Autonomous anisotropically deformable robotic modules and swarming robotic systems

Abstract

This application discloses an autonomous anisotropic deformation robot module and a swarm robot system. The robot module includes a central base, an outer frame, multiple first drive components, and multiple second drive components. The outer frame includes multiple movable ends, with adjacent movable ends connected by elastic elements. Each movable end is equipped with a first magnetic element. Each first drive component and second drive component connects a movable end to the central base and is adapted to drive the corresponding movable end to move radially outward or inward along the central base. The first drive components and second drive components are alternately spaced along the circumference of the central base, and their driving directions are opposite. The swarm robot system includes multiple robot modules, and swarm behavior is achieved by adjusting the deformation phase and connection topology of the robot modules. This application is low-cost and simple to manufacture, reducing manufacturing costs and process difficulty, simplifying the system control strategy, and enabling diverse swarm behaviors under different parameter combinations.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot module and swarm robot system with autonomous anisotropic deformation. Background Technology

[0002] Swarm robot systems, which generate complex collective behaviors through the local interactions of multiple relatively simple individuals, have broad application potential in fields such as environmental detection, material transportation, and disaster relief. However, swarm robot systems suffer from the following main drawbacks: First, some solutions are dedicated designs optimized for specific functions or application scenarios. While the control is relatively simple, the functionality is singular, predefined, and relatively fixed. If the application direction needs to be changed, the system requires redesigning the hardware or completely rewriting the control algorithm, making it unable to dynamically adjust to different working environments, severely limiting the system's practical value and application prospects. Second, some solutions are general-purpose, multi-functional schemes that achieve multiple behavioral modes, relying on complex individual robot designs. This results in high manufacturing costs and cumbersome processes for individual robots, severely restricting the realization and expansion of large-scale swarm applications. Third, multi-functional solutions require different control strategies for different application scenarios. Achieving multiple behaviors often requires introducing a large number of control parameters, making control algorithm development and debugging difficult, significantly reducing the system's maintainability and scalability. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, one objective of this application is to propose an autonomous anisotropic deformation robot module and a swarm robot system, aiming to solve the problems of high manufacturing cost, complex control, and fixed functions in existing swarm robot systems.

[0004] This application proposes a robot module with autonomous anisotropic deformation. The robot module includes a central base, an outer frame, multiple first drive components, and multiple second drive components. The outer frame is disposed around the outer periphery of the central base and includes multiple movable ends spaced apart circumferentially, with adjacent movable ends connected by elastic elements. Each movable end is provided with a first magnetic element to facilitate connection between two robot modules. Each first drive component connects one movable end to the central base. Each second drive component connects one movable end to the central base. The first and second drive components are alternately spaced along the circumference of the central base. Both the first and second drive components are adapted to drive the corresponding movable end to move radially outward or radially inward, and the driving directions of the first and second drive components are opposite. When each movable end moves radially relative to the central base, it causes the elastic element to contract or extend, facilitating deformation of the outer frame.

[0005] According to some embodiments of this application, the first driving component and the second driving component are both constructed as three groups. The three groups of first driving components are arranged around the central base at circumferential intervals of 120°, and the three groups of second driving components are arranged around the central base at circumferential intervals of 120°. Each first driving component is arranged at a 60° interval from the adjacent second driving component. When the first driving component and the second driving component drive the corresponding active end to move, the outer frame switches between a triangular shape and a hexagonal shape.

[0006] According to some embodiments of this application, a winch assembly is rotatably disposed on a central base; both the first drive assembly and the second drive assembly include a drive spring and a connecting wire, one end of the drive spring is connected to the central base, and the other end of the drive spring is connected to a movable end; the connecting wire is wound around the winch assembly and is adapted to tighten or loosen as the winch assembly rotates; the outer end of the connecting wire is connected to the corresponding movable end; when the connecting wire is tightened, it drives the movable end to move radially inward and compress the drive spring; when the connecting wire is loosened, the drive spring extends to drive the movable end to move radially outward.

[0007] According to some embodiments of this application, the central base is provided with a plurality of guide members corresponding one-to-one with the movable end, and a guide channel is formed in the guide member that runs radially through it. Each connecting line passes through the corresponding guide channel, and a portion of each drive spring is disposed in the corresponding guide channel.

[0008] According to some embodiments of this application, the robot module further includes a drive motor, which is disposed on a central base; a winch assembly is connected to the output shaft of the drive motor and is adapted to rotate synchronously with the output shaft; the connecting lines in the first drive assembly and the connecting lines in the second drive assembly are wound in opposite directions on the winch assembly.

