CN103144783A - Polar roaming spherical robot - Google Patents
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- CN103144783A CN103144783A CN2013100888668A CN201310088866A CN103144783A CN 103144783 A CN103144783 A CN 103144783A CN 2013100888668 A CN2013100888668 A CN 2013100888668A CN 201310088866 A CN201310088866 A CN 201310088866A CN 103144783 A CN103144783 A CN 103144783A
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Abstract
The invention discloses a polar roaming spherical robot, which comprises a spherical robot structure, a main control system, a high performance storage battery, an attitude sensing system, a task sensing system, a satellite positioning communication system and a heat preservation system, wherein the main control system is connected with the high performance storage battery to finish power supply and wind driving generation management functions; the main control system is connected with an attitude sensor to obtain the current attitude information of the robot; the main control system is connected with the task sensing system to obtain temperature humidity information, environment barrier information and the like of the current environment; the main control system is connected with the satellite positioning communication system to realize global satellite positioning information obtaining, satellite remote data communication and remote control functions and the like; and the main control system is connected with the heat preservation system to realize heat preservation control for the robot electronic parts and the battery, thereby ensuring normal running of the system under the low-temperature environment. The roaming spherical robot provided by the invention can be widely used for environment detection and application under the conditions such as a polar environment.
Description
Technical field
The present invention relates to the robot control field, particularly relates to a kind of polar region roaming ball shape robot that is applied to the long-time long distance measurement of polar region environment.
Background technology
The polar region environment is that a low temperature, low light shine and the high wind environment, and in order to explore the polar region environment, robot application receives publicity.How the research of the Robot Design of long-time autonomous operation is one and realizes that a difficult problem, key are the indexs such as the autonomous drive performance of the obtain manner of the robot energy and robot and compatible with environment under the environment of polar region.
At present, ball shape robot has certain open-air adaptive capacity and obtains to pay close attention to.Yet at present the energy of ball shape robot obtains and the aspect Shortcomings such as low-temperature protection.
Chinese invention patent ZL200810017895.4 discloses " a kind of wind drive has the environment detection spherical robot of multi-motion mode ", this robot adopts wind drive fully, realize freely springing up, but its motion can't be controlled, can't realize that both fixed track was surveyed the needs such as motion, and the built-in system power supply needs additional power supply, can't realize so open-air polar region operation needs of long distance time.
Chinese invention patent ZL200810231786.2 discloses a kind of " spherical robot device that inside and outside driving is had both ", this robot can adopt wind-force to carry out external drive, but the energy of its internal drive adopts the solar electrical energy generation mode, like this for use the polar region, because sunshine is not enough, can't guarantee good built-in system power supply, and system additionally how the parts such as solar panels, system complex and define the path of motion of kinematic mechanism, can only carry out the motions such as simple obstacle detouring, sense of motion is single, can't realize braking and the compound movement such as turn to control.
Chinese utility model patent ZL 200820032723.X discloses " omnidirectional moving spherical robot ", and this robot can be realized omnidirectional moving, but adopts the in-line power mode, just can't continue motion when internal electric source exhausts.
Summary of the invention
The object of the invention is to solve the problem that prior art exists, provide a kind of under polar low-temperature high wind environment the robot of long distance time autonomous operation, to satisfy polar region detection needs.
