used, the array can be arranged in a rectangular array.

[0072] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 4 As shown, the side brake 200 includes:

[0073] expansion structure 201;

[0074] The two first magnetic bodies 203 are respectively located at two ends of the expansion structure 201 .

[0075] Specifically, the expansion structure 201 can expand and contract to adjust the length of the side brake 200. The first magnetic body 203 is used to connect to other components by magnetic attraction. The first magnetic body 203 can be connected to both ends of the expansion structure 201.

[0076] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the side brake 200 is movably connected to the corner brake 100 via a connecting seat 130; the connecting seat 130 includes:

[0077] The flexible sticker 132 is attached to the surface of the corner brake 100 and is provided with a plurality of mounting structures;

[0078] A plurality of second magnetic bodies 131 are installed on corresponding installation structures;

[0079] The second magnetic body 131 is magnetically connected to the first magnetic body 203 .

[0080] Specifically, the flexible patch 132 is flexible and can be deformed. Since the angle between the side brake 200 and the adjacent side brake 200 will change after the side brake 200 expands and contracts, the flexible patch 132 will deform and adjust the position of the mounting structure to adapt to the changes of the side brake 200. The second magnetic body 131 forms a magnetic connection with the first magnetic body 203. The magnetic body can be a magnetic component, or a component that is magnetically attracted by a magnetic component. For example, the two magnetic bodies can be a magnet component and an iron component, or two magnet components. The second magnetic body 131 uses a magnetic component, for example, a magnet component.

[0081] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 4 As shown, the expansion structure 201 is a porous expansion structure, which becomes longer after absorbing gas.

[0082] Specifically, the expansion structure 201 adopts a porous expansion structure (for example, a porous sponge), which has a porous structure inside. Gas (for example, air) can be filled into the porous structure, and the porous expansion structure stretches; after the gas in the porous structure is extracted, the porous expansion structure shortens.

[0083] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 4 As shown, the side brake 200 further includes:

[0084] A wrapping bag 202, wherein the porous expansion structure and the first magnetic body 203 are both located in the wrapping bag 202;

[0085] The first air supply pipe 205 is connected to the wrapping bag 202 .

[0086] Specifically, to prevent the air within the porous expansion structure from escaping, a wrapping bag 202 is used to enclose the porous expansion structure and the first magnetic body 203, maintaining the air pressure and length of the porous expansion structure. A first air supply pipe 205 is connected to the wrapping bag 202, allowing air to be added to or removed from the wrapping bag 202. The wrapping bag 202 is provided with a bag opening 204, and the first air supply pipe 205 is inserted into the bag opening 204 and sealed therewith.

[0087] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the flexible patch 132 is provided with a through hole 133; the corner brake 100 includes:

[0088] The balloon 140 is attached to the flexible patch 132;

[0089] A second air supply tube 110 is connected to the balloon 140;

[0090] The second air supply pipe 110 is located in the through hole 133 .

[0091] Specifically, a through hole 133 is provided on the flexible patch 132, specifically in the center of the flexible patch 132, and a plurality of mounting structures are provided around the through hole 133. The second air supply tube 110 is located in the through hole 133 and can be specifically snapped into the through hole 133. For example, the second air supply tube 110 is tightened with a cable tie 120, and the cable tie 120 and the balloon 140 are respectively located on both sides of the through hole 133. The second air supply tube 110 cannot be removed from the through hole 133 due to the obstruction of the cable tie 120 and the balloon 140. The cable tie 120 can also tighten the second air supply tube 110 to prevent the balloon 140 from deflating. The mounting structure can be a slot, and the second magnetic body 131 is inserted into the slot to form a detachable connection.

[0092] In a preferred implementation of the embodiment of the present invention, the controller includes a gas conveyor, and the first gas supply pipe 205 and the second gas supply pipe 110 are both connected to the gas conveyor.

[0093] Specifically, the gas conveyor can be an air pump that can deliver air to or extract air from the first air supply tube 205, thereby adjusting the air pressure in the expansion structure 201 to change the size of the side brake. The gas conveyor can also deliver air to or extract air from the second air supply tube 110, thereby adjusting the air pressure in the balloon 140 to change the size of the corner brake 100.

[0094] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, each connection base 130 has three or four mounting structures.

