Electromagnetic adsorption device and control method for active control of underwater bionic robot

Abstract

The application is an electromagnetic adsorption device and control method for active control of an underwater bionic robot. The application relates to the technical field of underwater robot control, and the device is installed on the outside of the robot. The device comprises a control circuit board and at least two electromagnet modules. The control circuit board is integrated with a master control chip, a power management circuit, a communication interface and a drive circuit. The drive circuit is independently configured with a switching element and an optoelectronic isolation element for each electromagnet module. The electromagnet module is electrically connected with the drive circuit. When powered on, a magnetic field is generated to adsorb a magnetically conductive surface. When powered off, the magnetic force disappears to achieve separation. The application realizes adsorption and separation through electric control, responds quickly, and solves the problem that permanent magnets cannot be actively separated.

Description

Technical Field

[0001] This invention relates to the field of underwater robot control technology, specifically an electromagnetic adsorption device and control method for the active control of underwater biomimetic robots. Background Technology

[0002] Underwater robots, also known as unmanned underwater vehicles (UUVs), are robots designed for extreme underwater operations. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. A typical remotely operated vehicle (ROV) consists of surface equipment (including a control console, cable winch, deployment equipment, and power supply system) and underwater equipment (including a repeater and the ROV itself). The ROV moves underwater using propulsion and is equipped with observation equipment (cameras, cameras, lights, etc.) and operational equipment (manipulators, cutters, cleaners, etc.).

[0003] Underwater robots, especially biomimetic robots with high stealth and flexibility, often need to stably attach to the surface of an object in complex underwater environments when performing tasks such as marine exploration, underwater structure inspection, and fixed-point biological monitoring. This attachment capability is a prerequisite for them to complete long-term, close-range operations.

[0004] Existing underwater attachment technologies have many limitations. Robotic arms or grippers are complex in structure and struggle to adapt to irregular attachment surfaces; traditional negative pressure vacuum suction cups, such as CN202011109499, are prone to failure on rough or deposited surfaces due to inadequate sealing; while permanent magnet solutions offer strong and energy-efficient attraction, their constant magnetic force prevents active and rapid control of adsorption and separation, resulting in robots being able to "adsorb but not separate," significantly limiting their maneuverability and operational efficiency. Furthermore, effective attachment requires precise robot posture control to ensure the adsorption module accurately contacts the target location. Summary of the Invention

[0005] This invention addresses the problems existing in the prior art by disclosing an electromagnetic adsorption device and control method for active control of underwater biomimetic robots. The purpose of this invention is to provide an electromagnetic adsorption device for underwater biomimetic robots that is flexible in control, highly integrated, and easy to diagnose.

[0006] This invention provides the following technical solutions: An electromagnetic adsorption device for active control of an underwater biomimetic robot, the device being installed on the outside of the robot, the device including a control circuit board and at least two electromagnet modules; The control circuit board integrates the main control chip, power management circuit, communication interface and drive circuit; The main control chip is electrically connected to the communication interface and the drive circuit respectively. It receives control commands from the upper control system through the communication interface and controls the power on / off state of each electromagnet module through the drive circuit according to the commands. The power management circuit is used to step down and regulate the external input power, providing matching operating voltages for the main control chip and the drive circuit, respectively. The drive circuit is configured with a switching element and an opto-isolation element for each electromagnet module. Under the control of the main control chip, the drive current of the corresponding electromagnet module is turned on or off, and the electrical isolation between the control side and the power side is achieved through the opto-isolation element. The electromagnet module is electrically connected to the drive circuit. When energized, it generates a magnetic field to attract the magnetically conductive surface. When de-energized, the magnetic force disappears to achieve separation. The control circuit board and the electromagnet module are encapsulated together in a waterproof housing.

[0007] Preferably, there are six electromagnet modules in total, and the six electromagnets are arranged in a 3+3 matrix symmetrically on the control circuit board.

[0008] Preferably, the communication interface is a wired communication interface, using an RS485 communication interface; the main control chip communicates with the upper controller of the bionic robot in half-duplex serial communication through the RS485 communication interface.

