南方科技大学知识苑(SUSTech KC): 适用于非结构化环境的机器人网络结构及传感系统

Title	适用于非结构化环境的机器人网络结构及传感系统
Alternative Title	Robot network structure and sensing system suitable for unstructured environment
Author	宋超阳; 万芳
First Inventor	宋超阳
Original applicant	南方科技大学
First applicant	南方科技大学
Address of First applicant	518000 广东省深圳市南山区学苑大道1088号
Current applicant	南方科技大学
Address of Current applicant	518000 广东省深圳市南山区学苑大道1088号 (广东,深圳,南山区)
First Current Applicant	南方科技大学
Address of First Current Applicant	518000 广东省深圳市南山区学苑大道1088号 (广东,深圳,南山区)
Application Number	CN201910461095.X
Application Date	2019-05-30
Open (Notice) Number	CN110174071A
Date Available	2019-08-27
Status of Patent	实质审查 ; 许可
Legal Date	2019-12-20
Subtype	发明申请
SUSTech Authorship	First
Abstract	本发明公开了一种适用于非结构化环境的机器人网络结构及传感系统，机器人网络结构的上层结构包含一个第一节点；下层结构包含至少三个不共线的第二节点；第一节点和所有第二节点通过连杆构成三维网络结构，连杆连接在两个第二节点之间或第一节点与第二节点之间；本发明当受到来自外部环境的侧向作用力时，三维网络结构的连杆在空间中进行凹陷式形变，形成与外部环境几何结构的自适应性，从而使机器人实现非结构化环境下的物理交互；在此之上，本发明可直接利用连杆结构作为光路或内嵌单根或多根光纤回路，通过测量通光量的变化检测连杆的物理形变量，从而使机器人在交互时实现非结构化环境的物理感知。
Other Abstract	The invention discloses a robot network structure and a sensing system suitable for an unstructured environment. The robot network structure is characterized in that: an upper layer structure of the robot network structure comprises one first node; a lower layer structure comprises at least three second nodes which are not collinear; the first node and all the second nodes form a three-dimensionalnetwork structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first node and the second node; when the robot network structure is subjected to a lateral acting force from the external environment, the connecting rod of the three-dimensional network structure is subjected to concave deformation in space to form the adaptability with the geometric structure of the external environment, so that a robot can realize physical interaction in the unstructured environment; on the basis, the connecting rod structure can be directly used asa light path or a single or a plurality of optical fiber loops are embedded, and the physical deformation of the connecting rod is detected by measurement for the change of light transmission quantity, thus the physical perception of the unstructured environment is realized during interaction of the robot.
CPC Classification Number	G01B11/16 ; H04L41/044 ; H04L41/12 ; H04B10/25891
IPC Classification Number	G01B11/16 ; H04L12/24 ; H04B10/25
INPADOC Legal Status	（ENTRY INTO FORCE OF RECORDATION OF PATENT LICENSING CONTRACT）[2021-04-13][CN]
INPADOC Patent Family Count	2
Extended Patent Family Count	2
Priority date	2019-05-30
Patent Agent	姚瑶
Agency	北京汇信合知识产权代理有限公司
URL	[Source Record]
Data Source	PatSnap
Document Type	Patent
Identifier	http://kc.sustech.edu.cn/handle/2SGJ60CL/534228
Department	Department of Mechanical and Energy Engineering 创新创意设计学院
Recommended Citation GB/T 7714	宋超阳,万芳. 适用于非结构化环境的机器人网络结构及传感系统.

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