CN103754214A - Air cushion off-road robot - Google Patents
Air cushion off-road robot Download PDFInfo
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- CN103754214A CN103754214A CN201310537974.9A CN201310537974A CN103754214A CN 103754214 A CN103754214 A CN 103754214A CN 201310537974 A CN201310537974 A CN 201310537974A CN 103754214 A CN103754214 A CN 103754214A
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Abstract
The invention relates to an air cushion off-road robot, in particular to a full-electrical air cushion off-road robot combining an air cushion with the conventional walking mechanism and having soft land self-navigating capability. The air cushion off-road robot consists of a vehicle body, a storage battery, an inverter, a fan motor, a fan, a fan bracket, an air cushion apron, apron mounting holes, an air duct, a boosting chamber, universal wheels, a visual sensor, a GPS (Global Positioning System), a three-dimensional electronic compass, ultrasonic sensors, a data acquisition card, a vehicle-mounted computer, an anemograph, a micro air pressure sensor, a torque sensor, a rotating speed sensor, a vibration sensor, a damping spring, a suspension, driving wheels, a suspension junction and a wheel hub motor, wherein the components construct a lift system, a driving system and a measuring and controlling system respectively. The robot has a self-navigating capability, an environment identification capability and a self-controlling capability needed in soft land autonomous navigation. The air cushion off-road robot has adaptability and application robustness to various soft land conditions.
Description
Technical field
The present invention relates to the cross-country robot of a kind of air-cushion type, be specifically related to the cross-country robot of all-electric air-cushion type with hag face autonomous navigation ability that a kind of air cushion combines with conventional traveling gear.
Background technology
On the territory of China's length and breadth of land, exist the hag environment such as large-area marsh, beach, desert.The dangerous task of the job tasks such as exploration, search, rescue, particularly tool that carries out in hag environment (as oil etc. is leaked in military surveillance, removing), cross-country robot research and development to hag face autonomous navigation ability has proposed current demand.The realization of autonomous navigation, requires robot to have soft terrain trafficability on the one hand, requires on the other hand it to have environment discernibility and self-control.
Soft terrain trafficability is mainly realized by traveling gear.Cross-country robot and overland vehicle adopt wheel (example is disclosed four-wheel drive wheeled robot Trolley in Chinese utility model patent application number CN200420040969.3) or crawler belt (example is disclosed folding crawler type walking device and vehicle in Chinese invention patent application CN200810227516.4) as traveling gear, to comprise extra low pressure tire and broad track etc. conventionally.But because the earth contact pressure of above conventional traveling gear immobilizes by force, so its bad adaptability to ground environmental change.Particularly, in order to be applicable to hag face, must add big wheel width, radius or track area, resistance when this can cause it to travel on hardstand is large, less economical, serious wear.
Air cushion technology is introduced to overland vehicle, for a change the ground connection pressure of conventional traveling gear, improve its hag face crossing ability and application robustness a kind of feasible program is provided.Air-cushion type cross-country car utilizes blower fan at the bottom of car, to form high pressure air cushion, and for support section car weight, this part car weight can carry out active adjustment by changing rotation speed of fan according to operating mode.But, no matter adopt Mechanical Driven (example is disclosed a kind of free air suspension car in Chinese utility model patent application number CN02276647.2), or electric drive (example is disclosed concealed air cushion vehicle in Chinese invention patent application CN201010109077.4), existing air-cushion type cross-country car technology all, only for manual control pattern, there is no the example for the autonomous master mode of vehicle.But as mentioned before, some bad working environments and hot mission are also not suitable for people's participation, are therefore necessary developing intellectual resource air-cushion type cross-country car, or claim " the cross-country robot of air-cushion type ".Compare with the air-cushion type cross-country car under manual control, the cross-country robot of air-cushion type is realized autonomous navigation and is had soft terrain trafficability except requiring, and also must have environment discernibility and self-control, equips corresponding sensor, controller and actr.Based on above requirement, the present invention proposes the cross-country robot of all-electric air-cushion type with hag face autonomous navigation ability that a kind of air cushion combines with wheel type traveling mechanism.
Summary of the invention
The defect existing for prior art, the object of the invention is to propose a kind of cross-country robot of air-cushion type with hag face autonomous navigation ability.