for achieving the above object, design of the present invention is: the present invention adopts spherical mechanism, can reasonable adaptation polar region field activity environment, adopt two efficient DC brushless electric machines as the internal driving mechanism of ball shape robot, two counterweights are carried out individual drive, adopted simultaneously two covers independently to have the Circuits System of motor-driven and invert function, the front and back that can realize robot drive, the ACTIVE CONTROL such as differential steering and braking, and realize that robot clump weight in high wind wind drive situation drives DC machine and adopts inverting to generate electricity, complete the function that under wind power generation energy accumulation function and wind drive condition, braking is controlled,
The two cover DC machine that adopt drive inversion system and work alone, can and control needs according to environment, work alone respectively at various combination states such as driving and inversions, complete effective cooperation of robot driving flexibly and Energy Saving Control, realize that energy utilization maximizes and satisfies length apart from the needs of polar region detection;
Adopt independently heat-insulation system, effectively be combined in robot interior mechanism framework, the operating temperature situation by the electron gain system judge come Based Intelligent Control resistance film for electro heat, can work in the polar low-temperature environment to guarantee electronic system;
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of polar region roaming ball shape robot, comprise: ball shape robot mechanism, master control unit, High Performance storage battery, attitude sensing system, task sensor-based system, satellite positioning communication system and a heat-insulation system, it is characterized in that installing in described ball shape robot mechanism and fixing described master control unit, High Performance storage battery, attitude sensing system, task sensor-based system and satellite positioning communication system, described master control unit is connected with the High Performance storage battery, and completion system power supply and wind drive the electric generation management function; Described master control unit is connected with attitude sensor, obtains the current attitude information of robot; Described master control unit is connected with the task sensor-based system, the temperature humidity information of acquisition current environment and global positioning satellite information etc.; Described master control unit is connected with the satellite positioning communication system, realizes the functions such as satellite remote data communication and Long-distance Control; Described master control unit is connected with heat-insulation system, realizes the preservation and controlling of robot system electronic unit and battery, guarantees system's normally operation under low temperature environment; Described master control unit is used for realizing the ACTIVE CONTROL such as front and back driving, differential steering and braking of robot, and realizes realizing the controls such as inversion electrification energy storage and braking under the wind drive condition.
Above-mentioned master control unit, comprise microprocessor controller, two dc brushless motors, two cover driven by Brush-Less DC motor and inverter circuits, be used for realizing the ACTIVE CONTROL such as front and back driving, differential steering and braking of robot, realize all-around mobile, and realize realizing the controls such as inversion electrification energy storage and braking under the wind drive condition.
above-mentioned ball shape robot mechanism adopts symmetrical globosity, complete the functions such as robot support and the protection of body enclosing cover, the inner installation and fixing various systems, this mechanism comprises screw, two motor fixing plates in left and right, two dc brushless motors in left and right, two the motor assist adapter plates in left and right, nut, two coupler in left and right, two rotating shafts in left and right, two the counterweight supports in left and right, two bearings in left and right, two bearing seats in left and right, two the inside casing bearing supports in left and right, the High Performance storage battery, resistive film, insulation filling material, control system, two hemispherical Shells in up and down, two the inside casing accessory plates in up and down, task system, floor and communication system, described upper hemispherical shell is connected with described lower hemisphere shell, and fixes by screw, described upper inside casing accessory plate is connected with described upper hemispherical shell, and fixes by described screw, described lower inside casing accessory plate is connected with described lower hemisphere shell, and fixes by described screw, described interior frame support is connected with described upper inside casing accessory plate, and fixes by described screw and described nut, described interior frame support is connected with described lower inside casing accessory plate, and fixes by described screw and described nut, described left dc brushless motor passes described interior frame support and is connected with described left motor assist adapter plate, and is fixed by described motor fixing plate and described screw, described left motor assist adapter plate is connected with described inside casing bearing support, and is fixed by described screw and described nut, described left motor is connected with described left rotary shaft, and is fixed by described Left-wing Federation axial organ, described left counterweight support passes described left rotary shaft and is fixed by described screw, described left rotary shaft coordinates described left bearing to be connected with described left shaft holder, described left shaft holder is connected with described inside casing, and is fixed by described screw, described right motor passes described inside casing and is connected with described right motor assist adapter plate, and is fixed by described right motor fixing plate and described screw, described right motor assist adapter plate is connected with described inside casing bearing support, and is fixed by described screw and described nut, described right motor is connected with described right spindle, and is fixed by described right coupler, described right counterweight support passes described right spindle and is fixed by described screw, described right spindle coordinates described bearing and the institute right side to state bearing seat and is connected, described right bearing seat is connected with described inside casing bearing support, and is fixed by described screw, pack in described left counterweight support and wrap up the described battery of described resistive film, and between is filled described insulating material, pack in described right counterweight support and wrap up the described control system of described resistive film, and between is filled described insulating material, described task system is arranged on described upper hemispherical shell top, described communication system is arranged on described lower hemisphere shell bottom.
