CN103144783B - Polar roaming spherical robot - Google Patents
Polar roaming spherical robot Download PDFInfo
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- CN103144783B CN103144783B CN201310088866.8A CN201310088866A CN103144783B CN 103144783 B CN103144783 B CN 103144783B CN 201310088866 A CN201310088866 A CN 201310088866A CN 103144783 B CN103144783 B CN 103144783B
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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 robot controlling field, particularly relates to a kind of polar region roaming ball shape robot being applied to the long-time long distance measurement of polar region environment.
Background technology
Polar region environment is a low temperature, low light shines and harsher wind conditions, and in order to explore polar region environment, robot application receives publicity.How under the environment of polar region, the Robot Design research of long-time autonomous operation is one and realizes a difficult problem, and key is the obtain manner of the robot energy and the index such as the autonomous drive performance of robot and compatible with environment.
At present, ball shape robot has certain field adaptive capacity and obtains concern.But, the aspect Shortcomings such as the energy acquisition of current ball shape robot and 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 completely, realize freely springing up, but its motion cannot be controlled, both fixed track detection motions cannot be realized and wait needs, and built-in system is powered and is needed additional power supply, cannot realize long distance time field polar region operation needs like this.
Chinese invention patent ZL200810231786.2 discloses one " 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 then adopts solar electrical energy generation mode, like this for the application of polar region, because sunshine is not enough, cannot ensure that good built-in system is powered, and the much more extra parts such as solar panels of system, system complex and define the path of motion of kinematic mechanism, the motions such as simple obstacle detouring can only be carried out, sense of motion is single, braking cannot be realized and the compound movement such as to turn to can control.
Chinese utility model patent ZL 200820032723.X discloses " omnidirectional moving spherical robot ", and this robot can realize omnidirectional moving, but adopts in-line power mode, just cannot continue motion when internal electric source exhausts.
Summary of the invention
The object of the invention is to solve prior art Problems existing, a kind of robot of long distance time autonomous operation under polar low-temperature harsher wind conditions is provided, to meet 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, individual drive is carried out to two counterweights, have employed the Circuits System that two covers independently have motor driving and invert function simultaneously, the front and back that can realize robot drive, the ACTIVE CONTROL such as differential steering and braking, and realize robot in high wind wind drive situation clump weight drive DC machine adopt inverting generate electricity, complete the function of control for brake under wind power generation energy accumulation function and wind drive condition,
Adopt two cover DC motor Driver inversion systems to work alone, can environmentally need with control, independently be operated in the various combination states such as driving and inversion, complete effective cooperation of robot driving flexibly and Energy Saving Control, realize energy utilization and maximize and meet the long needs detected apart from polar region;
Adopt independently heat-insulation system, be effectively combined in robot interior mechanism frame, judge the confession electro heat carrying out Based Intelligent Control resistance film, to guarantee that electronic system can normally be operated in polar low-temperature environment by the operating temperature situation obtaining electronic system;
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of polar region roaming ball shape robot, comprise: spherical 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 spherical 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 High Performance storage battery, and completion system is powered and wind drives electric generation management function; Described master control unit is connected with attitude sensor, obtains the current pose information of robot; Described master control unit is connected with 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 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 that system is normally run at low ambient temperatures; The ACTIVE CONTROL such as described master control unit drives for the front and back realizing robot, differential steering and braking, and realize realizing the controls such as inversion electrification energy storage and braking under 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, the ACTIVE CONTROL such as the front and back for realizing robot drive, differential steering and braking, realize all-around mobile, and realize realizing the controls such as inversion electrification energy storage and braking under wind drive condition.
Above-mentioned spherical robot mechanism adopts symmetrical globosity, complete the function such as robot support and the protection of body enclosing cover, inner installation and fixing various system, 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, High Performance storage battery, resistive film, insulation filling material, control system, upper and lower two hemispherical Shells, upper and lower two inside casing accessory plates, task system, floor and communication system, described upper hemispherical shell is connected with described lower hemisphere shell, and is fixed by screw, described upper inside casing accessory plate is connected with described upper hemispherical shell, and is fixed by described screw, described lower inside casing accessory plate is connected with described lower hemisphere shell, and is fixed by described screw, described interior frame support is connected with described upper inside casing accessory plate, and is fixed by described screw and described nut, described interior frame support is connected with described lower inside casing accessory plate, and is fixed by described screw and described nut, described left DC brushless motor is connected with described left motor assist adapter plate through described interior frame support, 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 is connected with described right motor assist adapter plate through described inside casing, 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, load the described battery of the described resistive film of parcel in described left counterweight support, and fill described insulating material between, load the described control system of the described resistive film of parcel in described right counterweight support, and fill described insulating material between, 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 two, left and right driving inverter bridge circuit to a microprocessor respectively through left and right, connect two current detection circuits in left and right, through left and right, two position sensing circuits connect two DC brushless motors in left and right, connect power state detection circuit, heat preservation control system, reset circuit and interface conversion circuit, two, described left and right testing circuit and two, left and right DC brushless motor are connected two, left and right respectively and drive inverter bridge circuit, described interface conversion circuit connects attitude sensing system, task sensor-based system and satellite positioning communication system, described master control unit, for controlling DC brushless motor, realizes the driving of robot, brakes and to turn to etc. control, realize inversion Generation Control under wind drive condition.