[0009] According to some embodiments of this application, the winch assembly includes a first winding portion and a second winding portion coaxially arranged, the diameter of the first winding portion being larger than that of the second winding portion; the connecting wire in the first drive assembly is wound around the first winding portion in a first direction, and the connecting wire in the second drive assembly is wound around the second winding portion in a second direction.

[0010] According to some embodiments of this application, a boundary plate is also provided between two adjacent movable ends, and the two sides of the boundary plate are connected to the two movable ends by elastic members; the boundary plate is provided with a second magnetic member to facilitate the connection of two robot modules.

[0011] According to some embodiments of this application, a Hall sensor is also provided on the central base. The Hall sensor is adapted to detect changes in the magnetic field to obtain the connection status between the robot module and another robot module.

[0012] According to some embodiments of this application, the second magnetic element is constructed in a spherical shape and is adapted to rotate relative to the boundary plate; a third magnetic element is also provided on the boundary plate, which is adapted to constrain the magnetic field direction of the second magnetic element.

[0013] This application also proposes a swarm robot system, comprising multiple autonomous anisotropic deformation robot modules as described above, each robot module being connected to one or more other robot modules; the swarm behavior of the swarm robot system is achieved by adjusting the deformation phase and connection topology of the robot modules.

[0014] The robot module and swarm robot system according to this application have the following technical advantages compared with the prior art: (1) The double-layer spindle design driven by a single motor is combined with the spring-rope structure. Through weak magnetic coupling and double cavity boundary design, a low-cost and simple-to-manufacture variable cell robot module is realized, making the practical application of large-scale clusters possible and greatly reducing manufacturing costs and process difficulty. (2) By establishing two core control parameters, deformation phase and connection topology, the complex and diverse control problem of the swarm robot system is simplified to the adjustment of these two parameters. The parameter simplification is significant, the universality of the control strategy is greatly improved, and there is no need to redesign hardware or rewrite the core algorithm for different applications. The maintainability and scalability are significantly improved. At the same time, the passive deformation capability and weak magnetic coupling characteristics of the robot module increase the complexity of the interaction without increasing the control complexity, which makes multifunctional behavior possible. (3) By exploring the combination of deformation phase and connection topology parameters, the same robot modules can exhibit diverse cluster behaviors under different parameter combinations, including programmable stiffness, liquid-solid transition, adjustable porosity, cluster migration and topology reconstruction, etc. A single system can support multiple application scenarios without redesigning the hardware, and has broad application potential and good scalability.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural schematic diagram of a robot module with autonomous anisotropic deformation according to some embodiments of this application; Figure 2 This is a schematic diagram illustrating the form-switching process of a robot module according to some embodiments of this application; Figure 3This is a schematic diagram of the robot module in a modified form according to some embodiments of this application; Figure 4 This is a schematic diagram of the structure of a boundary plate according to some embodiments of this application; Figure 5 This is a schematic diagram of a second magnetic component according to some embodiments of this application in a connected state and a disconnected state between two robot modules; Figure 6 This is a schematic diagram of the clustering function of a cluster robot system according to some embodiments of this application; Figure 7 This is a comparison diagram of strain curves of a swarm robot system according to some embodiments of this application in a "solid-like" and "liquid-like" state; Figure 8 This is a schematic diagram illustrating the flow process changes of a swarm robot system according to some embodiments of this application; Figure 9 This is a comparison diagram of the mobility of a cluster robot system according to some embodiments of this application under different deformation frequencies; Figure 10 This is a schematic diagram of porosity variation in a cluster robot system according to some embodiments of this application; Figure 11 This is a schematic diagram of the topology reconfiguration process of a cluster robot system according to some embodiments of this application; Figure 12 This is a schematic diagram of the cluster migration process of a cluster robot system according to some embodiments of this application; Figure 13 This is a schematic diagram illustrating the object grasping and transportation process of a cluster robot system according to some embodiments of this application.

[0017] Figure label: 11. Center base; 12. Winch assembly; 13. Drive motor; First movable end 21; Second movable end 22; Elastic element 23; First magnetic element 24; Boundary plate 25; First mounting cavity 251; Second mounting cavity 252; Second magnetic element 26; Third magnetic element 27; Hall sensor 28; First drive assembly 30; first guide base 31; first drive spring 32; first connecting line 33; Second drive assembly 40; second guide base 41; second drive spring 42; second connecting line 43. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] The following is for reference. Figures 1-5 This application describes a robot module with autonomous anisotropic deformation according to an embodiment of the present application.