[0095] Specifically, each flexible patch 132 has 3 to 4 mounting structures, and each mounting structure may correspond to one edge brake 200 .

[0096] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, a flexible, stretchable connection portion is provided between two adjacent mounting structures. When the relative position of a mounting structure to an adjacent mounting structure changes, the connection portion between the two mounting structures stretches or contracts. The second magnetic body 131 can be rectangular, and the mounting structure can also be rectangular, with the corners of the rectangular mounting structure oriented toward the center of the flexible patch 132. The connection portion is trapezoidal and connects the edges of the two adjacent rectangular mounting structures. All mounting structures and all connection portions are sequentially connected to form a through hole 133.

[0097] Based on any of the above embodiments of the polyhedron swarm manipulation soft robot, the present invention also provides a preferred embodiment of a multi-body fusion method of the polyhedron swarm manipulation soft robot:

[0098] like Figure 9 As shown, the multi-body fusion method of the polyhedron swarm manipulation soft robot of the embodiment of the present invention is applied to the polyhedron swarm manipulation soft robot of any of the above embodiments, and a storage tray loaded with a number of particles is placed on the polyhedron swarm manipulation soft robot. The polyhedron swarm manipulation soft robot can perform a variety of tasks. For example, if the particles include spherical particles and non-spherical particles, and the difficulty of rolling is different, a separation task can be performed to separate the spherical particles and the non-spherical particles. For another example, if the particles include large-diameter particles and small-diameter particles, and the storage tray is a sieve tray, a screening task can be performed to screen out small-diameter particles. In the process of performing the task, the motion state of the storage tray is changed by the polyhedron swarm manipulation soft robot to achieve the goal of the task.

[0099] The multi-body fusion method includes the following steps:

[0100] Step S100: Acquire the initial position information and initial height information of each polyhedral soft robot.

[0101] Step S200: Based on the initial position information and initial height information of the polyhedron soft robot, the initial height information of the polyhedron soft robot is continuously adjusted by controlling the size of the corner brake and / or the size of the side brake to obtain updated height information so as to move the particles in the storage tray.

[0102] Specifically, the initial position information of each polyhedron soft robot is different, but the initial height information of each polyhedron soft robot can be the same. The initial height information of the polyhedron soft robot is related to the size of the corner brake and the size of the side brake. In a natural state, once the size of the corner brake and the size of the side brake are determined, the initial height information of the polyhedron soft robot is also determined. The size of the corner brake and the size of the side brake are adjusted and updated by the controller to obtain updated height information. By changing the height of the polyhedron soft robot, the storage tray is tilted, and some of the particles in the storage tray will slide or roll, thereby achieving the goal of the corresponding task.

[0103] The storage tray is a circular sieve tray, and the particulate matter includes: large-diameter spherical beans, small-diameter spherical beans, and non-spherical debris. Spherical beans refer to plump beans that are spherical or ellipsoidal in shape. Spherical beans are easy to roll. Non-spherical debris refers to non-spherical objects. Non-spherical debris is not easy to roll and may slide. Non-spherical debris can be cracked beans or debris such as bean shells. The particle size of large-diameter spherical beans is larger than the aperture of the sieve, while the particle size of small-diameter spherical beans is smaller than the aperture of the sieve. Small-diameter spherical beans will fall through the sieve aperture during rolling or sliding, while large-diameter spherical beans will not pass through the sieve aperture and remain in the circular sieve tray. Non-spherical debris includes large-diameter non-spherical debris and small-diameter non-spherical debris. Small-diameter non-spherical debris will fall through the sieve aperture during sliding, while large-diameter non-spherical debris will not pass through the sieve aperture and remain in the circular sieve tray. The goal of the task can be to separate large-diameter spherical beans from the granular matter. The placement tray is tilted based on the difficulty of rolling and whether the beans fall out of the sieve holes, so as to screen out the large-diameter spherical beans. Step S200 includes:

[0104] Step S210: Divide the area where the polyhedron soft robot is located into at least three areas according to the initial position information of the polyhedron soft robot, and each area has at least one polyhedron soft robot.

[0105] Step S220: Determine the updated height information of the polyhedron soft robot based on the initial position information and initial height information of the polyhedron soft robot, and control the size of the corner brake and / or the size of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in a certain area.

