Cluster robots and control methods based on dynamic magnetic potential interaction drive between monomers

Abstract

The present invention relates to a cluster robot and control method based on dynamic magnetic potential interaction drive between monomers. The robot includes a DC reduction motor, a motor fixing plate, a circular tube support, a magnet group module, a duct cavity module, a power supply, a controller bracket and a controller. The motor fixing plate is fixedly connected to the DC reduction motor, the circular tube support is fixedly connected to the motor fixing plate, the magnet group module is located at the center of the circular tube support and is fixedly connected to the rotating shaft of the DC reduction motor, the duct cavity module is installed below the circular tube support, and the controller is connected to the host computer for communication, receives control instructions from the host computer, and adjusts the rotation direction and rotation speed of the magnet group module in real time. The present invention dynamically regulates the magnetic potential field between the monomer robots so that the spatiotemporal changing magnetic field directly drives the cluster phase change reconstruction and multimodal motion. Compared with the prior art, the present invention does not require the monomer robots to perform additional perception and calculation, which has a beneficial effect on expanding the scale of cluster robots.

Description

Technical Field

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

[0002] Compared to the single-robot mission and limited capabilities of individual robots, swarm robots can improve system performance through complementary capabilities and coordinated actions. The entire formation possesses strong robust self-healing capabilities and fault redundancy, ensuring that even the loss of a few individuals will not be fatal to the entire group. This swarm possesses advantages such as adaptability, redundancy, robustness, and scalability in complex and unknown environments and missions.

[0003] Researchers in swarm robotics have achieved some success by using a variety of methods based on control theory and distributed computing to enable simple, independent units to collaborate and complete complex tasks. However, faced with a complex and dynamically changing external environment and limited computing power of individual robots, swarm robotics face significant challenges in perception, communication, planning, coordination, and control. Furthermore, there is an irreconcilable conflict between the intelligence of individual robots and the scale of the swarm. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned existing technologies and provide a cluster robot and control method based on dynamic magnetic potential interaction drive between monomers. It does not require individual robots to perform additional perception and calculation, and solves the problem that the size of the group is limited by the intelligence of the individual robots.

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

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

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

[0008] The ducted cavity module includes a coreless motor, blades, a cavity top layer, a cavity air chamber wall, and a cavity bottom layer; the coreless motor is fixedly connected to the cavity top layer, the rotating shaft of the coreless motor is fixedly connected to the blades, 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 provided with a plurality of fan-shaped air inlets arranged in a circumferential manner around the center of the top layer of the cavity, and the bottom layer of the cavity is provided with a plurality of circular air outlets arranged in a circumferential manner around the center of the bottom layer of the cavity.

[0012] Furthermore, a duct is provided on 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 cavity bottom layer form a hollow air chamber, and the blade is located in the hollow air chamber.

[0013] Furthermore, the power supply is three lithium batteries connected end to end around the DC reduction motor, and the power supply 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 annular, and the housing of the DC reduction motor passes through the middle hollow part of the annular shape.

[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 rotation 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 cluster robots based on dynamic magnetic potential interaction between monomers is provided, in which 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 connector, a cubic magnet block and a magnet mounting slot. The cubic magnet block is installed in the magnet mounting slot. The magnet mounting slot is fixedly connected to the rotating shaft connector. The rotating shaft connector is fixedly connected to the rotating shaft of the DC reduction motor. 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. By adjusting the magnetic potential field of each cluster robot in a cluster composed of multiple cluster robots, the phase change reconstruction and multimodal motion of a cluster composed of multiple cluster robots are realized without the need for additional perception and calculation by the single robot.

[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 problems such as motor speed slowdown and stalling caused by the mutual attraction and contact between the magnet group modules when the robot collides, thereby improving the robot's environmental adaptability.

[0022] 3. The ducted fan in the ducted cavity module of the present invention can send high-pressure air into the cavity air chamber to form an air cushion, thereby reducing the movement resistance of the robot and adapting 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, without the need for individual robots to perform additional perception and calculation, thus solving the problem that the size of the group is limited by the intelligence of the individual. 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 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 connector, 5. Cube magnet block, 6. Magnet mounting slot, 7. Hollow cup motor, 8. Paddle, 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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, it does not need to be further defined or explained 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., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention 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 orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

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

[0033] Among them, the magnet group module includes a rotating shaft connector 4, a cubic magnet block 5 and a magnet mounting slot 6. The rotating shaft connector 4 is fixedly connected to the rotating shaft of the DC reduction motor 1, and the magnet mounting slot 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 the six cubic magnet blocks 5 are installed in the magnet mounting slot 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 slot 6 in a circular distribution with the center line of the magnet mounting slot 6 as the axis, and the magnetic field directions of all the magnet blocks are consistent.