[0020] This application proposes a robot module with autonomous anisotropic deformation. The robot module includes a central base 11, an outer frame, multiple first drive components 30, and multiple second drive components 40. The outer frame is disposed on the outer periphery of the central base 11 and includes multiple movable ends spaced apart circumferentially. Adjacent movable ends are connected by elastic elements 23. Each movable end is provided with a first magnetic element 24 to facilitate connection between two robot modules. Each first drive component 30 connects a movable end to the central base 11. Each second drive component 40 connects a movable end to the central base 11. The first drive components 30 and second drive components 40 are alternately spaced along the circumference of the central base 11. Both the first drive components 30 and second drive components 40 are adapted to drive the corresponding movable end to move radially outward or radially inward along the central base 11, and the driving directions of the first drive components 30 and second drive components 40 are opposite. When each movable end moves radially relative to the central base 11, it causes the elastic element 23 to contract or extend, thus facilitating deformation of the outer frame.

[0021] According to the robot module of this application, the central base 11 provides the mounting foundation for the first drive assembly 30 and the second drive assembly 40. Movable ends are provided at the outer ends of the first drive assembly 30 and the second drive assembly 40. Adjacent movable ends are connected by elastic elements 23 to form a deformable outer frame. The elastic elements 23 can adapt to active deformation or passive deformation due to external environmental forces. Each movable end is provided with a first magnetic element 24, enabling magnetic attraction between two robot modules, thus forming a cluster robot system. When the first drive assembly 30 and the second drive assembly 40 drive their corresponding movable ends to move radially along the central base 11, adjacent movable ends move relative to each other, causing displacement and deformation of the intermediate elastic element 23, thereby deforming the outer frame. Under different configurations, the outer frame allows for different spatial connection methods between two or more robot modules. Furthermore, when the first drive assembly 30 and the second drive assembly 40 simultaneously drive their corresponding movable ends in opposite directions, anisotropic deformation of the outer frame can be achieved.

[0022] According to the robot module of this application, anisotropic deformation and shape change can be achieved by controlling the first drive component 30 and the second drive component 40 to drive the corresponding moving ends. The robot module of this application has a simple structure and low cost, making it possible for large-scale cluster applications.

[0023] like Figure 1 As shown, in the robot module of this application, the peripheral frame includes a first movable end 21 and a second movable end 22, a first drive component 30 connects the central base 11 and the first movable end 21, and a second drive component 40 connects the central base 11 and the second movable end 22.

[0024] In some embodiments, the elastic element 23 may be a thin spring, with the outer edge of the robot module surrounded by the spring. The spring serves as both the outer surface of the robot module and provides passive deformation capability. When adjacent robot modules collide or squeeze each other, the spring undergoes elastic deformation, enabling the robot module to adapt to the constraints of the surrounding environment and generate passive deformation.

[0025] According to some embodiments of this application, the first driving component 30 and the second driving component 40 are both constructed as three groups. The three groups of first driving components 30 are arranged around the central base 11 at circumferential intervals of 120°, and the three groups of second driving components 40 are arranged around the central base 11 at circumferential intervals of 120°. Each first driving component 30 is spaced 60° apart from its adjacent second driving component 40. When the first driving components 30 and second driving components 40 drive their corresponding movable ends to move, the outer frame switches between a triangular shape and a hexagonal shape. In this embodiment, by setting three groups of first driving components 30 and three groups of second driving components 40, the switching between a triangular shape and a hexagonal shape of the outer frame can be achieved. Specifically, the closed-loop process of the outer frame switching between the triangular shape S2 and the hexagonal shape S1 is as follows: Figure 2 As shown; in the hexagonal shape S1, the first movable end 21 (P1, P2, P3) and the second movable end 22 (Q1, Q2, Q3) are equidistant from the central base 11. Based on this, the first drive assembly 30 drives the first movable end 21 to move radially outward, and the second drive assembly 40 drives the second movable end 22 to move radially inward, which can transform the outer frame from the hexagonal shape S1 to the triangular shape S2. At a certain moment during the transformation process, the robot module's shape S3 is as shown. Figure 3As shown, when the two first movable ends 21 and the second movable end 22 located in the middle are collinear, the outer frame deforms into a triangular shape S2. Based on the triangular shape S2, the first driving component 30 drives the first movable end 21 to move radially inward, and the second driving component 40 drives the second movable end 22 to move radially outward, which can transform the outer frame from the triangular shape S2 to the hexagonal shape S1. The robot module of this embodiment adopts a variable cell structure that can actively switch between triangles and hexagons, realizing the anisotropic active deformation of the robot module.

