CN-122008167-A - Self-growing robot based on chemical reaction driving and growth control method thereof

CN122008167ACN 122008167 ACN122008167 ACN 122008167ACN-122008167-A

Abstract

The application discloses a self-growing robot based on chemical reaction driving and a growth control method thereof, and relates to the field of bionic flexible robots. The driving storage mechanism comprises three chambers which are sequentially communicated, wherein a first chamber stores and releases a part to be grown, a second chamber stores a second reactant, and a third chamber stores a first reactant. The first reactant and the second reactant react chemically in the second chamber to generate gas, and the gas enters the first chamber to drive the part to be grown to grow outwards from the outlet plug. The control module controls the stepper motor to synchronously release the materials. According to the application, through an integrated chemical reaction driving mode, dependence on an external air source is eliminated, no mooring, compactness and high autonomy of the system are realized, and the deployment flexibility and the motion adaptability of the robot in a narrow and complex environment are remarkably improved.

Inventors

CHU ZHONGYI
WU HAORAN
YAN QI

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (10)

1. The self-growing robot driven based on chemical reaction is characterized by comprising a driving storage mechanism, a part to be grown of the self-growing robot body and a control module; The driving storage mechanism comprises a first chamber, a second chamber and a third chamber which are sequentially communicated; the control module is connected with the drive storage mechanism; The third chamber is used for storing a first reactant; the second chamber is used for storing a second reactant, and the first reactant and the second reactant are subjected to chemical reaction in the second chamber to generate gas; The first chamber comprises a stepping motor, a coupler, a material reel and an outlet plug; the step motor is connected with the material scroll through a coupler, the outlet plug is positioned on the side wall of the first cavity, one end of the part to be grown is fixed on the outlet plug, and the other end is wound on the material scroll in the first cavity; The first chamber is used for driving the part to be grown to grow outwards from the outlet plug based on the gas to form a self-growing robot body; the control module is used for controlling the stepping motor to synchronously drive the material reel to rotate in coordination with the growth of the part to be grown so as to release the part to be grown.
2. The self-growing robot driven by chemical reaction according to claim 1, wherein the second chamber is communicated with the first chamber through a gas path control module, the gas path control module comprises a filter screen and an electromagnetic valve, the filter screen is used for preventing water vapor generated by chemical reaction from entering the first chamber, the electromagnetic valve is connected with the control module, and the control module is further used for controlling gas path on-off between the first chamber and the second chamber through the electromagnetic valve.
3. The self-growing robot driven by chemical reaction according to claim 1, wherein the third chamber is communicated with the second chamber through a peristaltic pump; the control module is also configured to control a rate of supply of the first reactant from the third chamber to the second chamber via a peristaltic pump.
4. The chemical reaction driven self-growing robot of claim 1 wherein the drive storage mechanism further comprises a first pressure sensor mounted on top of the first chamber for sensing the air pressure inside the first chamber and sending to the control module.
5. The chemical reaction drive-based self-growing robot of claim 1, wherein a growth state detection sensor is installed on a stepping motor, and the growth state detection sensor is used for detecting the growth length and the growth speed of the part to be grown in real time and transmitting the growth length and the growth speed to the control module.
6. The chemical reaction driven self-growing robot of claim 1 wherein the part to be grown is a flexible tubular material comprising a tubular polyethylene plastic film; The first reactant and the second reactant are respectively an acidic solution and an alkaline solution which can generate gas through chemical reaction.
7. A method for controlling growth of a chemical reaction driven self-growing robot, wherein the method for controlling growth of a chemical reaction driven self-growing robot is applied to the control module of any one of claims 1 to 6, and the method for controlling growth of a chemical reaction driven self-growing robot comprises: acquiring state information from a sampling time k of the growth robot, wherein the state information comprises an air pressure value in the first chamber and the growth length of the self-growth robot; Based on the state information of the sampling moment k of the self-growing robot, constructing a nonlinear programming optimization problem, and solving by adopting a sequence quadratic programming algorithm to obtain an optimal predictive control input sequence, wherein the nonlinear programming optimization problem comprises an objective function, an equality constraint and an inequality constraint; controlling the supply rate of the first reactant conveyed from the third chamber to the second chamber through a peristaltic pump based on a first control input in an optimal predictive control input sequence, and acquiring the growth length of the self-growing robot at a sampling time k+1 through a growth state detection sensor, wherein the time interval between any two sampling times is a preset sampling period; Stopping growth control if the growth length of the self-growing robot at the sampling time k+1 meets a preset stopping condition, wherein the preset stopping condition comprises that the difference between the growth length of the self-growing robot and the target growth length is smaller than a preset length threshold; If the growth length of the growth robot at the sampling time k+1 does not meet the preset stop condition, reconstructing a nonlinear programming optimization problem based on the state information of the self-growth robot at the sampling time k+1, and solving by adopting a sequence quadratic programming algorithm.