To achieve these goals, the present invention takes following technical scheme:
The cross-country robot of air-cushion type, comprises car body, storage battery, inverter, blower motor, blower fan, fan supporter, caisson feed supple sirts, air flue, pumping chamber, cardan wheel, vision sensor, GPS, three-dimensional electronic compass, ultrasonic transduter, data collecting card, car-mounted computer, anemoscope, micro gas pressure sensor, torque sensor, tachogen, vibration sensor, damper spring, suspension, drive wheel, suspension knot and wheel hub motor, described storage battery is connected with inverter, described inverter is connected with blower motor, described blower motor is connected with blower fan, described blower fan is fixed on car body by fan supporter, described caisson feed supple sirts is enclosed in car body below, described blower fan feeds air by vehicle bottom by air flue, the pumping chamber that caisson feed supple sirts and ground surround, described cardan wheel is connected with car body, described vision sensor, GPS and three-dimensional electronic compass are arranged on Vehicular body front forward position, described ultrasonic transduter is evenly arranged along Vehicular body front edge, described anemoscope is arranged on air flue entrance, described micro gas pressure sensor is connected with vehicle bottom and is placed in pumping chamber, described torque sensor is connected with wheel hub motor, described tachogen is connected with cardan wheel, described vibration sensor is connected with damper spring, described damper spring is fixed on suspension, described data collecting card respectively with vision sensor, GPS, three-dimensional electronic compass, ultrasonic transduter, anemoscope, micro gas pressure sensor, torque sensor, tachogen, vibration sensor and car-mounted computer are connected, described car-mounted computer is connected with the controller of blower motor and wheel hub motor respectively, described drive wheel is connected with car body by suspension, described left and right suspension is tied connection by suspension, described wheel hub motor is arranged on driving wheel hub, described wheel hub motor is connected with storage battery.
Described caisson feed supple sirts is that knuckle refers to type, and each apron refers to that the part being connected with car body adopts rigid material, has apron mounting hole on it, by apron mounting hole, apron is referred to car body hinged; Apron refers to that side adopts flexible material manufacture.
On described blower motor and wheel hub motor, be all integrated with controller.
Described blower motor adopts 220v alternating current dynamo.
Described left and right sidesing driving wheel is arranged symmetrically with along car body longitudinal central axis line.
The combined factors such as the sample rate of the processing speed of the moving velocity of robot, car-mounted computer and each sensor and precision to be considered, it is mated mutually, just can reach desirable environment identification and operation and control effect.
Compared with prior art, the present invention has the following advantages:
The first, the cross-country robot of air-cushion type that the present invention proposes utilizes air cushion technology to realize traveling gear support function and driven the separated of function, has good hag face crossing ability.The second, it can change the vertical ground connection pressure of traveling gear according to the different adjustment air cushion load-bearing of surface state, thereby is conducive to improve kinematics and the dynamic performance of robot, improves robot to the comformability of soft ground environment and application robustness.The 3rd, it has equipped sensor, controller and actr for environment identification and operation control, adopts autonomous master mode to navigate, without manual operation.This is not only conducive to protect personal security in bad working environments and hot mission, and is conducive to reduce script for design, the manufacturing cost of driver assistance system.The 4th, it adopts all-electric driving, control convenient, can source clean, energy utilization rate is higher.The 5th, it adopts In-wheel motor driving and differential steering pattern, and this transmission mode with traditional driving engine-change-speed box-transmission system-part-time case is compared, and has reduced intermediate link, thereby is conducive to improve energy utilization rate, improves control accuracy; The pattern that turns to conventional steering handwheel-steering system-wheel flutter is compared, and is conducive to reduce Turning radius, thereby improves the manipulative capability of cross-country robot autonomous Navigational Movements.
Accompanying drawing explanation
Fig. 1 is the lateral plan of the embodiment of the present invention.
Fig. 2 is the birds-eye view of the embodiment of the present invention.
Fig. 3 is the upward view of the embodiment of the present invention.
Fig. 4 is the driving wheel structure figure of the embodiment of the present invention.
Fig. 5 is the air cushion structure figure of the embodiment of the present invention.