[0026] According to some embodiments of this application, a winch assembly 12 is rotatably disposed on the central base 11; both the first drive assembly 30 and the second drive assembly 40 include a drive spring and a connecting wire, one end of the drive spring is connected to the central base 11, and the other end of the drive spring is connected to a movable end; the connecting wire is wound around the winch assembly 12 and is adapted to tighten or loosen as the winch assembly 12 rotates; the outer end of the connecting wire is connected to the corresponding movable end; when the connecting wire is tightened, it drives the movable end to move radially inward and compress the drive spring; when the connecting wire is loosened, the drive spring extends to drive the movable end to move radially outward. In this embodiment, as... Figure 1 As shown, the first drive assembly 30 and the second drive assembly 40 utilize the tension of the connecting wire to move the first movable end 21 and the second movable end 22 radially inward, and utilize the elastic restoring force of the drive spring when the connecting wire is relaxed to push the first movable end 21 and the second movable end 22 radially outward. The first drive assembly 30 and the second drive assembly 40 in this embodiment have a simple structure and low cost, and can efficiently realize the deformation control of the robot module's peripheral frame.

[0027] like Figure 1 As shown, the first drive assembly 30 includes a first drive spring 32 and a first connecting line 33; the second drive assembly 40 includes a second drive spring 42 and a second connecting line 43.

[0028] According to some embodiments of this application, the central base 11 is provided with a plurality of guide members corresponding one-to-one with the movable end. A radially penetrating guide channel is formed in each guide member, and each connecting line passes through the corresponding guide channel. A portion of each drive spring is disposed in the corresponding guide channel. In this embodiment, by providing guide members, a certain constraint and guiding effect can be achieved, ensuring that the driving direction of the first drive assembly 30 and the second drive assembly 40 is stably in a radial direction at a fixed angle.

[0029] Specifically, in some embodiments, such as Figure 1 , 3As shown, the first drive assembly 30 further includes a first guide base 31, one end of which is connected to the central base 11, and a first guide channel is formed inside the first guide base 31; one end of the first drive spring 32 is connected to the first guide base 31, and the other end is connected to the first movable end 21, and at least a portion of the first drive spring 32 is housed within the first guide channel; a first connecting line 33 passes through the first guide channel, one end of which is connected to the first movable end 21, and the other end is connected to the winch assembly 12 wound around the central base 11. The second drive assembly 40 further includes a second guide base 41, both ends of which are connected to the central base 11, and a second guide channel is formed inside the second guide base 41; one end of the second drive spring 42 is connected to the second guide base 41, and the other end is connected to the second movable end 22, and at least a portion of the second drive spring 42 is housed within the second guide channel; a second connecting line 43 passes through the second guide channel, one end of which is connected to the second movable end 22, and the other end is connected to the winch assembly 12 wound around the central base 11. In this embodiment, the first guide base 31 and the second guide base 32 are the aforementioned guide members, which can play a certain constraining and guiding role, ensuring that the driving direction of the first drive assembly 30 and the second drive assembly 40 is stably in the radial direction at a fixed angle. Further, as... Figure 1 , 3 As shown, the lengths of the first guide base 31 and the second guide base 41 are different, specifically determined by the movement range of the first movable end 21 and the second movable end 22. The first guide base 31, the second guide base 41, and the center base 11 can be machined into a single unit.

[0030] In some embodiments, such as Figure 1 As shown, a first guide portion is formed on the radially inner side of the first movable end 21, and a first drive spring 32 is sleeved on the outer periphery of the first guide portion to further improve the stability and accuracy of the drive. Similarly, a second guide portion is also formed on the radially inner side of the second movable end 22, and a portion of the second drive spring 42 is sleeved on the outer periphery of the second guide portion. Furthermore, a portion of the first guide portion is housed within a first guide channel; during the movement of the first movable end 21, a portion of the first guide portion reciprocates within the first guide channel, and the first guide portion and the first guide channel cooperate to constrain the deformation direction of the first drive spring 32. A portion of the second guide portion is housed within a second guide channel; during the movement of the second movable end 22, a portion of the second guide portion reciprocates within the second guide channel, and the second guide portion and the second guide channel cooperate to constrain the deformation direction of the second drive spring 42.