[0034] In this embodiment, the ducted cavity module includes a hollow cup motor 7, a paddle 8, a cavity top layer 9, a cavity air chamber wall 10 and a cavity bottom layer 11. The hollow cup motor 7 is fixed at the center of the cavity top layer 9, the rotating shaft of the hollow cup 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 around the periphery of blades 8, with the duct wall fixedly connected to the top chamber 9. The blades 8 and duct together form a ducted fan. When the blade tips of blades 8 are confined by the duct, impact noise and induced drag are reduced, resulting in higher efficiency. At the same power consumption, a ducted fan can generate greater thrust than an isolated propeller of the same diameter. Furthermore, the enclosing effect of the duct contributes to its compact structure, low aerodynamic noise, and excellent safety.

[0036] In this embodiment, the power supply 12 and control module are located above the motor mounting 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 utilizes three lithium batteries connected end-to-end around the DC reduction motor 1 and is mounted above the motor mounting plate 2. The controller 14 is annular, with the housing of the DC reduction motor 1 passing through the hollow center of the annular shape. The controller bracket 13 connects the controller 14 to the motor mounting plate 2, allowing the controller 14 to be mounted above the power supply 12.

[0037] In this embodiment, coreless motor 7 drives paddles 8, delivering high-pressure air into the cavity chamber formed by a top chamber 9, chamber walls 10, and bottom chamber 11, creating an air cushion. This reduces resistance to robot movement and allows the robot to adapt to various terrains. The speed of coreless motor 7's output shaft is controlled by controller 14. Adjusting this speed dynamically adjusts the friction between a single robot and the ground, enhancing control over the swarm.

[0038] In particular, the circular tube support 3 enables 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 slowdown 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] Specifically, the controller 14 communicates with a host computer via near-field communication technology, receiving control commands from the host computer and adjusting the rotation direction and speed of the magnet module in real time. By dynamically regulating the magnetic potential field between individual robots, the spatiotemporally varying magnetic field directly drives the cluster's phase transition reconstruction and multimodal motion, eliminating the need for additional sensing and computation by individual robots and facilitating the expansion of clustered robots.

[0040] 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.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A swarm 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 circular 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 circular 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 circular tube support (3), and the duct cavity module is installed below the circular tube support (3); The magnet group module comprises a rotating shaft connecting member (4), a cube magnet block (5) and a magnet mounting slot (6), wherein the rotating shaft connecting member (4) is fixedly connected to the rotating shaft of the DC reduction motor (1), the magnet mounting slot (6) is fixedly connected to the rotating shaft connecting member (4), and the cube magnet blocks (5) are multiple in number and mounted in the magnet mounting slot (6); The ducted cavity module comprises a coreless motor (7), a blade (8), a cavity top layer (9), a cavity air chamber wall (10) and a cavity bottom layer (11); the coreless motor (7) is fixedly connected to the cavity top layer (9), the rotating shaft of the coreless motor (7) is fixedly connected to the blade (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, characterized in that: The number of the cube magnet blocks (5) is six. The cube magnet blocks (5) are installed in the magnet installation slot (6) in a circular distribution with the center line of the magnet installation slot (6) as the axis. The magnetic field directions of the cube magnet blocks (5) are consistent.

3. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 1, characterized in that: The top layer (9) of the cavity is provided with a plurality of fan-shaped air inlets arranged in a circumferential manner 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 circumferential manner 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 provided on 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, 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), wherein 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 supply (12).

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

8. The cluster robot based on dynamic magnetic potential interaction between monomers according to claim 6, characterized in that: The controller (14) is connected to the 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 reduction motor (1) at the center line of the robot; 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 swarm 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 spatiotemporal transformation as required, thereby driving a cluster composed of multiple cluster robots to perform phase change reconstruction and multimodal motion.

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