Fig. 6 is the signal flow graph of the embodiment of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, a preferred embodiment of the present invention is elaborated.This embodiment implements under the prerequisite of technical solution of the present invention, has provided concrete embodiment and working process, but protection scope of the present invention is not limited to this embodiment.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Fig. 5, the cross-country robot of a kind of air-cushion type, comprise car body 1, storage battery 2, inverter 3, blower motor 4, blower fan 5, fan supporter 6, caisson feed supple sirts 7, air flue 9, pumping chamber 10, cardan wheel 11, vision sensor 12, GPS13, three-dimensional electronic compass 14, ultrasonic transduter 15, data collecting card 16, car-mounted computer 17, anemoscope 18, micro gas pressure sensor 19, torque sensor 20, tachogen 21, vibration sensor 22, damper spring 23, suspension 24, drive wheel 25, suspension knot 26 and wheel hub motor 27, described storage battery 2 is connected with inverter 3, described inverter 3 is connected with blower motor 4, described blower motor 4 is connected with blower fan 5, described blower fan 5 is fixed on car body 1 by fan supporter 6, described caisson feed supple sirts 7 is enclosed in car body 1 below, described blower fan 5 feeds air by car body 1 bottom by air flue 9, the pumping chamber 10 that caisson feed supple sirts 7 and ground surround, described cardan wheel 11 is connected with car body 1, described vision sensor 12, GPS13 and three-dimensional electronic compass 14 are arranged on the anterior forward position of car body 1, described ultrasonic transduter 15 is evenly arranged along car body 1 forward edge, described anemoscope 18 is arranged on air flue 9 entrance, described micro gas pressure sensor 19 is connected and is placed in pumping chamber 10 with car body 1 bottom, described torque sensor 20 is connected with wheel hub motor 27, described tachogen 21 is connected with cardan wheel 11, described vibration sensor 22 is connected with damper spring 23, described damper spring 23 is fixed on suspension 24, described data collecting card 16 respectively with vision sensor 12, GPS13, three-dimensional electronic compass 14, ultrasonic transduter 15, anemoscope 18, micro gas pressure sensor 19, torque sensor 20, tachogen 21, vibration sensor 22 and car-mounted computer 17 are connected, described car-mounted computer 17 is connected with the controller of wheel hub motor 27 with blower motor 4 respectively, described drive wheel 25 is connected with car body 1 by suspension 24, described left and right suspension 24 is tied 26 by suspension and is connected, described wheel hub motor 27 is arranged on drive wheel 25 wheel hubs, described wheel hub motor 27 is connected with storage battery 2.
Wherein, as shown in Figure 1, blower motor 4, blower fan 5, caisson feed supple sirts 7, air flue 9, pumping chamber 10 form lift system.Storage battery 2 output direct current (DC), are converted to 220v alternating current rear drive blower motor 4 through inverter 3, thereby drive the blade rotary of blower fan 5, produce air-flow.Air-flow generates air cushion after air flue 9 enters pumping chamber 10, support section car weight.The rotating speed positive correlation of this part car weight and blower fan 5, with the intensity of current positive correlation of blower motor 4.Therefore, can change its intensity of current by the controller being integrated on blower motor 4, thereby change air cushion load-bearing.Each apron of caisson feed supple sirts 7 refers to independently of one another, when single apron refers to run into obstacle, produces distortion while even destroying, and its adjacent apron refers under air-cushion pressure effect, expand, fill air gap, thereby has guaranteed the overall sealing performance of caisson feed supple sirts 7.
As shown in Figure 2, Figure 3, Figure 4, cardan wheel 11, damper spring 23, suspension 24, drive wheel 25, suspension knot 26, wheel hub motor 27 form drive system.The DC powered that wheel hub motor 27 is exported by storage battery 2, without intermediate transmission link, directly drives drive wheel 25 rotations.Drive wheel 25 and ground interaction, under the impact of the factors such as wheel load-bearing, rotating speed, soil parameters, produce corresponding slippage rate and speed of advance.When the speed of advance of left and right sidesing driving wheel 25 is inconsistent, will causes the rotation of cardan wheel 11 around vertical axis, thereby realize the differential steering of robot.Obviously, the distribution of gross vehicle weight between air cushion load-bearing and wheel load-bearing, can either affect lift system, also can affect drive system, thereby forms a key control parameter of the cross-country robot of air-cushion type.
As shown in Fig. 2, Fig. 3, Fig. 6, vision sensor 12, GPS13, three-dimensional electronic compass 14, ultrasonic transduter 15, data collecting card 16, car-mounted computer 17, anemoscope 18, micro gas pressure sensor 19, torque sensor 20, tachogen 21, vibration sensor 22 and be integrated in blower motor 4 and wheel hub motor 27 on controller form TT&C system.Vision sensor 12 is for detection of movable information and the soil geomorphology information of obstacle in visual field and object; GPS13 is used for the location of this robot and object, and within the scope of over the horizon, calculates accordingly the average movement velocity of object; Three-dimensional electronic compass 14 is for detection of the three-dimensional motion direction of this robot; Ultrasonic transduter 15 is for detection of the obstacle in closer distance in robot working direction; Anemoscope 18 is for measuring wind speed and the air quantity of air flue 9 entrance, and micro gas pressure sensor 19 is for measuring the air pressure in pumping chamber 10, and both compare, and can set up the distribution model of the interior atmospheric pressure of air flue and flow; Torque sensor 20 is for measuring wheel hub motor 27 to the output torque of drive wheel 25; Tachogen 21 is for measuring the rotating speed of cardan wheel 11, thus calculating robot's longitudinal velocity; Pressure transducer is for measuring the vertical vibration situation of drive wheel 25, thus identification soil geomorphology information.Each signal, by data collecting card 16 input car-mounted computers 17, for robot judgement current working, carries out motion planning and control above.Car-mounted computer 17 sends control command by the controller to blower motor 4 and wheel hub motor 27, regulates the electric current of blower motor 4 and wheel hub motor 27, further changes other operational factors of lift system and drive system, forms thus closed loop control.