[0031] According to some embodiments of this application, the robot module further includes a drive motor 13, which is mounted on a central base 11; a winch assembly 12 is connected to the output shaft of the drive motor 13 and is adapted to rotate synchronously with the output shaft; the first connecting line 33 and the second connecting line 43 are wound in opposite directions on the winch assembly 12. In this embodiment, the winch assembly 12 is driven to rotate by the drive motor 13; since the first connecting line 33 and the second connecting line 43 are wound in opposite directions, when the winch assembly 12 rotates, one of the first connecting line 33 and the second connecting line 43 is wound inward and tightened, causing the corresponding movable end to move radially inward, while the other is unwound and loosened, and the corresponding movable end moves radially outward under the push of the elastic restoring force of the drive spring. In this embodiment, each movable end is connected to the central base 11 via a spring-rope (connecting line) structure. The reverse traction mechanism enables adjacent movable ends to move in opposite directions, thereby achieving anisotropic deformation switching between hexagonal and triangular shapes of the robot module. In this embodiment, the robot module can achieve anisotropic deformation driven by a single motor. The amplitude and rate of deformation are controlled by the rotation speed and angle of the drive motor 13.

[0032] According to some embodiments of this application, the winch assembly 12 includes a first winding portion and a second winding portion coaxially arranged, the diameter of the first winding portion being larger than that of the second winding portion; a first connecting wire 33 is wound around the first winding portion in a first direction, and a second connecting wire 43 is wound around the second winding portion in a second direction. The first direction and the second direction are opposite in rotation. In this embodiment, the first connecting wire 33 and the second connecting wire 43 are assembled differently by setting the first winding portion and the second winding portion; since the radial displacements of the first movable end 21 and the second movable end 22 are not the same when the robot module undergoes a form change, setting the diameter of the first winding portion to be larger than that of the second winding portion allows the winding and unwinding amounts (extension and retraction amounts) of the first connecting wire 33 and the second connecting wire 43 to be different when the winch assembly 12 rotates, thereby matching the displacement difference between the first movable end 21 and the second movable end 22. The diameters of the first winding portion and the second winding portion are proportional, making the winding and unwinding amounts of the first connecting wire 33 and the second connecting wire 43 also proportional. In some embodiments, the winch assembly 21 is constructed as a double-layer spool, with the diameters of the two spools being set differently.

[0033] Furthermore, when the winch assembly 12 uses a multi-layer bobbin, the reverse winding rope design of the multi-layer bobbin and the mechanism of single-motor-driven anisotropic deformation can be extended to the anisotropic deformation control of any polygonal outer frame.

[0034] According to some embodiments of this application, a boundary plate 25 is further provided between two adjacent movable ends, and the two sides of the boundary plate 25 are connected to the two movable ends by elastic members 23; the boundary plate 25 is provided with a second magnetic member 26 to facilitate the connection of two robot modules. In this embodiment, the boundary plate 25 is disposed between two circumferentially adjacent movable ends, and the two sides are connected to the corresponding movable ends by elastic members 23; the movable ends, elastic members 23, and boundary plate 25 together form the deformable peripheral frame of the robot module. By setting the boundary plate 25, the overall rigidity of the structure can be enhanced and the stability of deformation can be improved; at the same time, the boundary plate 25 is provided with a second magnetic member 26, which can enhance the interaction and connection effect of the two robot modules.

[0035] Furthermore, the two robot modules are brought into contact by magnetic attraction through the first magnetic component 24 and the second magnetic component 26. When the external force is greater than the magnetic force, the two robot modules detach from each other, maintaining a loose connection, and can move and separate relatively freely.

[0036] According to some embodiments of this application, a Hall sensor 28 is also provided on the central base 11. The Hall sensor 28 is adapted to detect changes in the magnetic field to obtain the connection status between the robot module and another robot module. In this embodiment, when two robot modules approach each other and generate magnetic attraction, the magnetic field of the second magnetic component 26 will change. By setting the Hall sensor 28, the change in the magnetic field of the second magnetic component 26 can be detected and a signal can be output. The system can then determine whether the robot module is in contact with other robot modules, thereby knowing the interaction status between the robot module and other robot modules. This embodiment realizes the interaction and status perception of adjacent robot modules through weak magnetic coupling.

[0037] In some embodiments, the Hall sensor 28 is disposed on the periphery of the central base 11, and is radially opposite at least a portion of the second magnetic element 26, to be adapted to detect changes in the magnetic field of the second magnetic element 26.