[0009] Preferably, the main control chip is an STM32 series microcontroller, specifically the STM32F103C8T6.

[0010] Preferably, the power management circuit adopts a two-stage buck architecture, including a 24V to 5V buck unit and a 5V to 3.3V buck unit.

[0011] Preferably, the switching element of the driving circuit is a MOSFET, and the opto-isolation element is an optocoupler; the control signal output by the main control chip drives the optocoupler to conduct, thereby triggering the MOSFET to connect the power supply circuit of the corresponding electromagnet module.

[0012] Preferably, the control circuit board also integrates an LED status indicator unit; the LED status indicator unit includes on / off status indicator lights corresponding to each electromagnet module, transmit / receive status indicator lights corresponding to the communication interface, and programmable three-color indicator lights for indicating the overall working mode of the device. When the STM32's I / O port outputs a 3.3V high-level signal, this signal drives the LED inside the optocoupler to light up. The light signal turns on its phototransistor, which in turn triggers the transistor in the external circuit to act as a switch, connecting the 24V main circuit and making the electromagnet work.

[0013] An electromagnetic adsorption control method for an underwater biomimetic robot, the method being applied to an electromagnetic adsorption device, characterized by comprising the following steps: Command reception: The main control chip receives adsorption or release commands from the upper-level control system through the communication interface. Electrically isolated drive: The main control chip outputs the control signal for the corresponding channel. After the control side and power side are electrically isolated by opto-isolation element, the signal is transmitted to the switching element of the corresponding channel. Independent on / off control: The switching element connects or disconnects the drive current of the corresponding electromagnet module according to the control signal, so as to realize the independent attraction or release control of a single or multiple electromagnets. The status is fed back in real time, and the on / off status of each electromagnet module and the working status of the communication link are fed back synchronously through the status indicator unit.

[0014] A computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement an electromagnetic adsorption control method for an underwater biomimetic robot.

[0015] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement an electromagnetic adsorption control method for an underwater biomimetic robot.

[0016] The present invention has the following beneficial effects: This invention achieves adsorption and separation through electronic control, with a rapid response, solving the problem that permanent magnets cannot actively detach; at the same time, the theoretical suction force of up to 180 kg and the matrix multi-point layout ensure the adhesion stability under complex sea conditions.

[0017] This invention highly integrates control, power supply, drive, isolation, and diagnostic functions onto a single PCB, resulting in a compact structure. Furthermore, it employs optocouplers for electrical isolation, effectively preventing interference from the electromagnet switch to other signals and ensuring stable system operation.

[0018] The sophisticated LED indicator design of this invention makes the internal working status of the device (power supply, communication, and various suction cups) clear at a glance, greatly facilitating development, debugging, and troubleshooting.

[0019] The device of this invention adopts a modular design. The symmetrical layout of the PCB, the black substrate and the transparent resin encapsulation design make it not only a functional component, but also an integral part of the overall shape of the biomimetic fish, reflecting the aesthetics of industrial design. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 The diagram shows the connection relationship of the electromagnetic adsorption device of the present invention in the overall hardware system of the bionic robot. Figure 2 The diagram shown is a detailed circuit schematic of the control circuit board of the electromagnetic adsorption device of the present invention. Figure 3 The diagram shown is a PCB layout of the control circuit board of the electromagnetic adsorption device of the present invention, demonstrating the symmetrical layout of the components. Figure 4 The image shown is a 3D rendering of the electromagnetic adsorption device of the present invention, demonstrating its modular and modular structure. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The present invention will be described in detail below with reference to specific embodiments. Specific Implementation Example 1: according to Figures 1 to 4 As shown, the specific optimized technical solution adopted by the present invention to solve the above-mentioned technical problems is: The present invention relates to an electromagnetic adsorption device and control method for active control of underwater biomimetic robots.

