A biological source-seeking robot

Abstract

The present application relates to a kind of biological source-seeking robot, belong to biological bionic robot technical field, comprising: biological bearing unit, for accommodating biological and transmitting its movement information;Perception and support unit, set in biological bearing unit below, for collecting movement data and providing support;Mobile execution unit, supported in perception and support unit below, for realizing omnidirectional movement;Control system, perception and support unit receive the movement data of perception and support unit and solve, conversion and generation mobile execution unit's drive instruction.It also includes environmental perception auxiliary unit, installed in support frame, for collecting environmental data and with the data fusion of movement solving module, correct drive instruction.The present application utilizes the rotation of spherical cabin body driven by the movement of ball-in-biological, through the attitude data of perception and support unit solving, drive omnidirectional wheel chassis to carry out autonomous source-seeking detection, and it is suitable for the target source-seeking and detection scene of complex terrain and other dangerous or unknown environment.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, and in particular relates to a biological source-finding robot. Background Technology

[0002] Traditional environmental source-finding robots rely heavily on purely electromechanical sensors (such as gas sensors and vision sensors) for target localization. However, the odor recognition sensitivity, ability to distinguish complex odors, and anti-interference capabilities of their olfactory sensors are far inferior to the innate olfactory perception systems of living organisms (mice, cats, and dogs). Not only is their response to low-concentration target gases delayed, but they also struggle to accurately locate target sources in complex environments with mixed odors. Furthermore, they require complex algorithms for signal analysis, resulting in high system power consumption. In contrast, mice, with their evolved highly sensitive olfactory receptors (capable of recognizing odor molecules with concentrations differing by millions), can quickly and accurately capture target odor cues, naturally possessing a source-finding advantage over existing electromechanical sensors. However, purely biological detection lacks a controllable mobile platform, making continuous operation in complex terrain difficult and hindering the conversion of their core olfactory perception capabilities into stable detection results.

[0003] In existing technologies, biomimetic robots mostly adopt mechanical structures that simulate biological movement, but fail to achieve real-time closed-loop coupling between biological and electromechanical systems. This makes it impossible to fully utilize the natural source-finding ability of organisms, resulting in insufficient detection efficiency and reliability in dangerous environments. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a biological source-finding robot that uses the movement of organisms inside the sphere to drive the rotation of the spherical cabin. It calculates attitude data through a sensing and support unit and drives an omnidirectional wheel chassis to perform autonomous source-finding and detection. It is suitable for target source-finding and detection scenarios in dangerous or unknown environments such as complex terrain.

[0005] A biological sourcing robot, comprising:

[0006] Biological carrier unit, used to contain organisms and transmit their movement information;

[0007] The sensing and support unit, located below the biological support unit, is used to collect motion data and provide support;

[0008] The mobile execution unit, supported below the sensing and support unit, is used to achieve omnidirectional movement;

[0009] The control system receives motion data from the sensing and support units, calculates and converts it, and generates drive commands for the motion execution units.

[0010] It also includes a support framework that balances the overall center of gravity between the sensing and support units and the mobile execution units.

[0011] The support frame is constructed using lightweight, high-strength profiles and is connected in a detachable manner.

[0012] The biological support unit is a porous spherical cabin made of transparent protective material, with ventilation holes on the surface of the cabin, and the surface of the cabin is smooth.

[0013] The sensing and support unit includes a rotating support base, multiple sets of omnidirectional wheels, and encoders corresponding to each omnidirectional wheel. The multiple sets of omnidirectional wheels are evenly distributed in a ring at the bottom of the porous spherical cabin, forming multi-point contact and multi-point frictional contact with the porous spherical cabin to obtain rotational motion information. The rotating support base is used to support the porous spherical cabin and realize its free rotation in three-dimensional space, while providing fixed support for the omnidirectional wheels and encoders.

[0014] The omnidirectional wheel uses a flexible material wheel body, and the encoder is an incremental photoelectric encoder, which is coaxially connected to the omnidirectional wheel to collect the rotation parameters of the omnidirectional wheel in real time.

[0015] The control system is integrated within the mobile execution unit and includes a controller and a motion calculation module. The motion calculation module is electrically connected to the encoder, performs fusion calculation on the data collected by the encoders of multiple omnidirectional wheels, converts it into three-dimensional attitude information of the porous spherical cabin, and generates drive commands for the mobile execution unit.