[0038] According to some embodiments of this application, the second magnetic element 26 is spherically shaped and adapted to rotate relative to the boundary plate 25; a third magnetic element 27 is also provided on the boundary plate 25, which is adapted to constrain the magnetic field direction of the second magnetic element 26. In this embodiment, when the second magnetic elements 26 of two adjacent robot modules approach each other and attract each other, the Hall sensor 28 outputs a signal change; when the second magnetic element 26 is not attracted to other second magnetic elements 26, the third magnetic element 27 restricts the free rotation of the second magnetic element 26, so that the reading of the Hall sensor 28 remains at a low level; this embodiment effectively reduces the data processing burden of the Hall sensor 28, reduces the data processing complexity, and makes the signal of the Hall sensor 28 more stable, without the need for complex signal filtering and data processing algorithms.

[0039] In some embodiments, such as Figure 4 As shown, the boundary plate 25 forms a first mounting cavity 251 and a second mounting cavity 252. The second magnetic element 26 is constructed as a magnetic ball and is disposed in the first mounting cavity 251, allowing it to rotate 360°. The third magnetic element 27 is constructed as a magnetic sheet and is fixedly disposed in the second mounting cavity 252. Figure 5 As shown in (a), when robot module (Robot1) is not in contact with another robot module (Robot2), the magnetic sheet constrains the direction and angle of the magnetic ball, restricting its free rotation; as Figure 5 As shown in (b), when robot module (Robot1) comes into contact with another robot module (Robot2), the magnetic ball is attracted by the magnetic force of the other magnetic ball, breaks free from the constraint of the magnetic sheet and rotates, causing the magnetic field to change. The Hall sensor 28 senses the change in the magnetic field and outputs a change in signal.

[0040] In combination with the above embodiments, the robot module of this application has the ability to interact and perceive with adjacent modules in a complex manner, while maintaining the simplicity of the manufacturing process and the low cost, thus creating the possibility for the practical application of large-scale clusters.

[0041] The following is for reference. Figures 6-13 This application describes a cluster robot system according to an embodiment of the present application.

[0042] This application also proposes a swarm robot system, comprising multiple autonomous anisotropic deformation robot modules as described above, each robot module being connected to one or more other robot modules; the swarm behavior of the swarm robot system is achieved by adjusting the deformation phase and connection topology of the robot modules.

[0043] The swarm robot system according to this application consists of multiple robot modules as described above. By adjusting the deformation phase of each robot module and the connection topology of each robot module, the swarm robot system can achieve rich swarm behaviors. Here, deformation phase refers to the temporal phase relationship of the deformation motions of adjacent robot modules, and connection topology refers to the spatial arrangement of the robot modules.

[0044] Specifically, in the state where the robot modules are discretely stacked, such as Figure 6 As shown in (a), by adjusting the deformation strategies of each robot module, the swarm robot system can flexibly transform between solid-like and liquid-like states. Creep experiments were conducted on the solid-like and liquid-like swarm robot systems, with a certain pressure load F applied respectively. The experimental results are shown in [Figure 1]. Figure 7As shown, in a solid-like state, the swarm robot system exhibits almost no deformation; in a liquid-like state, the deformation of the swarm robot system changes significantly over time. This demonstrates that the swarm robot system can flexibly transform between solid-like and liquid-like states, and the system's load-bearing capacity differs in each state.

[0045] Furthermore, such as Figure 6 As shown in (b), the swarm robot system can achieve programmable mobility by adjusting the deformation frequency of each robot module and using a control algorithm based on Hall sensor 28. The mobility process of the swarm robot system is as follows: Figure 8 As shown, a deformation frequency adjustment experiment was conducted on a swarm robot system to detect the overall outer boundary of the swarm robot system. Figure 8 The roundness variation of the red chain boundary shown in the figure is as follows: Figure 9 As shown: Under the condition of a deformation frequency of 1 / 3 Hz and random adjustment, the swarm robot system transforms into a circle relatively quickly; under the condition of a deformation frequency of 1 / 6 Hz and random adjustment, the swarm robot system transforms into a circle relatively slowly; and under the condition of a deformation frequency of 1 / 6 Hz and adjustment combined with the control algorithm of Hall sensor 28, the swarm robot system transforms into a circle faster than under the condition of a deformation frequency of 1 / 6 Hz and random adjustment. Here, deformation frequency refers to the number of times per second that the robot module completes a closed-loop transformation from a hexagonal shape to a triangular shape and back to a hexagonal shape. For example, 1 / 3 Hz means that the robot module completes a complete closed-loop transformation once every 3 seconds on average. It should be noted that deformation is not a uniform process, and deformation frequency is a statistically significant quantity. Thus, it can be seen that the fluidity of the swarm robot system can be programmatically adjusted; the fluidity of the system varies under different adjustment conditions; with high fluidity, the system can transform into a circle faster under asymmetrical tension.