8. The growth control method of self-growing robot based on chemical reaction driving of claim 7, wherein the nonlinear programming optimization problem is constructed based on the state information of the sampling time k of the self-growing robot, and the optimal predictive control input sequence is obtained by solving by adopting a sequence quadratic programming algorithm, which comprises the following steps: initializing a warm start vector as an empty set, setting the initial value of the iteration number j as 1, and setting the initial value of the step length as 1; If the temperature starting vector is an empty set, generating an optimized variable of the jth iteration through a forward integration system dynamics equation based on the state information of the self-growing robot at the sampling time k, wherein the optimized variable comprises a predictive control input sequence and a corresponding predictive state information sequence; If the warm start vector is not the empty set, taking the warm start vector as an optimization variable of the jth iteration; The jth iteration is performed by: calculating an objective function value, an objective function gradient, an equality constraint value, an inequality constraint value, an equality constraint jacobian matrix and an inequality constraint jacobian matrix of an optimization variable of the j-th iteration; Constructing a Hessian matrix of the jth iteration by using a Gauss-Newton method based on the equation constraint jacobian matrix and the inequality constraint jacobian matrix of the jth iteration; Based on the Hessian matrix, the objective function gradient, the equality constraint residual error, the inequality constraint value, the equality constraint jacobian matrix and the inequality constraint jacobian matrix of the jth iteration, carrying out local linearization on the nonlinear programming problem, constructing a quadratic programming sub-problem of the jth iteration, and solving to obtain a searching direction of the jth iteration; determining the step length of the jth iteration by adopting Armijo backtracking line search based on the search direction of the jth iteration; Judging whether the step length of the jth iteration meets the sufficient descending condition of the Merit function or not, and obtaining a first judging result; If the first judgment result is yes, updating an optimization variable of the jth iteration based on the searching direction and the step length of the jth iteration, and judging whether an iteration ending condition is met or not to obtain a second judgment result, wherein the iteration ending condition comprises that the norm of the searching direction of the jth iteration is smaller than a preset norm convergence threshold value and the equation constraint residual of the jth iteration is smaller than a preset equation constraint parameter convergence threshold value, or the preset maximum iteration times are reached; If the first judgment result is negative, reducing the step length of the jth iteration through a preset backtracking factor, and judging whether the step length of the jth iteration meets the Merit function sufficient descending condition or not again; If the second judgment result is yes, terminating iteration, taking a predicted control input sequence in the updated optimized variable of the jth iteration as an optimal predicted control input sequence, and updating a temperature start vector based on the updated optimized variable of the jth iteration; If the second judgment result is negative, calculating the objective function value, the objective function gradient, the equality constraint value, the inequality constraint value, the equality constraint jacobian matrix and the inequality constraint jacobian matrix of the optimization variable of the j+1th iteration, and carrying out the j+1th iteration.
9. The method for controlling growth of a chemical reaction driven self-growing robot of claim 8, wherein the objective function is: ; Wherein, the An objective function value representing an optimization variable of the j-th iteration; representing a velocity tracking error weight; a growth rate predicted value at a (k+i) th predicted time of the jth iteration is represented; Representing a target growth rate; representing a feed rate increment weight; a supply rate increment representing the kth+i predicted time at the jth iteration; representing a prediction time domain; representing the control time domain; the equation constraint is a discretized system dynamics equation, wherein the system dynamics equation comprises a pressure dynamic equation, a length dynamic equation and a material eversion constitutive equation; Inequality constraints include flow non-negative constraints, flow upper limit constraints, flow rate of change constraints, pressure upper limit constraints, and pressure lower limit constraints.
10. The method of claim 7, wherein the first control input in the optimal predicted control input sequence controls the rate of supply of the first reactant from the third chamber to the second chamber via a peristaltic pump, and wherein the method comprises: the saturation clipping process is performed on the first control input in the optimal predicted control input sequence by the following formula: ; Wherein, the The supply rate at the sampling time k after the saturation clipping process is shown; Representing a first control input in the optimal predicted control input sequence obtained by solving at the sampling time k; Represents the maximum output flow rate of the peristaltic pump; The supply rate of the first reactant delivered from the third chamber to the second chamber is controlled by a peristaltic pump based on the supply rate of the sampling instant k after the saturation clipping process.