the structure of above-mentioned master control unit: two driving isolation circuit connect respectively two of left and right driving inverter bridge circuit to a microprocessor through the left and right, connect two current detection circuits in left and right, two position sensing circuits connect two dc brushless motors in left and right through the left and right, connect the power state detection circuit, heat preservation control system, reset circuit and interface conversion circuit, two of described left and right testing circuit is connected a dc brushless motor and is connected respectively two of left and right and drive the inverter bridge circuit with the left and right, described interface conversion circuit connects attitude sensing system, task sensor-based system and satellite positioning communication system, described master control unit be used for to be controlled dc brushless motor, realize robot driving, brake and turn to etc. control, realize the inversion Generation Control under the wind drive condition.
Above-mentioned task sensor-based system comprises image pick-up device, the global positioning system Temperature Humidity Sensor etc. of unifying, and is used for obtaining the temperature humidity information of current environment and global positioning satellite information etc.
Above-mentioned heat-insulation system comprises resistive film, insulation filling material and electronic temperature transmitter, the operating temperature situation by the electron gain system judge come the controlling resistance film for electro heat, can work in the polar low-temperature environment to guarantee electronic system.
Above-mentioned satellite positioning communication system is used for realizing remote monitor and control and the remote data communication of information data, and can realizes the function that robot remote is controlled.
the present invention compared with prior art, have following apparent outstanding substantive distinguishing features and marked improvement: the present invention adopts two cover individual drive inverter circuits can realize that under microprocessor-based control the front and back of robot drive, the ACTIVE CONTROL such as differential steering and braking, realize all-around mobile, and can realize that robot is carrying out the function that under electrification energy storage and wind drive condition, braking is controlled in high wind wind drive situation, have driving and energy storage synchronous, realize that energy utilization maximizes, in conjunction with heat-insulation system, satisfy long needs apart from autonomous operation under the high wind low temperature environment of polar region.
Description of drawings
Fig. 1 is the block diagram of one embodiment of the invention.
Fig. 2 is the structural representation of ball shape robot mechanism in Fig. 1 example.
Fig. 3 is A-A place cutaway view Amplified image in Fig. 2).
Fig. 4 is the circuit structure block diagram of master control unit in Fig. 1 example.
Fig. 5 is the program flow chart of master control unit in Fig. 1 example.
The specific embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
embodiment one: as shown in Figure 1, this polar region roaming ball shape robot comprises a ball shape robot mechanism (101), master control unit (102), High Performance storage battery (17), attitude sensing system (104), task sensor-based system (105), satellite positioning communication system (106) and heat-insulation system (107), it is characterized in that installing in described ball shape robot mechanism (101) and fixing described master control unit (102), High Performance storage battery (103), attitude sensing system (104), task sensor-based system (105) and satellite positioning communication system (106), described master control unit (102) is connected with High Performance storage battery (17), completion system power supply and wind drive the electric generation management function, described master control unit (102) is connected with attitude sensor (104), obtains the current attitude information of robot, described master control unit (102) is connected with task sensor-based system (105), the temperature humidity information of acquisition current environment and global positioning satellite information etc., described master control unit (102) is connected with satellite positioning communication system (106), realizes the functions such as satellite remote data communication and Long-distance Control, described master control unit (102) is connected with heat-insulation system (107), realizes the preservation and controlling of robot system electronic unit (20) and battery (17), guarantees system's normally operation under low temperature environment, the ACTIVE CONTROL such as front and back driving, differential steering and braking that described master control unit (102) is used for realizing robot realize all-around mobile, and realize realizing the controls such as inversion generating and braking under the wind drive condition.