[0016] The mobile execution unit includes an omnidirectional mobile chassis frame, which is equipped with multiple omnidirectional mobile wheels. Each omnidirectional mobile wheel is equipped with an independent drive motor that supports speed control, so as to enable the robot to move flexibly in multiple directions.

[0017] It also includes an environmental perception auxiliary unit, which is installed on the support frame and is used to collect environmental data and fuse it with the data from the motion calculation module to correct the drive commands.

[0018] The organism is a biological carrier with environmental perception capabilities. It identifies environmental target cues through its own perception system and moves autonomously, driving the porous spherical cabin to rotate. After the perception and support unit collects data and the control system calculates the intention, it drives the mobile execution unit to achieve omnidirectional mobile source tracing.

[0019] By employing the above technical solution, the present invention has at least the following beneficial effects: This invention utilizes a porous spherical cabin to carry and enable autonomous movement of organisms. By leveraging the synergistic action of omnidirectional wheels, encoders, and rotating support bases in the sensing and support unit, the cabin's attitude data is calculated, driving the mobile execution unit to achieve omnidirectional movement. This addresses the problems of poor anti-interference performance of purely electromechanical robots, weak controllability in purely biological detection, and the reliance on cabin sensors in traditional onboard equipment, thereby improving the stability and efficiency of source-finding detection in complex environments. Specifically: This invention employs a bio-cooperative and efficient source-finding method: it fully utilizes the natural environmental perception and source-finding instincts of laboratory mice, and collects data in collaboration with an encoder through three sets of omnidirectional wheels arranged in pairs at 120 degrees. The attitude is calculated by combining the Kalman filter algorithm, thus avoiding interference from the sensors mounted on the cabin.

[0020] The structure of this invention is reasonable and stable: the porous spherical cabin combines breathability and protection, and the absence of additional sensor load makes it easier to maintain a balanced center of gravity; the rotating support base works in conjunction with multiple sets of omnidirectional wheels to ensure flexible rotation of the cabin, while the three-point support enhances structural stability, eliminating the risk of tipping over during movement.

[0021] The present invention has strong omnidirectional mobility adaptability: the Mecanum wheel chassis supports flexible movement in multiple directions, and with the omnidirectional attitude calculation capability of the sensing and support unit, it can adapt to complex scenarios such as narrow passages and rugged terrain.

[0022] The present invention features low power consumption and high robustness: it uses biological motion as the core source-finding drive and collects motion data through mechanical coupling, eliminating the need for continuous power supply to the cabin sensors; the combination of biological adaptability to extreme environments and mechanical structure stability significantly improves the system's robustness. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a biological sourcing robot provided by the present invention;

[0024] Figure 2 A side view of a biological sourcing robot provided by the present invention;

[0025] Figure 3 This is an exploded view of the biological support unit in this invention;

[0026] Figure 4 A flowchart illustrating the workflow of a biological sourcing robot provided by this invention;

[0027] in:

[0028] 1. Biological support unit; 201. Omnidirectional wheel; 202. Encoder; 203. Rotary support base; 3. Support frame; 4. Mobile execution unit. Detailed Implementation

[0029] To better explain and facilitate understanding of the present invention, the technical solution and effects of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1-3 As shown, a biological source-finding robot includes a top biological support unit 1, a sensing and support unit disposed below the biological support unit 1, and a mobile execution unit 4 supported below the sensing and support unit 1 by a support frame 3.

[0031] The biological support unit 1 includes a porous spherical chamber for accommodating laboratory mice.

[0032] The porous spherical chamber is made of transparent polycarbonate material and has a diameter of 20cm. The surface of the chamber has evenly distributed 5mm diameter ventilation holes spaced 15mm apart, ensuring airflow while maintaining a suitable living environment and preventing injury to the mice. The transparent polycarbonate material also provides both visibility and protection. The porous spherical chamber does not require additional attitude sensors; it transmits biological motion information through its own rotation. Furthermore, the surface of the porous spherical chamber is smooth, reducing frictional resistance with the omnidirectional wheels 201.

[0033] The sensing and support unit includes a rotary support base 203 and an omnidirectional wheel 201. The omnidirectional wheel 201 is mounted on the rotary support base 203. Located below the porous spherical chamber, the omnidirectional wheel 201 engages in frictional contact with the chamber, maintaining a contact pressure of 1N~2N on the surface. The rotational resistance of the porous spherical chamber is ≤0.5N, resulting in high calculation accuracy. An encoder 202 is mounted on the omnidirectional wheel 201. The encoder 202 is an incremental photoelectric encoder, specifically model E6B2-CWZ6C, with a resolution of 1024 lines, and is coaxially connected to the omnidirectional wheel 201 via a coupling.