Above-mentioned task sensor-based system comprises image pick-up device, global positioning system unifies Temperature Humidity Sensor etc., for obtaining the temperature humidity information and global positioning satellite information etc. of current environment.
Above-mentioned heat-insulation system comprises resistive film, insulation filling material and electronic temperature transmitter, judges the confession electro heat carrying out controlling resistance film, to guarantee that electronic system can normally be operated in polar low-temperature environment by the operating temperature situation obtaining electronic system.
Above-mentioned satellite positioning communication system, for realizing remote monitor and control and the remote data communication of information data, and can realize the function of robot remote control.
The present invention compared with prior art, there is following apparent outstanding substantive distinguishing features and marked improvement: the front and back that the present invention adopts two cover individual drive inverter circuits can realize robot under control of the microprocessor drive, the ACTIVE CONTROL such as differential steering and braking, realize all-around mobile, and the function that robot carries out control for brake under electrification energy storage and wind drive condition in high wind wind drive situation can be realized, have driving and energy storage synchronous, realize energy utilization to maximize, in conjunction with heat-insulation system, the needs of long distance autonomous operation under meeting polar region high wind low temperature environment.
Accompanying drawing explanation
Fig. 1 is the block diagram of one embodiment of the invention.
Fig. 2 is the structural representation of spherical 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.
Detailed description of the invention
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 spherical 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 spherical 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 is powered and wind drives electric generation management function, described master control unit (102) is connected with attitude sensor (104), obtains the current pose 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 that system is normally run at low ambient temperatures, the ACTIVE CONTROL such as described master control unit (102) drives for the front and back realizing robot, differential steering and braking, realize all-around mobile, and realize realizing the controls such as inversion generating and braking under wind drive condition.
Embodiment two: the present embodiment is substantially identical with embodiment one, special feature is: see Fig. 2, spherical robot mechanism (101) adopts symmetrical globosity, completes the function such as robot support and the protection of body enclosing cover, inner installation and fixing various system (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), upper and lower two hemispherical Shells (21, 23), upper and lower two inside casing accessory plate (24a, 24b), task system (26), floor (27) and communication system (28), described upper hemispherical shell (21) is connected with described lower hemisphere shell (23), and is fixed by screw (22), described upper inside casing accessory plate (24a) is connected with described upper hemispherical shell (21), and is fixed by described screw (1a, 1b), described lower inside casing accessory plate (24b) is connected with described lower hemisphere shell (23), and is fixed by described screw (1c, 1d), described interior frame support (16) is connected with described upper inside casing accessory plate (24a), and is fixed 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 is fixed by described screw (13c, 13d) and described nut (25c, 25d), described left DC brushless motor (4a) is connected with described left motor assist adapter plate (6a) through described interior frame support (16), and is fixed 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 is fixed by described screw (5a) and described nut (7a), described left motor (4a) is connected with described left rotary shaft (9a), and is fixed by described Left-wing Federation axial organ (8a), described left counterweight support (11a) through described left rotary shaft (9a) and by described screw (10a) fix, 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 is fixed by described screw (14a), described right motor (4b) is connected with described right motor assist adapter plate (6b) through described inside casing (16), and is fixed 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 is fixed by described screw (5b) and described nut (7b), described right motor (4b) is connected with described right spindle (9b), and is fixed by described right coupler (8b), described right counterweight support (11b) through described right spindle (9b) and by described screw (10b) fix, 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 is fixed by described screw (14b), load the described battery (17) of the described resistive film of parcel (18) in described left counterweight support (11a), and fill described insulating material (19) between, load the described electronic system (20) of the described resistive film of parcel (18) in described right counterweight support (11b), and fill described insulating material (19) between, 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 is substantially identical with embodiment two, and special feature is: see Fig. 3, the structure of described master control unit (102): microprocessor (301) is two driving isolation circuit (303a through left and right, 303b) connect two, left and right respectively 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 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, described left and right testing circuit (304a, 304b) with two, left and right DC brushless motor (4a, 4b) connect two, left and right respectively 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), for controlling DC brushless motor, realizes the driving of robot, brakes and to turn to etc. control, realize inversion Generation Control under wind drive condition.