[0046] With robot modules densely arranged, the stiffness of the swarm robot system can be adjusted by changing the shape of each module and the connection method between them. Figure 6 As shown in (c) in the figure.

[0047] With the robot modules arranged in a honeycomb pattern, the preset deformation phase difference between adjacent robot modules allows the cluster robot system to have adjustable porosity, such as... Figure 6 (d) and Figure 10 As shown. Figure 9 Image (a) illustrates the process of adjusting the size of the triangular aperture in a specific embodiment. Figure 10 (b) illustrates the process of adjusting the size of the hexagonal pores in a specific embodiment.

[0048] During active deformation, geometric constraints allow the edges of adjacent robot modules to selectively separate or remain connected. This enables adjacent robot modules to achieve dynamic self-reconfiguration of the swarm robot system by changing the topological relationship of their contact edges. Figure 6 As shown in (e) above. Specifically, a concrete implementation of the reconfiguration behavior process of a swarm robot system is, for example... Figure 11 As shown, the cluster robot system can be reconstructed from a triangular stack of robot modules in the shape of triangles into a linear arrangement of robot modules in the shape of hexagons.

[0049] Furthermore, the precise coordinated deformation phase control of each robot module also endows the swarm robot system with the ability to migrate in a directional cluster, such as... Figure 6 As shown in (f) above. A cluster migration test was performed on the swarm robot system, and the test results are as follows. Figure 12 As shown, where, Figure 12 The red curve in the figure represents the centroid movement path of the swarm robot system; at 300s, the swarm robot system has moved 20cm; the test results show that the swarm robot system has the ability to migrate in a directional cluster.

[0050] Furthermore, building upon its ability to migrate in a directed cluster, the swarm robot system can integrate object grasping and transportation through dynamic topology reconfiguration. Grasping tests were conducted on the swarm robot system, and the results are as follows: Figure 13 As shown, where, Figure 13 The orange curve in the figure represents the path of the object's center of mass movement. During the test, the swarm robot system first grasped the object, then transported it for 10cm, and finally released it to complete the test. The test results show that the swarm robot system can perform the functions of grasping, moving, transporting, and releasing objects.

[0051] also, Figure 6 This demonstrates various swarm functions and behaviors of the swarm robot system. The swarm robot system is located in... Figure 6 In states (a) and (b), i.e., when in a state of near-solid, near-liquid, or controllable flow, the robot modules in the swarm robot system are arranged in a disordered manner; the swarm robot system is in a state of... Figure 6In states (c), (d), (e), and (f), namely, the closely spaced arrangement, the controllable porosity, the controllable reconfiguration, and the cluster migration states, the robot modules in the swarm robot system are arranged in an ordered manner. Furthermore, when the swarm robot system is in a liquid-like state, a controllable flow state, a controllable porosity state, a controllable reconfiguration state, or a cluster migration state, the robot modules in the swarm robot system can actively deform; while when the swarm robot system is in a solid-like state or a closely spaced arrangement state, the robot modules in the swarm robot system do not actively deform.

[0052] Furthermore, the initial state of the swarm robot system can be achieved by the spatial arrangement of each robot module through external force; during the operation of the system, complex and diverse swarm behaviors such as migration and reconstruction of the system can be achieved by controlling the deformation of each robot module.

[0053] The robot module and swarm robot system according to this application have the following technical advantages compared with the prior art: (1) The double-layer spindle design driven by a single motor is combined with the spring-rope structure. Through weak magnetic coupling and double cavity boundary design, a low-cost and simple-to-manufacture variable cell robot module is realized, making the practical application of large-scale clusters possible and greatly reducing manufacturing costs and process difficulty. (2) By establishing two core control parameters, deformation phase and connection topology, the complex and diverse control problem of the swarm robot system is simplified to the adjustment of these two parameters. The parameter simplification is significant, the universality of the control strategy is greatly improved, and there is no need to redesign hardware or rewrite the core algorithm for different applications. The maintainability and scalability are significantly improved. At the same time, the passive deformation capability and weak magnetic coupling characteristics of the robot module increase the complexity of the interaction without increasing the control complexity, which makes multifunctional behavior possible. (3) By exploring the combination of deformation phase and connection topology parameters, the same robot modules can exhibit diverse cluster behaviors under different parameter combinations, including programmable stiffness, liquid-solid transition, adjustable porosity, cluster migration and topology reconstruction, etc. A single system can support multiple application scenarios without redesigning the hardware, and has broad application potential and good scalability.