[0034] The omnidirectional wheels 201 are made of rubber with a diameter of 3cm. Three sets of omnidirectional wheels 201 are arranged in pairs at 120-degree angles in the lower part of the porous spherical chamber. Each set consists of two opposing omnidirectional wheels 201, used to assist the flexible rotation of the porous spherical chamber. The omnidirectional wheels 201 are in close contact with the surface of the porous spherical chamber and rotate synchronously with it. During the rotation of the omnidirectional wheels 201, the encoder 202 corresponds to each omnidirectional wheel 201 and is coaxially mounted, collecting the rotation angle and angular velocity data of the omnidirectional wheels 201 in real time and transmitting them to the motion calculation module of the control system. Furthermore, the rotating support 203 is made of aluminum alloy with an inner diameter of 20.5cm. The rotating support 203 is a ring structure, fitted into the middle of the porous spherical cabin. It cooperates with the porous spherical cabin through a deep groove ball bearing to support and enable the porous spherical cabin to rotate freely in three-dimensional space, while providing fixed support for the omnidirectional wheel 201 and the encoder 202.

[0035] The sensing and support unit has a support frame 3 at its bottom, which is used to connect the biological support unit 1 and the mobile execution unit 4. The bottom of the support frame 3 is fixed to the mobile execution unit 4 by M5 bolts, and the upper end of the support frame 3 is fixed to the rotating support base 203 by a buckle. The overall weight is ≤1.5kg.

[0036] The support frame 3 is constructed from 20mm×20mm aluminum alloy profiles and is 30cm high. It is used to fix the components and balance the overall center of gravity, ensuring the structural stability and center of gravity balance of the robot during its movement.

[0037] The mobile execution unit 4 includes a chassis frame, which is an omnidirectional mobile chassis and is electrically connected to the control system. It is used to receive drive commands and realize the omnidirectional movement of the entire robot to complete the source-finding path tracking.

[0038] The chassis frame is made of ABS engineering plastic and measures 40×30cm. It is equipped with four 8cm diameter Mecanum wheels at the bottom, each with an independent DC geared motor (model 37GB-555), rated at 12V and 300rpm. The DC geared motors are electrically connected to the control system, which includes an STM32F103 microcontroller supporting PWM speed control. The DC geared motors receive commands from the motion calculation module to drive the Mecanum wheels, enabling the robot to perform omnidirectional movements such as zero-radius turning and lateral movement, thus completing the source-finding path tracking.

[0039] The control system includes a controller and the motion calculation module, which are integrated into the chassis frame of the mobile execution unit 4. The motion calculation module is electrically connected to the encoder 202. It uses a Kalman filter algorithm to fuse and calculate the rotation data collected by the encoders 202 of the three omnidirectional wheels 201, converting it into the three-dimensional attitude information of the porous spherical cabin, and then generating the drive command of the mobile execution unit 4.

[0040] The motion calculation module is specifically integrated into the controller, which uses an STM32F103 microcontroller. The motion calculation module uses a Kalman filter algorithm to establish the attitude model of the porous spherical cabin by fusing the encoder 202 data of the three omnidirectional wheels 201. The data sampling frequency is 100Hz and the calculation delay is ≤10ms, thereby determining the three-dimensional attitude information of the porous spherical cabin.

[0041] In addition, the biological source-finding robot also includes an environmental perception auxiliary unit, which is used to collect environmental data and fuse it with the data from the motion calculation module, and correct the driving commands through a weighted algorithm to improve the source-finding accuracy.

[0042] The environmental perception auxiliary unit includes a lidar, a temperature and humidity sensor, and a gas concentration sensor, which are installed on the side of the support frame 3.

[0043] Based on the aforementioned biological support unit 1, sensing and support unit, mobile execution unit 4, and environmental sensing auxiliary unit, this invention achieves closed-loop coordinated control through the biological natural sensing of the environmental sensing auxiliary unit, combined with the mechanical motion calculation of the control system and omnidirectional mobile execution. Thus, this invention, relying on the synergistic effect of the biological support unit 1, sensing and support unit, motion calculation unit, and mobile execution unit 4, achieves precise source detection in dangerous or complex environments.