[0025] The present invention provides an electromagnetic adsorption device for active control of an underwater biomimetic robot. The device is installed on the outside of the robot and includes a control circuit board and at least two electromagnet modules. The control circuit board integrates the main control chip, power management circuit, communication interface and drive circuit; The main control chip is electrically connected to the communication interface and the drive circuit respectively. It receives control commands from the upper control system through the communication interface and controls the power on / off state of each electromagnet module through the drive circuit according to the commands. The power management circuit is used to step down and regulate the external input power, providing matching operating voltages for the main control chip and the drive circuit, respectively. The drive circuit is configured with a switching element and an opto-isolation element for each electromagnet module. Under the control of the main control chip, the drive current of the corresponding electromagnet module is turned on or off, and the electrical isolation between the control side and the power side is achieved through the opto-isolation element. The electromagnet module is electrically connected to the drive circuit. When energized, it generates a magnetic field to attract the magnetically conductive surface. When de-energized, the magnetic force disappears to achieve separation. The control circuit board and the electromagnet module are encapsulated together in a waterproof housing.

[0026] There are six electromagnet modules in total, and the six electromagnets are arranged in a 3+3 matrix symmetrically on the control circuit board.

[0027] The communication interface is a wired communication interface, using RS485 communication interface; the main control chip communicates with the upper controller of the bionic robot in half-duplex serial communication through the RS485 communication interface.

[0028] The main control chip is an STM32 series microcontroller, model STM32F103C8T6.

[0029] The power management circuit adopts a two-stage buck architecture, including a 24V to 5V buck unit and a 5V to 3.3V buck unit.

[0030] The switching element of the driving circuit is a MOSFET, and the opto-isolation element is an optocoupler. The control signal output by the main control chip drives the optocoupler to conduct, thereby triggering the MOSFET to connect the power supply circuit of the corresponding electromagnet module.

[0031] The control circuit board also integrates an LED status indicator unit; the LED status indicator unit includes on / off status indicator lights corresponding to each electromagnet module, transmit / receive status indicator lights corresponding to the communication interface, and programmable three-color indicator lights for indicating the overall working mode of the device. When the STM32's I / O port outputs a 3.3V high-level signal, this signal drives the LED inside the optocoupler to light up. The light signal turns on its phototransistor, which in turn triggers the transistor in the external circuit to act as a switch, connecting the 24V main circuit and making the electromagnet work.

[0032] An electromagnetic adsorption control method for an underwater biomimetic robot, the method being applied to an electromagnetic adsorption device, the method comprising the following steps: Command reception: The main control chip receives adsorption or release commands from the upper-level control system through the communication interface. Electrically isolated drive: The main control chip outputs the control signal for the corresponding channel. After the control side and power side are electrically isolated by opto-isolation element, the signal is transmitted to the switching element of the corresponding channel. Independent on / off control: The switching element connects or disconnects the drive current of the corresponding electromagnet module according to the control signal, so as to realize the independent attraction or release control of a single or multiple electromagnets. The status is fed back in real time, and the on / off status of each electromagnet module and the working status of the communication link are fed back synchronously through the status indicator unit.

[0033] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement an electromagnetic adsorption control method for an underwater biomimetic robot.

[0034] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement an electromagnetic adsorption control method for an underwater biomimetic robot. Specific Implementation Example 2: The only difference between Embodiment 2 and Embodiment 1 of this application is that: To address the problems mentioned in the background section, this invention provides an electromagnetic adsorption device for underwater biomimetic robots. The purpose of this invention is to provide an electromagnetic adsorption device for underwater biomimetic robots that is flexible in control, highly integrated, easy to diagnose, and aesthetically pleasing.

[0036] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an electromagnetic adsorption device for an underwater biomimetic robot, installed on the outside of the robot, including a control circuit board and at least two electromagnet modules; the control circuit board integrates a main control chip, a power management circuit, a communication interface, and a drive circuit; the main control chip is connected to the communication interface and the drive circuit, and is used to receive instructions sent by the upper control system through the communication interface, and to precisely control the on / off state of the electromagnet modules according to the instructions through the drive circuit; the power management circuit is used to step down and regulate the external power supply to meet the working voltage required by the main control chip and the drive circuit respectively; the drive circuit equips each electromagnet module with an independent switching element and an opto-isolation element, which are used to safely connect or disconnect the drive current flowing to the electromagnet module under the control of the main control chip, and to protect the main control chip from electrical interference from the drive circuit side through the opto-isolation element; the electromagnet module is connected to the drive circuit and can generate a strong magnetic field when energized to achieve a reliable adsorption function; the control circuit board and the electromagnet modules are encapsulated together in a transparent waterproof shell that meets the requirements of the harsh underwater working environment.