Described microprocessor (301) adopts the TMS320F28035 microprocessor of American TI Company, include A/D converter, the analogue to digital conversion of attitude angle information can be realized, obtain attitude angle numerical value, there is PWM pulse duration modulation output control function, eCAN strengthens CAN and eQEP strengthens 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 heat-insulation system (107) etc. with described current detection circuit (304a, 304b), described power state detection circuit (306) 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 function 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), 7 IGBT high power valve (V0a are comprised in described driving inverter bridge circuit (302a), V1a, V2a, V3a, V4a, V5a and V6a) and the diode (D0a that matches with it, D1a, D2a, D3a, D4a, D5a and D6a), wherein six IGBT high power valve (V1a, V2a, V3a, V4a, V5a and V6a) and the diode (D1a that matches with it, D2a, D3a, D4a, D5a and D6a) combination complete driving inverter bridge, to generate electricity two kinds of functions according to the driving and inversion that can realize described DC brushless motor (4a) to the different Control timing sequence of these six power tubes, power tube V0a and diode D0a charges for the output power supply and battery realizing battery and controls, can complete and close the functions such as battery output down in the not enough situation of emergency situation and battery storage electricity, effectively can complete described driving inverter bridge circuit (302a), buffer action in parallel between described driving inverter bridge circuit (302b) and described High Performance storage battery (17).
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), 7 IGBT high power valve (V0b are comprised in described driving inverter bridge circuit (302b), V1b, V2b, V3b, V4b, V5b and V6b) and the diode (D0b that matches with it, D1b, D2b, D3b, D4b, D5b and D6b), wherein six IGBT high power valve (V1b, V2b, V3b, V4b, V5b and V6b) and the diode (D1b that matches with it, D2b, D3b, D4b, D5b and D6b) combination complete driving inverter bridge, to generate electricity two kinds of functions according to the driving and inversion that can realize described DC brushless motor (4b) to the different Control timing sequence of these six power tubes, power tube V0b and diode D0b charges for the output power supply and battery realizing battery and controls, can complete and close the functions such as battery output down in the not enough situation of emergency situation and battery storage electricity, effectively can complete described driving inverter bridge circuit (302a), buffer action in parallel between described driving inverter bridge circuit (302b) and described High Performance storage battery (17).
Described driving isolation circuit (303a, 303b) respectively with described driving inverter bridge circuit (302a, 302b), the control realizing IGBT power tube in described driving inverter bridge circuit (302a, 302b) drives and isolation.
Described current detection circuit (304a, 304b) for realizing current sense function on motor drive wire, using 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, 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), for realizing the function such as data communication and bus level conversion.
Described attitude sensing system (104) adopts the 3DM-GX3 attitude sensing system of MicroStrain company, for obtaining the speed of robot six degree of freedom, acceleration information and global GPS locating information etc., for robot control system provides attitude reference.
Described task sensor-based system (105) comprises executes gram laser scanner LMS221 and a Portable weather station WXT-520 etc., is same as temperature, humidity and the surrounding environment obstacle information etc. that realize environment residing for robot.
Described satellite positioning communication system (106) adopts GPRS, iridium satellite bimodulus communication GPS terminal RF8800L, for realizing global gps satellite location, GPRS data communication, satellite data communication, completes the function 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, the confession electro heat carrying out controlling resistance film (18) is judged by the operating temperature situation obtaining electronic system, to guarantee that electronic system can normally be operated in 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 () obtains Current Temperatures, humidity, attitude, ambient environment information and GPS information;
C () judges that whether system operating temperatures is on the low side, if on the low side, controlling resistance film is powered and realized electronic system heating;
D () judges whether to receive satellite data, if had, then carry out long range data exchange and Long-distance Control;
E () judges whether that the information that reaches sends timing, if so, then send the information such as Current Temperatures;
F () judges whether to arrive inversion timing, if so, then control motor drive axle 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 calculating;
G () judges the whether enough drive machines people of current wind, then run wind drive pattern and motor inversion generating;
H (), in the not enough situation of wind-force, if electric power is enough, then runs power drive mode, otherwise standby, enters power generation pattern;
(i) preceding object thing judges, if there is risk, then runs and keeps away barrier pattern;
J () oneself state is monitored, judge whether to there is fault, if had, then sends current information and failure message by satellite;
K () returns (b) and runs.