[0044] Combination Figure 4 As shown, the workflow and principle of the above-mentioned biological sourcing robot are as follows:

[0045] S1: Biosensing and Motion Transmission

[0046] Environmental targets trigger biological responses: Laboratory mice, as natural environmental perception carriers, instinctively perceive environmental cues (such as toxic gas odors, heat sources, specific chemical signals, etc.) through smell, touch, etc. in a porous spherical chamber, and move autonomously in the direction of the target.

[0047] The porous spherical chamber transmits motion information through rotation: the spontaneous movements of the laboratory mouse (such as climbing and running) generate friction with the surface of the porous spherical chamber. The contact design between the porous spherical chamber and the omnidirectional wheel 201 of the sensing support unit ensures a stable coefficient of friction. The friction generated by the spontaneous movements of the laboratory mouse and the surface of the porous spherical chamber drives the porous spherical chamber to rotate around any axis in three-dimensional space, converting the spontaneous movements of the laboratory mouse, i.e., the biological movement intentions, into the mechanical rotational movements of the porous spherical chamber. Since the porous spherical chamber does not carry additional attitude sensors and only transmits motion information through its own structure, it avoids interference from sensors on biological activities and redundant chamber structure.

[0048] S2: Data acquisition by the sensing and support unit:

[0049] Omnidirectional wheels 201 assist rotation and data reception: Three sets of omnidirectional wheels 201, arranged in pairs at 120-degree angles, are in close contact with the surface of the porous spherical cabin. When the porous spherical cabin rotates, it drives the omnidirectional wheels 201 to rotate synchronously. The multi-directional motion characteristics of the omnidirectional wheels 201 are adapted to the rotation trajectory of the porous spherical cabin at any angle, ensuring that no motion information is missed.

[0050] The encoder 202 accurately acquires motion parameters: The encoder 202 corresponds to and is coaxially mounted with the omnidirectional wheels 201. It acquires the rotation angle and angular velocity data of the omnidirectional wheels 201 in real time, converting the mechanical rotation of the omnidirectional wheels 201 into electrical signal data. During rotation, the annular rotating support 203 is fitted into the center of the porous spherical chamber via bearings. This ensures the stability of the porous spherical chamber's free rotation and provides fixed support for the omnidirectional wheels 201 and encoder 202, preventing data deviations caused by component displacement during movement.

[0051] S3: Intent recognition and command generation in the motion resolution module:

[0052] Multi-source data fusion and calculation: The motion calculation module receives electrical signal data transmitted by the encoders 202 of the three omnidirectional wheels 201. It performs fusion processing on the multiple sets of data through the Kalman filter algorithm. This algorithm can eliminate interference factors such as mechanical vibration and friction fluctuations, and accurately calculate the three-dimensional attitude information of the porous spherical cabin, including rotation direction, rotation speed, and motion trajectory trend. Then, the motion calculation is used to inversely deduce the experimental mouse's movement intention, i.e., the target source direction, including turning, moving forward, and avoiding.

[0053] Drive command conversion: Based on the calculated movement intention of the experimental mouse, the motion calculation module combines the motion characteristics of the Mecanum wheel of the mobile execution unit 4, including zero-radius steering and lateral movement parameters, and converts the posture information into drive commands for the chassis frame through motion mapping. The controller then drives the mobile execution unit 4, thereby achieving a precise mapping from biological movement intention to mechanical drive commands.

[0054] S4: Omnidirectional movement and closed-loop sourcing of mobile execution unit 4:

[0055] Omnidirectional motion execution: After receiving the drive command from the four-drive Mecanum wheel omnidirectional motion chassis of the motion execution unit 4, the controller drives the corresponding wheels to rotate, moving the robot in the target direction. The roller angle design of the Mecanum wheels enables it to achieve omnidirectional motion such as lateral, longitudinal, and zero-radius steering, accurately following the calculated source direction and adapting to complex environments such as narrow passages and rugged terrain.

[0056] S5: Dynamic correction of drive instructions:

[0057] During robot movement, the environmental perception assistance unit collects environmental data in real time, fuses it with the calculated movement intentions of the experimental mouse, dynamically corrects the drive commands, and achieves closed-loop source tracing. Specifically:

[0058] (1) The environmental perception auxiliary unit continuously collects environmental terrain, obstacle and signal source data in real time. These data are fused in real time with the movement intention of the experimental mouse output by the motion calculation module. At this time, the control system forms a driving command to dynamically adjust the fused information as a comprehensive decision-making basis including biological instinct and environmental feedback.