embodiment two: the present embodiment and embodiment one are basic identical, special feature is: referring to Fig. 2, ball shape robot mechanism (101) adopts symmetrical globosity, completes the functions such as robot support and the protection of body enclosing cover, the inner installation and fixing various systems (102, 103, 104, 105 and 106), this mechanism comprises screw (1a, 1b, 1c, 1d, 2a, 2b, 5a, 5b, 10a, 10b, 13a, 13b, 13c, 13d, 14, 22), two the motor fixing plate (3a in left and right, 3b), two the dc brushless motor (4a in left and right, 4b), two the motor assist adapter plate (6a in left and right, 6b), nut (7a, 7b, 25a, 25b, 25c, 25d), left and right coupler (8a, 8b), left and right rotating shaft (9a, 9b), left and right counterweight support (11a, 11b), left and right bearing (12a, 12b), Y-axis bearing (15a, 15b), inside casing bearing support (16), High Performance storage battery (17), resistive film (18), insulation filling material (19), electronic system (20), two hemispherical Shells (21 in up and down, 23), two the inside casing accessory plate (24a in up and down, 24b), task system (26), floor (27) and communication system (28), described upper hemispherical shell (21) is connected with described lower hemisphere shell (23), and fixing by screw (22), described upper inside casing accessory plate (24a) is connected with described upper hemispherical shell (21), and fixing by described screw (1a, 1b), described lower inside casing accessory plate (24b) is connected with described lower hemisphere shell (23), and fixing by described screw (1c, 1d), described interior frame support (16) is connected with described upper inside casing accessory plate (24a), and fixing by described screw (13a, 13b) and described nut (25a, 25b), described interior frame support (16) is connected with described lower inside casing accessory plate (24b), and fixing by described screw (13c, 13d) and described nut (25c, 25d), described left dc brushless motor (4a) passes described interior frame support (16) and is connected with described left motor assist adapter plate (6a), and fixing by described left motor fixing plate (3a) and described screw (2a), described left motor assist adapter plate (6a) is connected with described inside casing bearing support (16), and fixing by described screw (5a) and described nut (7a), described left motor (4a) is connected with described left rotary shaft (9a), and fixing by described Left-wing Federation axial organ (8a), described left counterweight support (11a) passes described left rotary shaft (9a) and fixing by described screw (10a), described left rotary shaft (9a) coordinates described left bearing (12a) to be connected with described left shaft holder (15a), described left shaft holder (15a) is connected with described inside casing (16), and fixing by described screw (14a), described right motor (4b) passes described inside casing (16) and is connected with described right motor assist adapter plate (6b), and fixing by described right motor fixing plate (3b) and described screw (2b), described right motor assist adapter plate (6b) is connected with described inside casing bearing support (16), and fixing by described screw (5b) and described nut (7b), described right motor (4b) is connected with described right spindle (9b), and fixing by described right coupler (8b), described right counterweight support (11b) passes described right spindle (9b) and fixing by described screw (10b), described right spindle (9b) coordinates described right bearing (12b) to be connected with described right bearing seat (15b), described right bearing seat (15b) is connected with described inside casing bearing support (16), and fixing by described screw (14b), pack in described left counterweight support (11a) and wrap up the described battery (17) of described resistive film (18), and between is filled described insulating material (19), pack in described right counterweight support (11b) and wrap up the described electronic system (20) of described resistive film (18), and between is filled described insulating material (19), described task system (26) is arranged on described upper hemispherical shell (21) top, described communication system (28) is arranged on described lower hemisphere shell (23) bottom.
embodiment three: the present embodiment and embodiment two are basic identical, special feature is: referring to Fig. 3, the structure of described master control unit (102): two through left and right driving isolation circuit (303a of a microprocessor (301), 303b) connect respectively two of left and right and drive inverter bridge circuit (302a, 302b), connect two the current detection circuit (304a in left and right, 304b), two position sensing circuit (305a through the left and right, 305b) connect two the dc brushless motor (4a in left and right, 4b), connect power state detection circuit (306), heat preservation control system (107), reset circuit (307) and interface conversion circuit (308), two of described left and right testing circuit (304a, 304b) with two of left and right dc brushless motor (4a, 4b) connect respectively two of left and right and drive inverter bridge circuit (302a, 302b), described interface conversion circuit (308) connects attitude sensing system (104), task sensor-based system (105) and satellite positioning communication system (106), described master control unit (102) be used for to be controlled dc brushless motor, realize robot driving, brake and turn to etc. control, realize the inversion Generation Control under the wind drive condition.
Described microprocessor (301) adopts the TMS320F28035 microprocessor of American TI Company, include A/D converter, can realize the analogue to digital conversion of attitude angle information, obtain attitude angle numerical value, have PWM pulse duration modulation output control function, eCAN enhancing CAN bus and eQEP and strengthen the functions such as counting machine.