[0106] Step S230, continue to determine the updated height information of the polyhedron soft robot, and control the size of the corner brake and / or the size of the side brake according to the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in the next area adjacent to the area, until the large-diameter spherical beans are separated from the particles, and the polyhedron soft robot is restored to the initial height information.

[0107] Specifically, when sifting beans, the particles can be placed in the center of a tray. The polyhedron soft robot is then controlled to tilt the tray, with the tilt gradually changing direction, causing the particles to roll and slide around the center of the tray. As the particles roll and slide, small-diameter spherical beans and small-diameter non-spherical debris fall out of the sieve holes. Large-diameter spherical beans and large-diameter non-spherical debris remain on the circular sieve, and the distance between the two is increased, thereby separating the large-diameter spherical beans.

[0108] The inclination of the circular sieve plate is to change the inclination direction in a certain order. When the circular sieve plate is tilted, it has a highest point. The highest point of the circular sieve plate moves over time, from one area to the next adjacent area. In this process, the height of the polyhedron soft robot in the adjacent previous area (i.e., the previous adjacent area of ​​the area where the highest point of the circular sieve plate is located) is gradually reduced to the initial height, the height of the polyhedron soft robot in the current area (i.e., the area where the highest point of the circular sieve plate is located) remains unchanged, and the height of the polyhedron soft robot in the adjacent next area (i.e., the next adjacent area of ​​the area where the highest point of the circular sieve plate is located) is first gradually increased to a preset height, so that a wave crest of a marching wave can be formed, and the wave crest is located at each point on the edge of the circular sieve plate in turn, and each point on the edge of the circular sieve plate is raised in turn. Of course, it is also possible to adopt a method of lowering the height of the polyhedron soft robot to form a wave trough of a marching wave, and the wave trough is located at each point on the edge of the circular sieve plate in turn, and each point on the edge of the circular sieve plate is lowered in turn.

[0109] The central angle of the moving trajectory of the highest point of the circular sieve plate can be less than 360 degrees. The particles do not complete a circle and will not merge with the non-spherical debris that was previously retained, ensuring that large-diameter spherical beans are separated from other different types of particles.

[0110] Step S220 specifically includes:

[0111] Step S221: Increase the size of the corner brake and / or the size of the side brake of the polyhedron soft robot in a certain area so that the updated height information of the polyhedron soft robot in the area is greater than the initial height information.

[0112] Step S222: reducing the size of the corner brakes and / or the size of the side brakes of the polyhedron soft robot in other areas outside a certain area, so that the updated height information of the polyhedron soft robot in other areas is less than the initial height information.

[0113] In a specific implementation of the present invention, by increasing the size of the corner brakes and / or the size of the side brakes of the polyhedron soft robot in a certain area Q, the height of the polyhedron soft robot in the area Q can be increased, thereby positioning the highest point of the circular sieve tray within the area Q. Alternatively, the size of the corner brakes and / or the size of the side brakes of the polyhedron soft robot in areas other than the certain area Q can be reduced, thereby lowering the height of the polyhedron soft robot in other areas and positioning the highest point of the circular sieve tray within the area Q. Of course, the height of the polyhedron soft robot in other areas can be lowered to different heights.

[0114] The multi-body fusion method also includes the following steps:

[0115] Step S300: Based on the initial position information of the polyhedron soft robot, the initial position information of the polyhedron soft robot is continuously adjusted by controlling the size of the angular brake to obtain updated position information so as to move the storage tray.

[0116] Specifically, the tray can be removed, and by controlling the size of the angular brakes, the polyhedron soft robot can be rolled, changing its initial position to obtain updated position information. Moving the tray can be used to move the sieved beans after completing a task, or when sieved beans or debris have accumulated too high below, requiring a different location to continue the task.

[0117] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A polyhedron swarm manipulation soft robot, characterized in that: include: A controller and at least three polyhedral soft robots, wherein the at least three polyhedral soft robots are evenly arranged on a plane; The polyhedral soft robot comprises: A plurality of corner brakes are respectively located at the vertices of the polyhedron; the corner brakes include: a balloon; a plurality of edge brakes, each located at the edge of the polyhedron; Wherein, the two ends of the side brake are movably connected to the two corner brakes respectively; The corner brake and the side brake are both connected to the controller; The controller is used to control the size of the balloon and the length of the side brake to change the height of the polyhedron soft robot; The angular brake at the top vertex of each polyhedron soft robot is used to support the storage tray.