[0059] (2) The information after dynamic adjustment of the driving command will be specifically transmitted to the drive control module of the control system, compare the current robot motion state with the target state after fusion, calculate the deviation and generate correction command.

[0060] For example, when the environmental perception assist unit detects an obstacle ahead, and the experimental mouse's movement intention is to move forward, the control system adjusts the drive parameters to control the robot to turn around and avoid the obstacle, while preserving the experimental mouse's forward movement intention.

[0061] (3) After the robot executes the revised drive command, the environmental perception unit will collect new environmental data again and integrate it with the updated movement intention of the experimental mouse to perform closed-loop feedback iterative optimization. This closed-loop feedback process will continue, allowing the robot to dynamically adapt to changes in the complex environment and ensure the accuracy and stability of source detection.

[0062] This invention addresses the challenges of interference susceptibility and complex algorithms in purely electromechanical robots by employing a synergistic approach: replacing some electromechanical sensing with biological sensing, transmitting motion information through mechanical contact, and enhancing solution accuracy through algorithm fusion. This leverages the natural adaptability of laboratory mice to complex environments, such as their resistance to electromagnetic interference and accurate identification of danger signals. Furthermore, the electromechanical collaboration between the sensing support unit and the motion solution module compensates for the lack of a controllable mobile carrier in purely biological detection, ultimately achieving efficient and stable source-finding detection in dangerous and unknown environments.

Claims

1. A biological sourcing robot, characterized in that, include: Biological carrier unit, used to contain organisms and transmit their movement information; The sensing and support unit, located below the biological support unit, is used to collect motion data and provide support; The mobile execution unit, supported below the sensing and support unit, is used to achieve omnidirectional movement; The control system receives motion data from the sensing and support units, calculates and converts it, and generates drive commands for the motion execution units.

2. The biological sourcing robot according to claim 1, characterized in that: It also includes a support framework that balances the overall center of gravity between the sensing and support units and the mobile execution units.

3. The biological sourcing robot according to claim 2, characterized in that: The support frame is constructed using lightweight, high-strength profiles and is connected in a detachable manner.

4. The biological sourcing robot according to claim 1, characterized in that: The biological support unit is a porous spherical cabin made of transparent protective material, with ventilation holes on the surface of the cabin, and the surface of the cabin is smooth.

5. The biological sourcing robot according to claim 1, characterized in that: The sensing and support unit includes a rotating support base, multiple sets of omnidirectional wheels, and encoders corresponding to each omnidirectional wheel. The multiple sets of omnidirectional wheels are evenly distributed in a ring at the bottom of the porous spherical cabin, forming multi-point contact and multi-point frictional contact with the porous spherical cabin to obtain rotational motion information. The rotating support base is used to support the porous spherical cabin and realize its free rotation in three-dimensional space, while providing fixed support for the omnidirectional wheels and encoders.

6. A biological sourcing robot according to claim 5, characterized in that: The omnidirectional wheel uses a flexible material wheel body, and the encoder is an incremental photoelectric encoder, which is coaxially connected to the omnidirectional wheel to collect the rotation parameters of the omnidirectional wheel in real time.

7. A biological sourcing robot according to claim 5, characterized in that: The control system is integrated within the mobile execution unit and includes a controller and a motion calculation module. The motion calculation module is electrically connected to the encoder, performs fusion calculation on the data collected by the encoders of multiple omnidirectional wheels, converts it into three-dimensional attitude information of the porous spherical cabin, and generates drive commands for the mobile execution unit.

8. The biological sourcing robot according to claim 1, characterized in that: The mobile execution unit includes an omnidirectional mobile chassis frame, which is equipped with multiple omnidirectional mobile wheels. Each omnidirectional mobile wheel is equipped with an independent drive motor that supports speed control, so as to enable the robot to move flexibly in multiple directions.

9. A biological sourcing robot according to claim 8, characterized in that: It also includes an environmental perception auxiliary unit, which is installed on the support frame and is used to collect environmental data and fuse it with the data from the motion calculation module to correct the drive commands.

10. A biological sourcing robot according to any one of claims 1 to 9, characterized in that: The organism is a biological carrier with environmental perception capabilities. It identifies environmental target cues through its own perception system and moves autonomously, driving the porous spherical cabin to rotate. After the perception and support unit collects data and the control system calculates the intention, it drives the mobile execution unit to achieve omnidirectional mobile source tracing.

Images