Cluster robot based on dynamic magnetic potential interaction driving among monomers and control method

Abstract

The invention relates to a cluster robot based on dynamic magnetic potential interactive driving among monomers and a control method. The robot comprises a direct-current gear motor, a motor fixing disc, a circular pipe supporting piece, a magnet set module, a duct cavity module, a power source, a controller support and a controller. The motor fixing disc is fixedly connected with the direct-current gear motor, the circular pipe supporting piece is fixedly connected with the motor fixing disc, the magnet set module is located in the center of the circular pipe supporting piece and fixedly connected with a rotating shaft of the direct-current gear motor, the duct cavity module is installed below the circular pipe supporting piece, and the controller is in communication connection with the upper computer and receives a control instruction of the upper computer. And the rotation direction and the rotation speed of the magnet group module are adjusted in real time. By dynamically regulating and controlling the magnetic potential field between the single robots, the magnetic field with time-space variation directly drives cluster phase change reconstruction and multi-modal motion. Compared with the prior art, the method does not need additional perception and calculation of the single robot, and has the beneficial effect of enlarging the scale of the cluster robot.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a cluster robot and a control method based on dynamic magnetic potential interaction drive between monomers. Background Art

[0002] Compared with the single robot with a single mission load and limited capabilities, swarm robots can improve system performance through complementary capabilities and coordinated actions. The entire formation has strong robust self-healing capabilities and fault redundancy. Even if some individuals are lost, it will not cause fatal impact on the whole. It has the advantages of strong adaptability, redundancy, robustness and scalability in complex and unknown environments and tasks.

[0003] Swarm robot researchers have used a variety of methods based on control theory and distributed computing to enable simple, independent units to work together to complete complex tasks, and have achieved some success. However, faced with a complex and dynamically changing external environment, and limited by the computing power of individual robots, swarm robots face great challenges in perception, communication, planning, coordination, and control. There is also an irreconcilable contradiction between the intelligence of individual robots and the size of the group. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a cluster robot and control method based on dynamic magnetic potential interaction drive between monomers. The single robot does not need to perform additional perception and calculation, thus solving the problem that the size of the group is limited by the intelligence of the single robot.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, there is provided a cluster robot based on dynamic magnetic potential interaction between monomers, comprising a DC reduction motor, a motor fixing plate, a round tube support, a magnet group module, a duct cavity module, a power supply, and a control module; the motor fixing plate is fixedly connected to the DC reduction motor, the round tube support is fixedly connected to the motor fixing plate, the magnet group module is fixedly connected to the rotating shaft of the motor and is located at the center of the round tube support, and the duct cavity module is installed below the round tube support;

[0007] The magnet assembly module includes a rotating shaft connecting piece, a cube magnet block and a magnet mounting groove, the rotating shaft connecting piece is fixedly connected to the rotating shaft of the DC reduction motor, the magnet mounting groove is fixedly connected to the rotating shaft connecting piece, and there are multiple cube magnet blocks installed in the magnet mounting groove;

[0008] The ducted cavity module includes a coreless cup motor, a propeller blade, a cavity top layer, a cavity air chamber wall and a cavity bottom layer; the coreless cup motor is fixedly connected to the cavity top layer, the rotating shaft of the coreless cup motor is fixedly connected to the propeller blade, the cavity top layer is fixedly connected to the circular tube support, and the cavity air chamber wall is fixedly connected to the cavity top layer and the cavity bottom layer;

[0009] The power supply and control module is located above the motor fixing plate and is connected to the DC reduction motor.

[0010] Furthermore, the number of the cubic magnet blocks is six, and the cubic magnet blocks are installed in the magnet installation slot in a circular distribution with the center line of the magnet installation slot as the axis, and the magnetic field directions of the cubic magnet blocks are consistent.

[0011] Furthermore, the top layer of the cavity is arranged with a plurality of fan-shaped air inlets arranged in a circle around the center of the top layer of the cavity, and the bottom layer of the cavity is arranged with a plurality of circular air outlets arranged in a circle around the center of the bottom layer of the cavity.

[0012] Furthermore, a duct is arranged at the periphery of the blade, the duct wall of the duct is fixedly connected to the top layer of the cavity, the top layer of the cavity, the cavity air chamber wall and the bottom layer of the cavity form a hollow air chamber, and the blade is located in the hollow air chamber.