The PWM of described microprocessor (301) controls output signal and is connected with the control inputs signal of described driving isolation circuit (303a, 303b) respectively; The ADC analogue to digital conversion input of described microprocessor (301) is connected with described current detection circuit (304a, 304b), described power state detection circuit (306) and described heat-insulation system (107) etc. respectively; The eQEP counting machine input of described microprocessor (301) is connected with described position sensing circuit (305a, 305b) respectively; Described microprocessor (301) is connected with described interface conversion circuit (308), realizes the functions such as data communication and bus level conversion; The reset signal XRS of described microprocessor (301) is connected with electrify restoration circuit (307).
described driving inverter bridge circuit (302a) respectively with described High Performance storage battery (17), described driving isolation circuit (303a) is connected with described dc brushless motor (4a), comprise 7 IGBT high power valve (V0a in described driving inverter bridge circuit (302a), V1a, V2a, V3a, V4a, V5a and V6a) and with it the pairing diode (D0a, D1a, D2a, D3a, D4a, D5a and D6a), six IGBT high power valve (V1a wherein, V2a, V3a, V4a, V5a and V6a) and with it the pairing diode (D1a, D2a, D3a, D4a, D5a and D6a) make up and completed the driving inverter bridge, can realize driving and two kinds of functions of inversion generating of described dc brushless motor (4a) according to the difference control sequential to these six power tubes, power tube V0a and diode D0a are used for realizing output power supply and the battery charging control of battery, functions such as closing battery output in the not enough situation of emergency situation and battery storage electric weight can be completed, buffer action in parallel between described driving inverter bridge circuit (302a), described driving inverter bridge circuit (302b) and described High Performance storage battery (17) can be effectively completed.
described driving inverter bridge circuit (302b) respectively with described High Performance storage battery (17), described driving isolation circuit (303b) is connected with described dc brushless motor (4b), comprise 7 IGBT high power valve (V0b in described driving inverter bridge circuit (302b), V1b, V2b, V3b, V4b, V5b and V6b) and with it the pairing diode (D0b, D1b, D2b, D3b, D4b, D5b and D6b), six IGBT high power valve (V1b wherein, V2b, V3b, V4b, V5b and V6b) and with it the pairing diode (D1b, D2b, D3b, D4b, D5b and D6b) make up and completed the driving inverter bridge, can realize driving and two kinds of functions of inversion generating of described dc brushless motor (4b) according to the difference control sequential to these six power tubes, power tube V0b and diode D0b are used for realizing output power supply and the battery charging control of battery, functions such as closing battery output in the not enough situation of emergency situation and battery storage electric weight can be completed, buffer action in parallel between described driving inverter bridge circuit (302a), described driving inverter bridge circuit (302b) and described High Performance storage battery (17) can be effectively completed.
Described driving isolation circuit (303a, 303b) respectively with described driving inverter bridge circuit (302a, 302b), realize that the control of IGBT power tube in described driving inverter bridge circuit (302a, 302b) drives and isolation.
Described current detection circuit (304a, 304b) is used for realizing current sense function on the motor-driven line, with as functions such as trouble diagnosinies.
Described position sensing circuit (305a, 305b) adopts Hall element to be in the layout of in dc brushless motor, is used for realizing the detection of electric machine rotation position.
Described interface conversion circuit (308) and described attitude sensing system (104), described task sensor-based system (105), described satellite positioning communication system (106) are used for realizing the functions such as data communication and bus level conversion.
Described attitude sensing system (104) adopts the 3DM-GX3 attitude sensing system of MicroStrain company, is used for obtaining speed, acceleration information and the global GPS locating information etc. of robot six degree of freedom, for robot control system provides attitude reference.
Described task sensor-based system (105) comprises executes gram laser scanner LMS221 and Portable weather station WXT-520 etc., is same as temperature, humidity and the surrounding Environment Obstacles thing information etc. that realize robot environment of living in.
Described satellite positioning communication system (106) adopts GPRS, iridium satellite bimodulus communication GPS terminal RF8800L, is used for realizing global gps satellite location, GPRS data communication, satellite data communication, completes the functions such as remote data communication and Long-distance Control.
