CN-121990068-A - Crawling robot and motion control method, medium and program product thereof

Abstract

The application provides a crawling robot, a motion control method, a medium and a program product thereof, and relates to the field of robots. The photo-thermal conversion structure is provided with at least two subareas along the length direction of the body, each subarea has different absorptivity and/or equivalent thermal time constant under near infrared irradiation, and the motion constraint structure applies anisotropic mechanical constraint to the flexible body. When the external near infrared light spots are swept along the length direction, different subareas generate different thermal responses to form phase differences, and the periodic deformation and the net displacement of the robot are generated by matching with anisotropic constraint and surface friction, so that autonomous directional crawling is realized. The application utilizes the difference of the thermal physical characteristics of the materials to spontaneously coordinate phases without complex control, has the characteristics of simple structure, concise driving mode and high reliability, and is suitable for biomedical scenes such as in-vivo drug delivery, minimally invasive inspection and the like.

Inventors

• LI LONG
• ZHOU QILIN

Assignees

• 复旦大学

Dates

Publication Date

20260508

Application Date

20260211

Claims (10)

1. 1. A crawling robot, comprising: The robot comprises a robot flexible body, a photo-thermal conversion structure and a motion constraint structure; The photo-thermal conversion structure is arranged in or on the flexible body of the robot, at least two subareas are arranged along the length direction, and each subarea has different absorptivity and/or different equivalent thermal time constants under near infrared irradiation; The motion constraint structure is used for applying anisotropic mechanical constraint to the robot flexible body so that when external near infrared light spots are swept along the length direction of the robot, the robot flexible body is periodically deformed and generates net displacement under the friction action with the contact surface.
2. 2. The crawling robot of claim 1, wherein if said zone comprises a front zone and a rear zone, said rear zone has a higher near infrared effective absorption than said front zone, such that the rear zone preferentially forms anchoring deformations during spot scanning.
3. 3. The crawling robot of claim 1, wherein the photo-thermal conversion structure is a patterned structure comprising near infrared absorbing filler, and the patterned structure is at least one of a stripe, an island array, or a lattice.
4. 4. The crawling robot of claim 1, wherein said motion constraining structure is any of a high modulus lamina, an oriented fiber reinforcement layer, or a laminate structure, said motion constraining structure being configured to preferentially cause axial shrinkage deformation or expansion deformation when said crawling robot is heated.
5. 5. The crawling robot of claim 1, wherein the ventral surface of the crawling robot is provided with a lubricating surface layer for adapting to a liquid or semi-solid environment.
6. 6. The crawling robot of claim 1, wherein a surface of the crawling robot is provided with a visual marking zone, and the visual marking zone is used for correcting or revising a spot scanning track.
7. 7. A motion control method of a crawling robot, applied to the crawling robot of any one of claims 1 to 6, comprising: the method comprises the steps of obtaining point scanning parameters, wherein the point scanning parameters comprise spot power, scanning speed and duty ratio; And controlling the near infrared light spot to perform point scanning along the length direction of the crawling robot according to the point scanning parameters, forming deformation response of a preset phase difference by each partition when the crawling robot is point scanned, and performing crawling motion based on the deformation response.
8. 8. The motion control method according to claim 7, wherein if the partition includes a front area and a rear area, when the near infrared light spot is controlled to perform the spot scanning along the length direction of the crawling robot according to the spot scanning parameter, further comprising: and performing point scanning according to two-phase circulation of contraction and extension, wherein in the contraction phase, the near infrared light spot is used for irradiating the rear area of the crawling robot to form anchoring contraction, and in the extension phase, the near infrared light spot is irradiated forward to the front area to form extension and release the rear area to generate net displacement.
9. 9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed, implements the steps of the motion control method of a crawling robot of claim 7 or 8.
10. 10. A computer program product comprising a computer program which, when executed, implements the steps of the method of controlling the motion of a crawling robot of claim 7 or 8.

Description

Crawling robot and motion control method, medium and program product thereof Technical Field The present application relates to the field of robots, and in particular, to a crawling robot, and a motion control method, medium, and program product thereof. Background The core of the flexible or micro robot is to realize the 'soft' motion similar to the living things in nature by utilizing the characteristic that the flexible intelligent material is controllably deformed under the external stimulus (such as light, heat, electricity, magnetism and the like), and has wide prospect in the fields of minimally invasive medical treatment, bioengineering, environmental monitoring and the like. Among them, photo-thermal driving is attracting attention as a non-contact, wireless and easy-to-precisely-controlled driving method. The basic principle is that a photo-thermal conversion material (such as polypyrrole, graphene, gold nanoparticles and the like) is compounded in a flexible material, when light with specific wavelength (such as near infrared light) is irradiated, the material absorbs light energy and converts the light energy into heat energy, and internal stress of the material is induced due to difference of thermal expansion coefficients or phase change and the like, so that deformation such as bending, stretching and the like is generated. The periodic movement of the robot can be driven by controlling the movement or the switch of the light spot. However, robots at ultra-thin scale (micrometer to sub-millimeter thickness) encounter significant bottlenecks when moving in wet or viscous medium environments (e.g., water, saline, gel). Disclosure of Invention The application aims to provide a crawling robot, a motion control method thereof, a computer readable storage medium and a computer program product, wherein the crawling robot can realize repeatable two-phase circulation propulsion of the robot by naturally forming phase differences under point sweeping through a zoned photo-thermal structure. In order to solve the technical problems, the application provides a crawling robot, which comprises the following specific technical scheme: The robot comprises a robot flexible body, a photo-thermal conversion structure and a motion constraint structure; The photo-thermal conversion structure is arranged in or on the flexible body of the robot, at least two subareas are arranged along the length direction, and each subarea has different absorptivity and/or different equivalent thermal time constants under near infrared irradiation; The motion constraint structure is used for applying anisotropic mechanical constraint to the robot flexible body so that when external near infrared light spots are swept along the length direction of the robot, the robot flexible body is periodically deformed and generates net displacement under the friction action with the contact surface. Optionally, if the partition includes a front region and a rear region, the near infrared effective absorption rate of the rear region is higher than that of the front region, so that the rear region preferentially forms anchoring deformation in the spot scanning process. Optionally, the photo-thermal conversion structure is a patterned structure comprising near infrared absorbing filler, and the patterned structure is at least one of a stripe, an island array or a lattice. Optionally, the motion constraint structure is any one of a high modulus thin layer, an oriented fiber reinforced layer or a laminated structure, and the motion constraint structure is used for guiding the crawling robot to preferentially generate axial shrinkage deformation or expansion deformation when being heated. Optionally, the ventral surface of the crawling robot is provided with a lubrication surface layer for adapting to a liquid state environment or a semi-solid state environment. Optionally, a visual marking area is arranged on the surface of the crawling robot, and the visual marking area is used for correcting or revising the spot scanning track. The application also provides a motion control method of the crawling robot, which is applied to the crawling robot and comprises the following steps: the method comprises the steps of obtaining point scanning parameters, wherein the point scanning parameters comprise spot power, scanning speed and duty ratio; And controlling the near infrared light spot to perform point scanning along the length direction of the crawling robot according to the point scanning parameters, forming deformation response of a preset phase difference by each partition when the crawling robot is point scanned, and performing crawling motion based on the deformation response. Optionally, if the partition includes a front area and a rear area, when the near infrared light spot is controlled to perform spot scanning along the length direction of the crawling robot according to the spot scanning parameter, the method further includes: and performing