[0037] The electromagnet module consists of six electromagnets, which are symmetrically arranged in a 3+3 matrix on the control circuit board.

[0038] The communication interface is an RS485 communication interface, through which the main control chip communicates with the upper controller of the bionic robot (such as the core board inside the cabin) in a half-duplex serial manner.

[0039] The control circuit board also integrates LED status indicators, including an indicator for individually indicating the on / off status of each electromagnet, an indicator for indicating the RS485 communication transmission and reception status, and a programmable tri-color light for visually displaying the overall working mode of the device.

[0040] Because the suction cup layout of this invention adopts a symmetrical matrix separation structure, the control method is based on single-chip microcomputer control and the whole is cast with transparent resin.

[0041] like Figure 1 As shown, this device (suction cup control board) is an independent module of the entire bionic fish hardware system. It is installed on the back of the fish and communicates with the main control board in the sealed chamber via an RS485 bus. The main control board, in turn, connects to a higher-level controller (such as the NVIDIA Jetson Orin Nano). This modular design facilitates installation, maintenance, and upgrades.

[0042] Reference Figure 2 and Figure 3 In this embodiment, the core of the suction cup control board is the STM32F103C8T6 microcontroller, whose performance is sufficient to meet the control requirements and has a low cost. The power supply circuit, with its two drive circuits (24V to 5V and 5V to 3.3V), is crucial to ensuring its reliability. Each electromagnet's control path consists of an optocoupler and a MOSFET. When the STM32's I / O port outputs a 3.3V high-level signal, this signal drives the LED inside the optocoupler to emit light. The light signal turns on its phototransistor, which in turn triggers the external transistor to act as a switch, connecting the 24V main circuit and enabling the electromagnet to operate. This design utilizes optical signal transmission to achieve complete electrical isolation between the control side (3.3V) and the power side (24V), ensuring the system's stability and reliability.

[0043] like Figure 3 and Figure 4 As shown, the physical dimensions of this device are 19.1cm in length, 10.5cm in width, and 2.5cm in height. Six electromagnets are arranged in a symmetrical 3+3 matrix on a black PCB substrate. The entire module is finally encapsulated using transparent epoxy resin, forming a seamless, robust, and IP68-rated waterproof unit. This structure not only resists water pressure and corrosion, but its transparent shell and symmetrical internal circuit layout also give the product a unique technological aesthetic.

[0044] Working principle: The workflow of this device typically consists of the following steps: Approach and Positioning: The biomimetic fish first uses its own propulsion system (such as tail fin swaying) and posture control system (using PID algorithms to control the side fins and center of gravity adjustment modules) to swim towards the target attachment point. An upper-level vision system (such as a binocular camera) can assist in identifying the attachment area.

[0045] Sending Adsorption Command: Once the robot reaches the designated position, the upper-level controller sends an adsorption command to the STM32 chip of this adsorption device via the main control board and RS485 bus. This command may contain information about adsorbing all or part of the electromagnets.

[0046] Adsorption Execution: After receiving and parsing the command, the STM32 chip in the device sets the corresponding electromagnet's control I / O port to a high level. This energizes the electromagnet through an optocoupler-isolated drive circuit, generating magnetic force that firmly adheres the robot to the target surface. At this time, the corresponding LED indicator on the board will light up, providing clear feedback on the adsorption status.

[0047] Task execution: After stable attachment, the robot can shut down the propulsion system and perform tasks such as long-term observation, data acquisition or inspection.