Described heat-insulation system (107) comprises resistive film (18), insulation filling material (19) and electronic temperature transmitter, operating temperature situation by the electron gain system judge come controlling resistance film (18) for electro heat, to guarantee that electronic system can work in the polar low-temperature environment, wherein said electronic temperature transmitter adopts DS18b20 to realize temperature data acquisition, and being connected with described microprocessor (301) provides temperature data.
Whole control flow as shown in Figure 4.Detailed process is as follows:
(a) device initialize;
(b) obtain Current Temperatures, humidity, attitude, ambient environment information and GPS information;
(c) judge whether the system works temperature is on the low side, if the power supply of on the low side controlling resistance film realizes the electronic system heating;
(d) judge whether to receive satellite data, if having, carry out long range data exchange and Long-distance Control;
(e) judge whether to reach information and send regularly, if so, send the information such as Current Temperatures;
(f) judge whether to arrive inversion regularly, if so, control motor-driven bridge Close All, read the attitude information of a period of time, Negotiation speed and acceleration information carry out wind-force precomputation and judgement, and carry out capacitance and calculate;
(g) judge whether enough drive machines people of current wind-force, move wind drive pattern and motor inversion generating;
(h) in the not enough situation of wind-force, if electric power is enough, move power drive mode, otherwise standby enters the power generation pattern;
(i) the place ahead barrier judgment, if the risk of existence, operation keeps away the barrier pattern;
(j) oneself state monitoring judges whether to exist fault, if having, sends via satellite current information and failure message;
(k) return to (b) operation.
Abovely by the specific embodiment, the present invention is had been described in detail, but these are not to be construed as limiting the invention.In the situation that do not break away from the principle of the invention, those skilled in the art also can make many distortion and improvement, and these also should be considered as protection scope of the present invention.
Claims (6)
1. ball shape robot is roamed in a polar region, comprise: a ball shape robot mechanism (101), master control unit (102), High Performance storage battery (17), attitude sensing system (104), task sensor-based system (105), satellite positioning communication system (106) and heat-insulation system (107), it is characterized in that installing in described ball shape robot mechanism (101) and fixing described master control unit (102), High Performance storage battery (103), attitude sensing system (104), task sensor-based system (105) and satellite positioning communication system (106), described master control unit (102) is connected with High Performance storage battery (17), completion system power supply and wind drive the electric generation management function, described master control unit (102) is connected with attitude sensor (104), obtains the current attitude information of robot, described master control unit (102) is connected with task sensor-based system (105), obtains temperature humidity information and the Environment Obstacles thing information of current environment, described master control unit (102) is connected with satellite positioning communication system (106), realizes global positioning satellite acquisition of information and the functions such as satellite remote data communication and Long-distance Control, described master control unit (102) is connected with heat-insulation system (107), realizes the preservation and controlling of robot system electronic unit (102,104,105) and battery (17), guarantees system's normally operation under low temperature environment, described master control unit (102) is realized all-around mobile for the ACTIVE CONTROL of the front and back driving, differential steering and the braking that realize robot, and realizes realizing the control of inversion generating and braking under the wind drive condition.
