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CN-121424427-B - Firefly-imitating continuous knocking robot and control method thereof

CN121424427BCN 121424427 BCN121424427 BCN 121424427BCN-121424427-B

Abstract

The invention discloses a firefly-imitating continuous knocking robot and a control method thereof, the firefly-imitating continuous knocking robot comprises a shell, wherein a camera is arranged on the shell, an injection port is arranged at the rear end of the shell, a one-way water filtering device is arranged at the front end of the shell, water is allowed to enter a cavity of the shell through the one-way water filtering device, water is not allowed to leave the cavity of the shell through the one-way water filtering device, an elastic diaphragm and a chemical energy release reaction device are arranged on the side wall of the cavity of the shell, the chemical energy release reaction device enables the elastic diaphragm to expand through chemical energy release reaction, and then water in the cavity is discharged out of the injection port through the elastic diaphragm, so that the continuous knocking robot can be moved. According to the invention, the elastic diaphragm is driven to expand rapidly through chemical energy release reaction, so that continuous jet propulsion of water flow is realized, a large driving force can be generated in a short time, and the starting speed and the motion response capability of the robot are obviously improved.

Inventors

  • HE ZHIGUO
  • MA HONGKUAN
  • JIAO PENGCHENG

Assignees

  • 浙江大学

Dates

Publication Date
20260505
Application Date
20251230

Claims (5)

  1. 1. The control method of the continuous knocking robot for simulating firefly is characterized in that the continuous knocking robot for simulating firefly comprises a shell, a camera is arranged on the shell, a jet orifice is arranged at the rear end of the shell, a one-way water filtering device is arranged at the front end of the shell, water is allowed to enter a cavity of the shell through the one-way water filtering device, water is not allowed to leave the cavity of the shell through the one-way water filtering device, an elastic diaphragm and a chemical energy release reaction device are arranged on the side wall of the cavity of the shell, the chemical energy release reaction device enables the elastic diaphragm to expand through chemical energy release reaction, and then water in the cavity is discharged out of the jet orifice through the elastic diaphragm, so that the continuous knocking robot is realized; The control method comprises the following steps: step1, collecting pictures and videos through a camera so as to realize unified input of underwater images; Step 2, preprocessing the underwater images which are input uniformly by using a firefly group image processing algorithm, wherein the firefly group image processing algorithm comprises the following steps: S100, optimizing an underwater environment in an underwater image through an underwater image preprocessing module, wherein the optimization comprises noise reduction and contrast enhancement; S200, adopting a lightweight network YOLOX-tiny to perform primary quick identification; s300, extracting key features from the primary recognition result through a feature extraction module; S400, based on the similarity of the feature vectors, the clustering and classifying module classifies similar images into one category, simulates the information aggregation characteristic of firefly group cooperation, calculates the similarity of the features of the underwater images, and sets the feature vector of the image i as the feature vector of the image i , Representing the component, n being the feature dimension, and the feature vector of image j being Similarity degree The method comprises the following steps: , Wherein, the For the vector inner product, D (i, j) is the degradation distance of the underwater image, In order to adapt the factor for the environment, And Is a modulus of the feature vector; S500, a representative picture screening module scores through entropy values, and a representative picture scoring formula The following are provided: , Wherein, the For the entropy of the image, Representing an image Middle pixel value Is a function of the probability of (1), For the sake of clarity the image is displayed, Is the coordinates of the image The magnitude of the gradient at this point, Is the size of the image which is to be displayed, In order to achieve the target duty cycle, Is the weight; step 3, adopting YOLOX algorithm to identify the preprocessed image and identify the front object; And 4, controlling the movement of the robot according to the identification result, controlling the expansion degree of the elastic diaphragm of the continuous knocking robot to realize quick obstacle avoidance when the obstacle is identified in front, and accelerating the working frequency of the chemical energy release reaction device to realize quick follow-up when the living things needing to follow are identified in front.
  2. 2. The control method of a firefly-like continuous detonation robot according to claim 1, wherein the one-way water filtering device comprises a water filtering plate, a plurality of water holes are formed in the water filtering plate, and one-way valves are arranged on the water holes.
  3. 3. The method for controlling a firefly-like continuous detonation robot according to claim 1, wherein the housing and the cavity thereof have a structure that gradually thickens from front to back.
  4. 4. The method for controlling a firefly-imitating continuous detonation robot as recited in claim 1, wherein the elastic diaphragm and the inner wall of the housing are formed into a driving air chamber, the chemical energy release reaction device comprises an air charging module, a control module, an air inlet valve and a spark plug, the air inlet valve and the spark plug are arranged on the driving air chamber, the air charging module is connected with the air inlet valve and is used for supplying chemical energy release reaction gas for the driving air chamber, and the control module is connected with the spark plug and is used for controlling the spark plug to discharge; when the air charging module supplies air for the driving air cavity and the control module controls the spark plug to discharge, chemical energy release reaction gas in the driving air cavity generates chemical energy release reaction, so that the elastic diaphragm bulges, the elastic diaphragm pushes water in the cavity to be ejected outwards from the ejection port for being discharged, and further, the forward driving force of the continuous detonation robot is generated.
  5. 5. The method for controlling a firefly-like continuous detonation robot according to claim 1, wherein said step 3 uses YOLOX algorithm to identify the preprocessed image, boundary prediction frame coordinates The calculation formula is as follows: , , , , wherein the boundary prediction frame coordinates Including the coordinates of the central point A width w and a height h, For the x and y coordinates of the current grid center, For the current width of the strip, As the current altitude is to be taken as the current altitude, As the coordinates of the central point The amount of the offset is predicted and, An offset is predicted for the width w, The offset is predicted for the height h, As a function of the sigmoid, And Scaling factors for width and height, e being a natural constant; loss function The method comprises the following steps: , Wherein IoU is the cross-over ratio, For predicting frame center With the center of the real frame Is defined as the square of the euclidean distance, To enclose the minimum rectangular diagonal length of the two frames, , As a balance factor, the balance factor is, In the form of a width, the width, Is high.