2. The polyhedron swarm manipulation soft robot according to claim 1, characterized in that: The side brake comprises: expansion structure; Two first magnetic bodies, respectively located at two ends of the expansion structure; The side brake is movably connected to the angle brake via a connecting seat; the connecting seat comprises: A flexible sticker, attached to the surface of the corner brake and provided with a plurality of mounting structures; A plurality of second magnetic bodies are installed on corresponding installation structures; Wherein, the second magnetic body is magnetically connected to the first magnetic body.

3. The polyhedron swarm manipulation soft robot according to claim 2, characterized in that: The expansion structure is a porous expansion structure, and the size of the porous expansion structure increases after the porous expansion structure absorbs gas; the side brake further includes: a wrapping bag, wherein the porous expansion structure and the first magnetic body are both located in the wrapping bag; The first air supply pipe is connected to the wrapping bag.

4. The polyhedron swarm manipulation soft robot according to claim 3, characterized in that: The controller includes a gas conveyor; the flexible patch is provided with a through hole; the angle brake includes: a second air supply tube, connected to the balloon; wherein the balloon is attached to the flexible patch; The second air supply pipe is located in the through hole; The first air supply pipe and the second air supply pipe are both communicated with the gas conveyor.

5. A multi-body fusion method for polyhedron swarm manipulation of soft robots, characterized in that: Applied to the polyhedron swarm manipulation soft robot according to any one of claims 1 to 4, wherein a tray loaded with a plurality of particles is placed on the polyhedron swarm manipulation soft robot; the multi-body fusion method comprises the steps of: Obtaining the initial position information and initial height information of each polyhedral soft robot; According to the initial position information and initial height information of the polyhedron soft robot, the initial height information of the polyhedron soft robot is continuously adjusted by controlling the size of the balloon and / or the length of the side brake to obtain updated height information so that the particles in the placement tray can be moved.

6. The multi-body fusion method for polyhedron swarm manipulation of soft robots according to claim 5, characterized in that: The placing tray is a circular sieve tray with a plurality of sieve holes. The particulate matter includes: large-diameter spherical beans, small-diameter spherical beans, and non-spherical debris. The particle size of the large-diameter spherical beans is larger than the aperture of the sieve holes, and the particle size of the small-diameter spherical beans is smaller than the aperture of the sieve holes. The method of continuously adjusting the initial height information of the polyhedron soft robot by controlling the size of the balloon and / or the length of the side brake according to the initial position information and the initial height information of the polyhedron soft robot to obtain updated height information includes: According to the initial position information of the polyhedron soft robot, the area where the polyhedron soft robot is located is divided into at least three areas, each area having at least one polyhedron soft robot; Determining updated height information of the polyhedron soft robot based on the initial position information and initial height information of the polyhedron soft robot, and controlling the size of the balloon and / or the length of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in a certain area; Continue to determine the updated height information of the polyhedron soft robot, and control the size of the balloon and / or the length of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in the next area adjacent to the area, until the large-diameter spherical beans are separated from the particles and the polyhedron soft robot is restored to the initial height information.

7. The multi-body fusion method for polyhedron swarm manipulation of soft robots according to claim 6, characterized in that: The method of determining updated height information of the polyhedron soft robot based on the initial position information and initial height information of the polyhedron soft robot, and controlling the size of the balloon and / or the length of the side brake based on the updated height information of the polyhedron soft robot so that the highest point of the storage tray is located in a certain area, includes: Increasing the size of the balloon and / or the length of the side brake of the polyhedron soft robot in a certain area so that the updated height information of the polyhedron soft robot in the area is greater than the initial height information; and / or Reduce the size of the balloon and / or the length of the side brake of the polyhedron soft robot in other areas outside a certain area so that the updated height information of the polyhedron soft robot in other areas is less than the initial height information.

8. The multi-body fusion method for polyhedron swarm manipulation of soft robots according to claim 5, characterized in that: The multi-body fusion method further comprises the steps of: According to the initial position information of the polyhedron soft robot, the initial position information of the polyhedron soft robot is continuously adjusted by controlling the size of the balloon to obtain updated position information so as to move the placement tray.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 5 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 8 are implemented.

Images