Above by detailed description of the invention to invention has been detailed description, but these are not construed as limiting the invention.Without departing from the principles of the present 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 (5)
1. a polar region roaming ball shape robot, comprise: a spherical 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 spherical 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 is powered and wind drives electric generation management function, described master control unit (102) is connected with attitude sensing system (104), obtains the current pose 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 function 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 that system is normally run at low ambient temperatures, described master control unit (102) drives for the front and back realizing robot, the ACTIVE CONTROL of differential steering and braking, realizes all-around mobile, and realizes the control realizing inversion generating and braking under wind drive condition,
The structure of described master control unit (102): microprocessor (301) is two driving isolation circuit (303a through left and right, 303b) connect two, left and right respectively 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 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, described left and right testing circuit (304a, 304b) with two, left and right DC brushless motor (4a, 4b) connect two, left and right respectively 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), for controlling DC brushless motor, realizes the driving of robot, brakes and to turn to etc. control, realize inversion Generation Control under wind drive condition.
2. roaming ball shape robot in polar region according to claim 1, is characterized in that described spherical robot mechanism (101) adopts symmetrical globosity, completes robot support and body enclosing cover defencive function, inner installation and fixing various system (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), interior frame support (16), High Performance storage battery (17), resistive film (18), insulation filling material (19), electronic system (20), upper and lower two hemispherical Shells (21, 23), upper and lower two inside casing accessory plate (24a, 24b), task system (26), floor (27) and communication system (28), described upper hemispherical shell (21) is connected with described lower hemisphere shell (23), and is fixed by screw (22), described upper inside casing accessory plate (24a) is connected with described upper hemispherical shell (21), and is fixed by described screw (1a, 1b), described lower inside casing accessory plate (24b) is connected with described lower hemisphere shell (23), and is fixed by described screw (1c, 1d), described interior frame support (16) is connected with described upper inside casing accessory plate (24a), and is fixed 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 is fixed by described screw (13c, 13d) and described nut (25c, 25d), described left DC brushless motor (4a) is connected with described left motor assist adapter plate (6a) through described interior frame support (16), and is fixed by described left motor fixing plate (3a) and described screw (2a), described left motor assist adapter plate (6a) is connected with described interior frame support (16), and is fixed by described screw (5a) and described nut (7a), described left motor (4a) is connected with described left rotary shaft (9a), and is fixed by described Left-wing Federation axial organ (8a), described left counterweight support (11a) through described left rotary shaft (9a) and by described screw (10a) fix, 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 interior frame support (16), and is fixed by described screw (14a), described right motor (4b) is connected with described right motor assist adapter plate (6b) through described interior frame support (16), and is fixed by described right motor fixing plate (3b) and described screw (2b), described right motor assist adapter plate (6b) is connected with described interior frame support (16), and is fixed by described screw (5b) and described nut (7b), described right motor (4b) is connected with described right spindle (9b), and is fixed by described right coupler (8b), described right counterweight support (11b) through described right spindle (9b) and by described screw (10b) fix, 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 interior frame support (16), and is fixed by described screw (14b), load the described battery (17) of the described resistive film of parcel (18) in described left counterweight support (11a), and fill described insulating material (19) between, load the described electronic system (20) of the described resistive film of parcel (18) in described right counterweight support (11b), and fill described insulating material (19) between, 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) is master control unit (102), the synthesis of the electronic unit of task sensor-based system (105) and attitude sensing system (104).
4. roaming ball shape robot 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 judge wind drive situation and the oneself motor driving situation of environment residing for current robot.
5. roaming ball shape robot in polar region according to claim 1, is characterized in that described task sensor-based system (105) is 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 | 2012-09-11 | ||
| CN201210332310.4 | 2012-09-11 | ||
| CN2012103323104 | 2012-09-11 | ||
| CN201310088866.8A CN103144783B (en) | 2012-09-11 | 2013-03-20 | Polar roaming spherical robot |
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| Publication Number | Publication Date |
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| CN103144783A CN103144783A (en) | 2013-06-12 |
| CN103144783B true CN103144783B (en) | 2015-05-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN112133988A (en) * | 2018-03-31 | 2020-12-25 | 蚌埠市圆周率电子科技有限公司 | Cold-resistant battery robot used in extremely cold environment |
| 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 |
| CN111998879B (en) * | 2020-08-17 | 2022-08-02 | 安徽中池新材料有限公司 | Polar region monitoring facilities protection device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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