Description

Firefly-imitating continuous knocking robot and control method thereof Technical Field The invention relates to the field of robots, in particular to a firefly-imitating continuous knocking robot and a control method thereof. Background With the continuous development of technology, the requirements of the fields of underwater exploration, monitoring, rescue and the like on robots are increasing. The complex underwater environment puts extremely high demands on the structure, materials, circuits, sensors, etc. of the robot. Conventional hardware robots typically employ rigid materials and motors as the main components, which make them subject to significant drag and loss during underwater movement, as well as being susceptible to collisions and corrosion. In addition, conventional hardware robots also need to carry batteries or connection cables as an energy supply, which also limits their working time and scope under water. Therefore, it is important to develop an underwater robot with small volume, light weight, flexible deformation, strong adaptability, continuous driving and high operability. Chemical reaction driven techniques refer to the release of energy by chemical reactions, converting it into mechanical or other forms of energy. In an underwater environment, the robots often have difficulty adopting traditional batteries or fuel cells and other energy sources, because of the problems of large volume, heavy weight and the like. The chemical reaction energy source has the characteristics of high energy density, small volume, light weight and the like, and can better adapt to the requirements of underwater environment. The bionic soft robot is a robot imitating the structure and the movement mode of organisms, adopts flexible materials as main components, has the characteristics of flexibility, deformation, strong adaptability, light weight and the like, has lower resistance and loss when in underwater movement, and can adapt to complex and changeable underwater environments. The bionic soft robot can also realize various morphological changes and function switching so as to meet the requirements of different tasks. Therefore, the bionic soft robot has wide application prospect in the fields of underwater exploration, monitoring, rescue and the like. The driving mode of the soft robot is mainly dependent on the deformation and elasticity of the material of the soft robot, which is different from the traditional robot motor driving mode. Materials for soft robots have deformable, compressible, bendable properties, and common materials are Dielectric Elastomers (DE), ionic Polymer Metal Composites (IPMC), shape Memory Alloys (SMA), shape Memory Polymers (SMP), and the like. The driving mode of the soft robot can be divided into an external driving mode and an internal driving mode. External driving refers to manipulating the motion of the soft robot using external forces or fields, such as magnetic fields, electric fields, optical fields, etc. Internal driving refers to the use of an energy source inside the soft robot to generate motion, such as air pressure, hydraulic pressure, etc. However, the traditional driving mode cannot generate larger driving force in a short time, and the starting speed and the motion state of the underwater soft robot are affected. The traditional underwater image recognition mostly adopts a single processing mode, has extremely low mass data efficiency (especially limited calculation power of an underwater robot), lacks a cooperative mechanism of targeted clustering and representative recognition, is easy to repeatedly calculate similar images, and meanwhile, does not combine underwater environmental characteristics (such as image degradation) to design a clustering and recognition linkage logic. Disclosure of Invention The invention aims to provide a firefly-imitating continuous knocking robot and a control method thereof, which are used for solving the problems in the background technology. In order to achieve the above purpose, the present invention provides the following technical solutions: The utility model provides a imitative firefly's continuous detonation robot, includes the shell, sets up the camera on the shell, the rear end of shell sets up the jet, and the front end sets up one-way water filter, one-way water filter allows water to get into the cavity of shell through one-way water filter, does not allow water to leave the cavity of shell through one-way water filter, sets up elastic diaphragm and chemical energy release reaction unit on the cavity lateral wall of shell, chemical energy release reaction unit makes elastic diaphragm inflation through chemical energy release reaction, and then discharges the jet with the water in the cavity through elastic diaphragm, realizes continuous detonation robot's removal. Further, the one-way water filtering device comprises a water filtering plate, wherein a plurality of water holes are formed in the water filtering