2. roaming ball shape robot in polar region according to claim 1, is characterized in that described ball shape robot mechanism (101) adopts symmetrical globosity, completes robot support and body enclosing cover defencive function, the inner installation and fixing various systems (102, 103, 104, 105 and 106), this mechanism comprises screw (1a, 1b, 1c, 1d, 2a, 2b, 5a, 5b, 10a, 10b, 13a, 13b, 13c, 13d, 14, 22), two the motor fixing plate (3a in left and right, 3b), two the dc brushless motor (4a in left and right, 4b), two the motor assist adapter plate (6a in left and right, 6b), nut (7a, 7b, 25a, 25b, 25c, 25d), left and right coupler (8a, 8b), left and right rotating shaft (9a, 9b), left and right counterweight support (11a, 11b), left and right bearing (12a, 12b), Y-axis bearing (15a, 15b), inside casing bearing support (16), High Performance storage battery (17), resistive film (18), insulation filling material (19), electronic system (20), two hemispherical Shells (21 in up and down, 23), two the inside casing accessory plate (24a in up and down, 24b), task system (26), floor (27) and communication system (28), described upper hemispherical shell (21) is connected with described lower hemisphere shell (23), and fixing by screw (22), described upper inside casing accessory plate (24a) is connected with described upper hemispherical shell (21), and fixing by described screw (1a, 1b), described lower inside casing accessory plate (24b) is connected with described lower hemisphere shell (23), and fixing by described screw (1c, 1d), described interior frame support (16) is connected with described upper inside casing accessory plate (24a), and fixing by described screw (13a, 13b) and described nut (25a, 25b), described interior frame support (16) is connected with described lower inside casing accessory plate (24b), and fixing by described screw (13c, 13d) and described nut (25c, 25d), described left dc brushless motor (4a) passes described interior frame support (16) and is connected with described left motor assist adapter plate (6a), and fixing by described left motor fixing plate (3a) and described screw (2a), described left motor assist adapter plate (6a) is connected with described inside casing bearing support (16), and fixing by described screw (5a) and described nut (7a), described left motor (4a) is connected with described left rotary shaft (9a), and fixing by described Left-wing Federation axial organ (8a), described left counterweight support (11a) passes described left rotary shaft (9a) and fixing by described screw (10a), described left rotary shaft (9a) coordinates described left bearing (12a) to be connected with described left shaft holder (15a), described left shaft holder (15a) is connected with described inside casing (16), and fixing by described screw (14a), described right motor (4b) passes described inside casing (16) and is connected with described right motor assist adapter plate (6b), and fixing by described right motor fixing plate (3b) and described screw (2b), described right motor assist adapter plate (6b) is connected with described inside casing bearing support (16), and fixing by described screw (5b) and described nut (7b), described right motor (4b) is connected with described right spindle (9b), and fixing by described right coupler (8b), described right counterweight support (11b) passes described right spindle (9b) and fixing by described screw (10b), described right spindle (9b) coordinates described right bearing (12b) to be connected with described right bearing seat (15b), described right bearing seat (15b) is connected with described inside casing bearing support (16), and fixing by described screw (14b), pack in described left counterweight support (11a) and wrap up the described battery (17) of described resistive film (18), and between is filled described insulating material (19), pack in described right counterweight support (11b) and wrap up the described electronic system (20) of described resistive film (18), and between is filled described insulating material (19), described task system (26) is arranged on described upper hemispherical shell (21) top, described communication system (28) is arranged on described lower hemisphere shell (23) bottom.
3. polar region according to claim 2 roaming ball shape robot is characterized in that described electronic system (20) synthesizing for the electronic unit of master control unit (102), task sensor-based system (105) and attitude sensing system (104).
4. ball shape robot is roamed in polar region according to claim 1, the structure that it is characterized in that described master control unit (102): two through left and right driving isolation circuit (303a of a microprocessor (301), 303b) connect respectively two of left and right and drive inverter bridge circuit (302a, 302b), connect two the current detection circuit (304a in left and right, 304b), two position sensing circuit (305a through the left and right, 305b) connect two the dc brushless motor (4a in left and right, 4b), connect power state detection circuit (306), heat preservation control system (107), reset circuit (307) and interface conversion circuit (308), two of described left and right testing circuit (304a, 304b) with two of left and right dc brushless motor (4a, 4b) connect respectively two of left and right and drive inverter bridge circuit (302a, 302b), described interface conversion circuit (308) connects attitude sensing system (104), task sensor-based system (105) and satellite positioning communication system (106), described master control unit (102) be used for to be controlled dc brushless motor, realize robot driving, brake and turn to etc. control, realize the inversion Generation Control under the wind drive condition.
5. ball shape robot is roamed in polar region according to claim 1, it is characterized in that described attitude sensing system (104) obtains the motion of current robot can attitude information and acceleration information, so that the wind drive situation of judgement current robot environment of living in and oneself motor drive situation.