Description

Self-growing robot based on chemical reaction driving and growth control method thereof Technical Field The application relates to the technical field of bionic flexible robots, in particular to a self-growing robot based on chemical reaction driving and a growth control method thereof. Background The self-growing robot is a bionic flexible robot imitating vines, can extend the length of the robot in a material eversion or additive manufacturing mode, has good flexibility, and is suitable for detection, inspection and other tasks in a narrow or limited environment. However, the self-growing robot in the related art mostly adopts an external air source or a hydraulic driving mode, and the eversion growth of the material is realized through positive pressure. The tethered driving structure depends on external equipment such as an air compressor, an air storage tank and the like, so that the whole system is heavy and poor in portability, and the tethered pipeline is easy to wind or block in a complex environment, so that autonomous deployment and flexible movement of the robot in a narrow space are limited. Therefore, there is a need for a chemical reaction driven self-growing robot to solve the problem of insufficient portability and flexibility due to the reliance on tethered designs, thereby improving the deployment capability and adaptability of the self-growing robot in various complex environments. Disclosure of Invention The application aims to provide a self-growing robot driven by chemical reaction and a growth control method thereof, which can drive the self-growing robot to realize length increase without any external air source, integrate a driving mechanism and a material storage mechanism into a whole and realize the mooring-free design of the self-growing robot. In order to achieve the above object, the present application provides the following solutions: In a first aspect, the application provides a self-growing robot driven based on chemical reaction, comprising a driving storage mechanism, a part to be grown of a self-growing robot body and a control module; The driving storage mechanism comprises a first chamber, a second chamber and a third chamber which are sequentially communicated; the control module is connected with the drive storage mechanism; The third chamber is used for storing a first reactant; the second chamber is used for storing a second reactant, and the first reactant and the second reactant are subjected to chemical reaction in the second chamber to generate gas; The first chamber comprises a stepping motor, a coupler, a material reel and an outlet plug; the step motor is connected with the material scroll through a coupler, the outlet plug is positioned on the side wall of the first cavity, one end of the part to be grown is fixed on the outlet plug, and the other end is wound on the material scroll in the first cavity; The first chamber is used for driving the part to be grown to grow outwards from the outlet plug based on the gas to form a self-growing robot body; the control module is used for controlling the stepping motor to synchronously drive the material reel to rotate in coordination with the growth of the part to be grown so as to release the part to be grown. In a second aspect, the present application provides a method for controlling growth of a self-growing robot based on chemical reaction driving, comprising: acquiring state information from a sampling time k of the growth robot, wherein the state information comprises an air pressure value in the first chamber and the growth length of the self-growth robot; Based on the state information of the sampling moment k of the self-growing robot, constructing a nonlinear programming optimization problem, and solving by adopting a sequence quadratic programming algorithm to obtain an optimal predictive control input sequence, wherein the nonlinear programming optimization problem comprises an objective function, an equality constraint and an inequality constraint; controlling the supply rate of the first reactant conveyed from the third chamber to the second chamber through a peristaltic pump based on a first control input in an optimal predictive control input sequence, and acquiring the growth length of the self-growing robot at a sampling time k+1 through a growth state detection sensor, wherein the time interval between any two sampling times is a preset sampling period; Stopping growth control if the growth length of the self-growing robot at the sampling time k+1 meets a preset stopping condition, wherein the preset stopping condition comprises that the difference between the growth length of the self-growing robot and the target growth length is smaller than a preset length threshold; If the growth length of the growth robot at the sampling time k+1 does not meet the preset stop condition, reconstructing a nonlinear programming optimization problem based on the state information of the self-growth robot at t