Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Amphibious mechanical crab step control device and control method

A hierarchical control and crab technology, applied in two-dimensional position/channel control, electric controller, comprehensive factory control, etc., can solve the problems of poor overall control performance, low reliability, system paralysis, etc.

Inactive Publication Date: 2008-07-09
HARBIN ENG UNIV
View PDF0 Cites 40 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The former has the advantages of direct control, high effectiveness, and is convenient for system analysis and design; the disadvantage is that if the control center fails, the entire system will be paralyzed and the reliability is not high. The latter is connected by the main controller to several distributed controllers, each Each distributed controller has its own control object and target
The advantage is that local failures will not affect the overall situation, and the reliability is high; the disadvantage is that the overall control performance is poor, and the overall coordinated operation is difficult

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Amphibious mechanical crab step control device and control method
  • Amphibious mechanical crab step control device and control method
  • Amphibious mechanical crab step control device and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0039] Combined with Figure 1, Figure 2 and Figure 3, it includes three parts: the upper organizational level, the middle coordination level and the lower execution level. The upper organization-level control system is mainly composed of S3C44B0 as the core ARM system, and peripheral extensions include wireless data transmission module SRWKF-108, infrared remote control interface, Can communication interface MCP2510, RS232 interface MAX232, liquid crystal display module and Intenet Ethernet interface RTL8019AS, etc. The organization-level functions are mainly responsible for accepting user commands, feeding back information to users, and planning the movement strategy of each crab leg according to the on-site environment. The wireless data transmission module SRWKF-108 and the infrared remote control interface are connected to the main robot controller through thei...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a hierarchical control device for an amphibian machinery crab and a control method thereof. The device comprises a superstructure-level control part composed of a B3C44B0-cored ARM system, a coordination-level control part composed of an AVR single chip computer ATmega128L, eight walking-leg drive modules and an execution-level control part which is composed of a multi-sensor signal collecting module; wherein control signals are input to the superstructure-level control part; the coordination-level control part is connected between the superstructure-level control part and the execution-level control part; and the execution-level control part communicates with joint drive units through bus communication protocols. The invention divides the system into superstructure level, monitoring coordination level and execution level based on the design principle of hierarchical distribution, each dispersed controller not only can work independently but also can communicate and exchange information with a higher level controller or a peer level controller through communication circuits. The hierarchical structure has the advantages of a centralized structure and a dispersed structure, thereby overall and partial control performances are high, and the operation is reliable.

Description

(1) Technical field [0001] The invention relates to a control device for an intelligent robot, and also relates to a control method for an intelligent robot. Specifically, the invention relates to a control device and a control method of an amphibious mechanical crab-like multi-legged robot. (2) Background technology [0002] Introduction to the amphibious mechanical crab: The shape and function of the robot are based on the river crab as a biological prototype. There are eight walking legs, each with three driving joints; driven by 24 servo motors, forming 24 degrees of freedom. The controller is controlled by DSP, and the whole is sealed by a rubber jacket, simulating various walking gaits of crabs, and can realize fourteen movements such as forward, sideways, left and right turns, and backwards flexibly in an amphibious environment. Each walking foot is equipped with a force sensor to sense the external environment, detect whether the toe lands and whether the walking fo...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B19/418G05B11/32G05D1/02G05D1/00
CPCY02P90/02
Inventor 陈东良王立权季宝锋邓辉峰刘德峰王刚
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com