[0013] Furthermore, the power source is three lithium batteries connected end to end around the DC reduction motor, and the power source is installed above the motor fixing plate.

[0014] Furthermore, the control module includes a controller bracket and a controller, the controller bracket is connected to the motor fixing plate and the controller, and the controller is located above the power supply.

[0015] Furthermore, the controller is ring-shaped, and the housing of the DC reduction motor passes through the middle hollow part of the ring.

[0016] Furthermore, the controller is connected to the host computer through near field communication technology.

[0017] Furthermore, the central axis of the magnet group module coincides with the rotating axis of the DC motor at the center line of the robot, and the circular tube support, the top layer of the cavity, the cavity air chamber wall and the bottom layer of the cavity have the same diameter, and the central axes coincide.

[0018] According to another aspect of the present invention, a control method for a cluster robot based on dynamic magnetic potential interaction between monomers is provided, wherein the rotation angle and speed of the DC reduction motor in each cluster robot are controlled in real time by a control module, and the rotation angle and speed of the magnet group module are adjusted, so that the magnetic potential field between the cluster robots can be dynamically transformed in time and space as needed, thereby driving a cluster composed of multiple cluster robots to perform phase change reconstruction and multimodal motion.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The magnet group module of the present invention includes a rotating shaft connecting part, a cubic magnet block and a magnet mounting groove, the cubic magnet block is installed in the magnet mounting groove, the magnet mounting groove is fixedly connected to the rotating shaft connecting part, the rotating shaft connecting part is fixedly connected to the rotating shaft of the DC reduction motor, and the control module controls the rotation angle and speed of the DC reduction motor to adjust the angle and speed of the magnet group module, thereby adjusting the motion state and direction of the magnetic potential field of a single cluster robot, and by adjusting the magnetic potential field of each cluster robot in a cluster composed of multiple cluster robots, without the need for additional perception and calculation by the single robot, the phase change reconstruction and multimodal motion of the cluster composed of multiple cluster robots are realized.

[0021] 2. The magnet group module in the present invention rotates in a closed environment, which can avoid the inhalation of external fine particles. At the same time, it can avoid the problems of motor speed slowing down and stalling caused by the mutual attraction and contact between the magnet group modules when the robot collides, thereby improving the environmental adaptability of the robot.

[0022] 3. The ducted fan in the ducted cavity module of the present invention can deliver high-pressure air into the cavity air chamber to form an air cushion, thereby reducing the movement resistance of the robot to adapt to various terrains.

[0023] 4. The cluster robot of the present invention constructs and dynamically controls the physical magnetic potential field between monomers through the method of dynamic magnetic potential interaction between monomers, so that the magnetic field transformed in time and space directly drives the cluster phase change reconstruction and multimodal motion. There is no need for the single robot to perform additional perception and calculation, which solves the problem that the size of the group is limited by the intelligence of the single robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of a swarm robot based on dynamic magnetic potential interaction between monomers;

[0025] Figure 2 The exploded diagram of the swarm robot based on the dynamic magnetic potential interaction between monomers;

[0026] Figure 3 This is a front view of a swarm robot based on dynamic magnetic potential interaction between monomers;

[0027] Figure 4 A top view of a swarm robot based on dynamic magnetic potential interaction between monomers;

[0028] In the figure, 1. DC reduction motor, 2. motor fixing plate, 3. round tube support, 4. rotating shaft connecting part, 5. cube magnet block, 6. magnet mounting slot, 7. hollow cup motor, 8. blade, 9. cavity top layer, 10. cavity air chamber wall, 11. cavity bottom layer, 12. power supply, 13. controller bracket, 14. controller. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0032] like Figure 1-Figure 4 As shown, the present invention relates to a cluster robot and a control method based on dynamic magnetic potential interaction between monomers, wherein the robot comprises a DC reduction motor 1, a motor fixing plate 2, a round tube support 3, a magnet group module, a duct cavity module, a power supply 12, a controller bracket 13 and a controller 14. The motor fixing plate 2 is fixedly connected to the DC reduction motor 1, the round tube support 3 is fixedly connected to the motor fixing plate 2, the magnet group module is located at the center of the round tube support 3 and is fixedly connected to the rotating shaft of the DC reduction motor 1, and the duct cavity module is installed below the round tube support 3.