[0054] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0055] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0056] In the description of this application, "multiple" means two or more.

[0057] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0058] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot module with autonomous anisotropic deformation, characterized in that, include: A central base and an outer frame, wherein the outer frame is disposed on the outer periphery of the central base, and the outer frame includes a plurality of movable ends spaced apart along the circumferential direction, and adjacent two movable ends are connected by an elastic element; each movable end is provided with a first magnetic element to facilitate the connection of two robot modules. Multiple first drive components and multiple second drive components, each of the first drive components being connected to one of the active ends and the central base; Each of the second drive components is connected to one of the movable ends and the central base; and the first drive components and the second drive components are arranged alternately at intervals along the circumference of the central base; wherein, Both the first driving component and the second driving component are adapted to drive the corresponding movable end to move radially outward or radially inward, and the driving directions of the first driving component and the second driving component are opposite; when each of the movable ends moves radially relative to the central base, it causes the elastic element to contract or extend, so as to adapt to the deformation of the outer frame.

2. The robot module with autonomous anisotropic deformation according to claim 1, characterized in that, Both the first and second drive components are configured in three groups. The three groups of first drive components are arranged circumferentially around the central base at 120° intervals, and the three groups of second drive components are also arranged circumferentially around the central base at 120° intervals. Furthermore, each first drive component is spaced 60° apart from its adjacent second drive component. When the first driving component and the second driving component drive the corresponding active end to move, the outer frame switches between a triangular shape and a hexagonal shape.

3. The robot module with autonomous anisotropic deformation according to claim 1, characterized in that, A winch assembly is rotatably mounted on the central base; both the first drive assembly and the second drive assembly include: A drive spring, one end of which is connected to the central base, and the other end of which is connected to the movable end; A connecting line is wound around the winch assembly and is adapted to tighten or loosen as the winch assembly rotates; the outer end of the connecting line is connected to the corresponding movable end; when the connecting line is tightened, it drives the movable end to move radially inward and compress the drive spring; when the connecting line is loosened, the drive spring extends to drive the movable end to move radially outward.

4. The robot module with autonomous anisotropic deformation according to claim 3, characterized in that, The central base is provided with a plurality of guide members corresponding one-to-one with the movable end. The guide members have radially penetrating guide channels. Each connecting line passes through the corresponding guide channel, and a portion of each driving spring is disposed in the corresponding guide channel.

5. The robot module with autonomous anisotropic deformation according to claim 3, characterized in that, Also includes: A drive motor is mounted on the central base; The winch assembly is connected to the output shaft of the drive motor and is adapted to rotate synchronously with the output shaft; the connecting lines in the first drive assembly and the connecting lines in the second drive assembly are wound in opposite directions on the winch assembly.

6. The robot module with autonomous anisotropic deformation according to claim 3, characterized in that, The winch assembly includes a first winding portion and a second winding portion arranged coaxially, the diameter of the first winding portion being larger than that of the second winding portion; the connecting wire in the first drive assembly is wound around the first winding portion in a first direction, and the connecting wire in the second drive assembly is wound around the second winding portion in a second direction.

7. The robot module with autonomous anisotropic deformation according to claim 1, characterized in that, A boundary plate is also provided between two adjacent movable ends, and the two sides of the boundary plate are connected to the two movable ends through the elastic element; the boundary plate is provided with a second magnetic element to facilitate the connection of the two robot modules.

8. The robot module with autonomous anisotropic deformation according to claim 7, characterized in that, A Hall sensor is also provided on the central base. The Hall sensor is adapted to detect changes in the magnetic field to obtain the connection status between the robot module and another robot module.

9. The autonomous anisotropic deformation robot module according to claim 8, characterized in that, The second magnetic element is spherical and adapted to rotate relative to the boundary plate; a third magnetic element is also provided on the boundary plate, which is adapted to constrain the magnetic field direction of the second magnetic element.

10. A swarm robot system, characterized in that, It includes multiple robot modules capable of autonomous anisotropic deformation as described in any one of claims 1-9, each robot module being connected to one or more other robot modules; the cluster behavior of the swarm robot system is achieved by adjusting the deformation phase and connection topology of the robot modules.

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