6. roaming ball shape robot in polar region according to claim 1, is characterized in that described task sensor-based system (105) is used for obtaining temperature humidity information and the global positioning satellite information of current environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310088866.8A CN103144783B (en) | 2012-09-11 | 2013-03-20 | Polar roaming spherical robot |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210332310.4 | 2012-09-11 | ||
| CN2012103323104 | 2012-09-11 | ||
| CN201210332310 | 2012-09-11 | ||
| CN201310088866.8A CN103144783B (en) | 2012-09-11 | 2013-03-20 | Polar roaming spherical robot |
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| CN103144783A true CN103144783A (en) | 2013-06-12 |
| CN103144783B CN103144783B (en) | 2015-05-27 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481786A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | Polar robot based on wind-solar hybrid power supply |
| CN103777634A (en) * | 2014-01-10 | 2014-05-07 | 上海大学 | Large-size spherical robot control system |
| CN103869770A (en) * | 2014-02-19 | 2014-06-18 | 上海大学 | Polar pneumatic type spherical robot control system |
| CN104950915A (en) * | 2015-06-08 | 2015-09-30 | 广州杰赛科技股份有限公司 | Spherical sensor based motion control method and spherical sensor based motion control device |
| CN106230090A (en) * | 2016-08-08 | 2016-12-14 | 上海大学 | A kind of equilibrium electricity generating ball anthropomorphic robot |
| CN107336817A (en) * | 2017-05-22 | 2017-11-10 | 上海大学 | A kind of combination drive underwater glider |
| CN108493519A (en) * | 2018-03-31 | 2018-09-04 | 蚌埠市圆周率电子科技有限公司 | A kind of Kang Leng robots with the pre- hot function of battery |
| CN108478833A (en) * | 2018-05-28 | 2018-09-04 | 广州市君望机器人自动化有限公司 | low-temperature protection disinfection robot |
| CN111998879A (en) * | 2020-08-17 | 2020-11-27 | 万海雄 | Polar region monitoring facilities protection device |
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| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN201176217Y (en) * | 2008-02-28 | 2009-01-07 | 南京航空航天大学 | Omnidirectional mobile spherical robot |
| CN102161356A (en) * | 2011-05-09 | 2011-08-24 | 北京邮电大学 | Tridrive spherical robot |
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| CN201176217Y (en) * | 2008-02-28 | 2009-01-07 | 南京航空航天大学 | Omnidirectional mobile spherical robot |
| CN101249849A (en) * | 2008-04-08 | 2008-08-27 | 西安电子科技大学 | Pneumatic environment detection spherical robot having multiple motion modes |
| CN102161356A (en) * | 2011-05-09 | 2011-08-24 | 北京邮电大学 | Tridrive spherical robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481786A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | Polar robot based on wind-solar hybrid power supply |
| CN103481786B (en) * | 2013-09-12 | 2016-04-06 | 北京航空航天大学 | A kind of polar region robot based on wind-solar hybrid energy |
| CN103777634A (en) * | 2014-01-10 | 2014-05-07 | 上海大学 | Large-size spherical robot control system |
| CN103869770A (en) * | 2014-02-19 | 2014-06-18 | 上海大学 | Polar pneumatic type spherical robot control system |
| CN104950915A (en) * | 2015-06-08 | 2015-09-30 | 广州杰赛科技股份有限公司 | Spherical sensor based motion control method and spherical sensor based motion control device |
| CN106230090A (en) * | 2016-08-08 | 2016-12-14 | 上海大学 | A kind of equilibrium electricity generating ball anthropomorphic robot |
| CN106230090B (en) * | 2016-08-08 | 2019-08-06 | 上海大学 | A kind of balanced power generation ball shape robot |
| CN107336817A (en) * | 2017-05-22 | 2017-11-10 | 上海大学 | A kind of combination drive underwater glider |
| CN108493519A (en) * | 2018-03-31 | 2018-09-04 | 蚌埠市圆周率电子科技有限公司 | A kind of Kang Leng robots with the pre- hot function of battery |
| CN108493519B (en) * | 2018-03-31 | 2020-11-10 | 黄丽华 | Cold-resistant robot with battery preheating function |
| CN108478833A (en) * | 2018-05-28 | 2018-09-04 | 广州市君望机器人自动化有限公司 | low-temperature protection disinfection robot |
| CN111998879A (en) * | 2020-08-17 | 2020-11-27 | 万海雄 | Polar region monitoring facilities protection device |
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