[0033] Wherein, the magnet group module includes a rotating shaft connector 4, a cubic magnet block 5 and a magnet mounting groove 6. The rotating shaft connector 4 is fixedly connected to the rotating shaft of the DC reduction motor 1, and the magnet mounting groove 6 is fixedly connected to the rotating shaft connector 4. The number of the cubic magnet blocks 5 is multiple, preferably six in this embodiment, and six cubic magnet blocks 5 are installed in the magnet mounting groove 6. The central axis of the magnet group module coincides with the rotating shaft of the DC motor 1 and the center line of the robot. In particular, the cubic magnet blocks 5 are installed in the magnet mounting groove 6 in a circular distribution with the center line of the magnet mounting groove 6 as the axis, and the magnetic field directions of all magnet blocks are consistent.

[0034] In this embodiment, the ducted cavity module includes a coreless motor 7, a paddle 8, a cavity top layer 9, a cavity air chamber wall 10 and a cavity bottom layer 11. The coreless motor 7 is fixed at the center of the cavity top layer 9, the rotating shaft of the coreless motor 7 is fixedly connected to the paddle 8, and the cavity top layer 9 is fixedly connected to the circular tube support 3. The upper end of the cavity air chamber wall 10 is fixedly connected to the cavity top layer 9, and the lower end is fixedly connected to the cavity bottom layer 11. The cavity top layer 9 is arranged with a plurality of fan-shaped air inlets arranged in a circle around the center of the cavity top layer 9, and the cavity bottom layer 11 is arranged with a plurality of circular air outlets arranged in a circle around the center of the cavity bottom layer 11. As a preferred embodiment, the circular tube support 3, the cavity top layer 9, the cavity air chamber wall 10 and the cavity bottom layer 11 have the same diameter, and the central axes coincide.

[0035] As a preferred embodiment, a duct can be provided on the periphery of the blade 8, and the duct wall is fixedly connected to the top layer 9 of the cavity. The blade 8 and the duct form a ducted fan. When the tip of the blade 8 is restricted by the duct, the impact noise is reduced, the induced drag is reduced, and the working efficiency is higher. Under the same power consumption, the ducted fan will generate greater thrust than an isolated propeller of the same diameter. At the same time, due to the encircling effect of the duct, its structure is compact, the aerodynamic noise is low, and the safety of use is good.

[0036] In this embodiment, the power supply 12 and the control module are located above the motor fixing plate 2 and connected to the DC reduction motor 1. The control module includes a controller 14 and a controller bracket 13. The power supply 12 uses three lithium batteries connected end to end around the DC reduction motor 1 and is installed above the motor fixing plate 2. The controller 14 is annular in shape, and the housing of the DC reduction motor 1 passes through the middle hollow part of the annular shape. The controller bracket 13 is used to connect the controller 14 and the motor fixing plate 2, so that the controller 14 is installed above the power supply 12.

[0037] In this embodiment, the coreless motor 7 can drive the blades 8 to send high-pressure air into the cavity air chamber composed of the cavity top layer 9, the cavity air chamber wall 10 and the cavity bottom layer 11 to form an air cushion, thereby reducing the robot's movement resistance to adapt to various terrains. The speed of the output shaft of the coreless motor 7 is controlled by the controller 14. By adjusting its speed, the friction force of the single robot on the ground can be dynamically controlled to enhance the control ability of the cluster robot.

[0038] In particular, the circular tube support 3 allows the magnet group module to rotate in a closed environment, which can prevent it from inhaling external fine particles. At the same time, it can avoid problems such as motor speed slowing down and stalling caused by mutual attraction and contact between the magnet group modules when the robot collides, thereby improving the environmental adaptability of the robot.

[0039] In particular, the controller 14 can communicate with the host computer through near field communication technology, receive the control instructions of the host computer, and adjust the rotation direction and rotation speed of the magnet group module in real time. By dynamically regulating the magnetic potential field between the single robots, the spatiotemporal changing magnetic field directly drives the cluster phase change reconstruction and multimodal motion, without the need for the single robot to perform additional perception and calculation, which is conducive to expanding the scale of cluster robots.

