Steering Control System of Miniature Cable-free Swimming Robot

Abstract

The invention discloses a steering control system of a miniature cableless swimming robot. The system comprises lateral fins, a piezoceramic stack, miniature pressure sensors, micro-photoelectric coders, a single-chip microcomputer controller and an internal radio frequency transceiver, an external radio frequency transceiver, a single chip microcomputer master controller and a locus recorder, wherein the lateral fins are located on two sides of a robot body and form hinge joint with the robot body; the piezoceramic stack drives the lateral fins; the miniature pressure sensors are located on the lateral fins; each micro-photoelectric coder is located at a hinge joint of each lateral fin and the robot body; the single-chip microcomputer controller and the internal radio frequency transceiver are located in the robot body; the external radio frequency transceiver, the single chip microcomputer master controller and the locus recorder are independent of an external portion of the robot body. The single-chip microcomputer controller, the internal radio frequency transceiver, a driving power supply and the piezoceramic stack are successively connected in a lead connection state. The single-chip microcomputer controller is connected to the miniature pressure sensors and the photoelectric coders in the lead connection state respectively. The external radio frequency transceiver, the single chip microcomputer master controller and the locus recorder are successively connected in the lead connection state. The external radio frequency transceiver and the internal radio frequency transceiver are connected through a wireless signal. By using the system of the invention, steering of the swimming robot can be controlled flexibly; integral control performance of the robot is stable and practicality is possessed.

Description

【Technical field】 [0001] The invention relates to the technical field of micro-robots, in particular to a steering control system for a cable-free swimming robot. 【Background technique】 [0002] Micro-swimming robots are currently a research hotspot in the world. Various research institutions have conducted research from different perspectives of driving principles, and have made great progress. Researchers at Nagoya University in Japan have designed a robot that can swim in blood vessels. Using the giant magnetostrictive hyperbolic sheet as the tail fin of the robot, the magnetic field energy of the giant magnetostrictive hyperbolic sheet is transformed, and the robot can be controlled in the liquid. Swimming in the center, this swimming robot has no cables and belongs to cable-free control. But this is just a robot structure with a single function, there is no perfect steering system, and the practical value is not high, and the control system including steering adjustmen...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of low steering control performance of the existing cable-free swimming robot using the giant magnetostrictive hyperbolic sheet as the tail fin, and propose a steering control system for a miniature cable-free swimming robot, which can make swimming The steering of the robot is flexibly controlled, and the overall control performance of the robot is stable and practical

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