[0048] Release Execution: Upon completion of the task, the upper-level controller sends a release command. The device's STM32 chip sets the corresponding I / O port to low level, the electromagnet is de-energized, the magnetic force disappears, and the robot separates from the attached surface. Subsequently, the robot can activate its propulsion system to leave.

[0049] The above description is merely a preferred embodiment of an electromagnetic adsorption device and control method for active control of an underwater biomimetic robot. The scope of protection for such a device and method is not limited to the above embodiments; all technical solutions falling within this conceptual framework are within the scope of protection of this invention. It should be noted that for those skilled in the art, any improvements and variations made without departing from the principles of this invention should also be considered within the scope of protection of this invention.

Claims

1. An electromagnetic adsorption device for active control of an underwater biomimetic robot, the device being installed externally on the robot, characterized in that: The device includes a control circuit board and at least two electromagnet modules; The control circuit board integrates the main control chip, power management circuit, communication interface and drive circuit; The main control chip is electrically connected to the communication interface and the drive circuit respectively. It receives control commands from the upper control system through the communication interface and controls the power on / off state of each electromagnet module through the drive circuit according to the commands. The power management circuit is used to step down and regulate the external input power, providing matching operating voltages for the main control chip and the drive circuit, respectively. The drive circuit is configured with a switching element and an opto-isolation element for each electromagnet module. Under the control of the main control chip, the drive current of the corresponding electromagnet module is turned on or off, and the electrical isolation between the control side and the power side is achieved through the opto-isolation element. The electromagnet module is electrically connected to the drive circuit. When energized, it generates a magnetic field to attract the magnetically conductive surface. When de-energized, the magnetic force disappears to achieve separation. The control circuit board and the electromagnet module are encapsulated together in a waterproof housing.

2. The apparatus according to claim 1, characterized in that: There are six electromagnet modules in total, and the six electromagnets are arranged in a 3+3 matrix symmetrically on the control circuit board.

3. The apparatus according to claim 2, characterized in that: The communication interface is a wired communication interface, using RS485 communication interface; the main control chip communicates with the upper controller of the bionic robot in half-duplex serial communication through the RS485 communication interface.

4. The apparatus according to claim 3, characterized in that: The main control chip is an STM32 series microcontroller, model STM32F103C8T6.

5. The apparatus according to claim 4, characterized in that: The power management circuit adopts a two-stage buck architecture, including a 24V to 5V buck unit and a 5V to 3.3V buck unit.

6. The apparatus according to claim 5, characterized in that: The switching element of the driving circuit is a MOSFET, and the opto-isolation element is an optocoupler. The control signal output by the main control chip drives the optocoupler to conduct, thereby triggering the MOSFET to connect the power supply circuit of the corresponding electromagnet module.

7. The apparatus according to claim 6, characterized in that: The control circuit board also integrates an LED status indicator unit; the LED status indicator unit includes on / off status indicator lights corresponding to each electromagnet module, transmit / receive status indicator lights corresponding to the communication interface, and programmable three-color indicator lights for indicating the overall working mode of the device. When the STM32's I / O port outputs a 3.3V high-level signal, this signal drives the LED inside the optocoupler to light up. The light signal turns on its phototransistor, which in turn triggers the transistor in the external circuit to act as a switch, connecting the 24V main circuit and making the electromagnet work.

8. An electromagnetic adsorption control method for an underwater biomimetic robot, wherein the method is applied to the electromagnetic adsorption device of claim 1, characterized in that: The method includes the following steps: Command reception: The main control chip receives adsorption or release commands from the upper-level control system through the communication interface. Electrically isolated drive: The main control chip outputs the control signal for the corresponding channel. After the control side and power side are electrically isolated by opto-isolation element, the signal is transmitted to the switching element of the corresponding channel. Independent on / off control: The switching element connects or disconnects the drive current of the corresponding electromagnet module according to the control signal, so as to realize the independent attraction or release control of a single or multiple electromagnets. The status is fed back in real time, and the on / off status of each electromagnet module and the working status of the communication link are fed back synchronously through the status indicator unit.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method as claimed in claim 8.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: The processor implements the method of claim 8 when executing the computer program.

Images