[0040] The swarm robot of the present invention constructs and dynamically regulates the physical magnetic potential field between monomers through the method of dynamic magnetic potential interaction between monomers, so that the magnetic field transformed in time and space directly drives the phase change reconstruction and multimodal motion of the swarm, without the need for the monomer robot to perform additional perception and calculation, thus solving the problem that the size of the group is limited by the intelligence of the monomer.

[0041] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A cluster robot based on dynamic magnetic potential interaction between monomers, characterized in that: The invention comprises a DC reduction motor (1), a motor fixing plate (2), a round tube support (3), a magnet group module, a duct cavity module, a power supply (12), and a control module; the motor fixing plate (2) is fixedly connected to the DC reduction motor (1), the round tube support (3) is fixedly connected to the motor fixing plate (2), the magnet group module is fixedly connected to the rotating shaft of the motor and is located at the center of the round tube support (3), and the duct cavity module is installed below the round tube support (3); The magnet group module comprises a rotating shaft connecting member (4), a cubic magnet block (5) and a magnet mounting groove (6); the rotating shaft connecting member (4) is fixedly connected to the rotating shaft of the DC reduction motor (1); the magnet mounting groove (6) is fixedly connected to the rotating shaft connecting member (4); and the cubic magnet blocks (5) are in plurality and are mounted in the magnet mounting groove (6); The duct cavity module comprises a coreless cup motor (7), a paddle (8), a cavity top layer (9), a cavity air chamber wall (10) and a cavity bottom layer (11); the coreless cup motor (7) is fixedly connected to the cavity top layer (9), the rotating shaft of the coreless cup motor (7) is fixedly connected to the paddle (8), the cavity top layer (9) is fixedly connected to the circular tube support (3), and the cavity air chamber wall (10) is fixedly connected to the cavity top layer (9) and the cavity bottom layer (11); The power supply (12) and the control module are located above the motor fixing plate (2) and are connected to the DC reduction motor (1).

2. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1 is characterized in that: The number of the cubic magnet blocks (5) is six. The cubic magnet blocks (5) are installed in the magnet installation groove (6) in a circular distribution with the center line of the magnet installation groove (6) as the axis. The magnetic field directions of the cubic magnet blocks (5) are consistent.

3. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1 is characterized in that: The top layer (9) of the cavity is provided with a plurality of fan-shaped air inlets arranged in a circle around the center of the top layer of the cavity, and the bottom layer (11) of the cavity is provided with a plurality of circular air outlets arranged in a circle around the center of the bottom layer of the cavity.

4. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1, characterized in that: A duct is arranged at the periphery of the blade (8), the duct wall of the duct is fixedly connected to the cavity top layer (9), the cavity top layer (9), the cavity air chamber wall (10) and the cavity bottom layer (11) form a cavity air chamber, and the blade (8) is located in the cavity air chamber.

5. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1 is characterized in that: The power source (12) is three lithium batteries connected end to end around the DC reduction motor (1), and the power source (12) is installed above the motor fixing plate (2).

6. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 5, characterized in that: The control module comprises a controller bracket (13) and a controller (14); the controller bracket (13) is connected to the motor fixing plate (2) and the controller (14); and the controller (14) is located above the power source (12).

7. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 6, characterized in that: The controller (14) is ring-shaped, and the housing of the DC reduction motor (1) passes through the middle hollow portion of the ring.

8. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 6, characterized in that: The controller (14) is communicatively connected to a host computer via near field communication technology.

9. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1, characterized in that: The central axis of the magnet group module coincides with the rotation axis of the DC motor (1) at the center line of the robot, and the circular tube support (3), the cavity top layer (9), the cavity air chamber wall (10) and the cavity bottom layer (11) have the same diameter, and the central axes coincide.

10. A control method for a cluster robot based on dynamic magnetic potential interaction between monomers according to any one of claims 1 to 9, characterized in that: The control module controls the rotation angle and speed of the DC reduction motor (1) in each cluster robot in real time, adjusts the rotation angle and speed of the magnet group module, and enables the magnetic potential field between the cluster robots to undergo dynamic time-space transformation as required, thereby driving a cluster composed of multiple cluster robots to perform phase change reconstruction and multi-modal motion.

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