Therefore, the problems such as soft terrain trafficability, environment discernibility and self-control that cross-country robot autonomous navigation need to solve for air-cushion type, principle of work of the present invention is, environment identification comprises robot self-position, kinematic velocity, athletic posture and part key parameter, the position of object and obstacle and kinematic velocity, and the content such as soil geomorphology information.By extract above-mentioned information from onboard sensor signal, set up the parameterized model of soil landforms, set up the kinematic model of robot, object and obstacle, then carry out the motion planning of robot, calculate the control expected value of lift system and drive system kinematic parameter, thereby under the effect of controller, realize the closed loop of robot from master control.In this process, air cushion load-bearing can be carried out self adaptation adjusting according to robot operating condition, thereby has guaranteed that the soft terrain trafficability of robot has robustness to working conditions change.
As preferably, adopt lithium-ions battery.Its feature be specific energy large, lightweight, can fast charging and discharging, memory-less effect, have extended cycle life.
As preferably, adopt brushless hub electric motor.Its feature is that output torque is large, efficiency is high, noise is little, applicable fair speed is travelled, long service life.
As preferably, adopt 7 ultrasonic transduters, with 30 degree angles, along car body longitudinal central axis line, be arranged symmetrically with respectively.Its feature is that the main lobe angle of above-mentioned angle and conventional ultrasonic transduter matches, and detection blind area is less; And above-mentioned layout can cover forward direction 180 degree angular regions, what be conducive to ensure robot keeps away barrier safety.
As preferably, damper spring 23 is housed on suspension 24.Its feature is to bear heavy lift and aximal deformation value, stable working, stable mechanical performance.
As preferably, adopt two drive wheels 25, in car body 1 front portion, be longitudinally arranged symmetrically with axis.Its feature is to improve riding stability.
Claims (5)
1. the cross-country robot of air-cushion type, it is characterized in that: comprise car body (1), storage battery (2), inverter (3), blower motor (4), blower fan (5), fan supporter (6), caisson feed supple sirts (7), air flue (9), pumping chamber (10), cardan wheel (11), vision sensor (12), GPS(13), three-dimensional electronic compass (14), ultrasonic transduter (15), data collecting card (16), car-mounted computer (17), anemoscope (18), micro gas pressure sensor (19), torque sensor (20), tachogen (21), vibration sensor (22), damper spring (23), suspension (24), drive wheel (25), suspension knot (26) and wheel hub motor (27), described storage battery (2) is connected with inverter (3), described inverter (3) is connected with blower motor (4), described blower motor (4) is connected with blower fan (5), described blower fan (5) is fixed on car body (1) by fan supporter (6), described caisson feed supple sirts (7) is enclosed in car body (1) below, described blower fan (5) feeds air by car body (1) bottom by air flue (9), the pumping chamber (10) that caisson feed supple sirts (7) and ground surround, described cardan wheel (11) is connected with car body (1), described vision sensor (12), GPS(13) and three-dimensional electronic compass (14) be arranged on the anterior forward position of car body (1), described ultrasonic transduter (15) is evenly arranged along car body (1) forward edge, described anemoscope (18) is arranged on air flue (9) entrance, described micro gas pressure sensor (19) is connected and is placed in pumping chamber (10) with car body (1) bottom, described torque sensor (20) is connected with wheel hub motor (27), described tachogen (21) is connected with cardan wheel (11), described vibration sensor (22) is connected with damper spring (23), described damper spring (23) is fixed on suspension (24), described data collecting card (16) respectively with vision sensor (12), GPS(13), three-dimensional electronic compass (14), ultrasonic transduter (15), anemoscope (18), micro gas pressure sensor (19), torque sensor (20), tachogen (21), vibration sensor (22) and car-mounted computer (17) are connected, described car-mounted computer (17) is connected with the controller of wheel hub motor (27) with blower motor (4) respectively, described drive wheel (25) is connected with car body (1) by suspension (24), described left and right suspension (24) is tied (26) by suspension and is connected, described wheel hub motor (27) is arranged on drive wheel (25) wheel hub, described wheel hub motor (27) is connected with storage battery (2).
2. the cross-country robot of air-cushion type according to claim 1, it is characterized in that: described caisson feed supple sirts (7) refers to type for knuckle, each apron refers to that the part being connected with car body (1) adopts rigid material, on it, have apron mounting hole (8), by apron mounting hole (8), apron is referred to car body (1) hinged; Apron refers to that side adopts flexible material manufacture.
3. the cross-country robot of air-cushion type according to claim 1, is characterized in that: on described blower motor (4) and wheel hub motor (27), be all integrated with controller.
4. the cross-country robot of air-cushion type according to claim 1, is characterized in that: described blower motor (4) adopts 220v alternating current dynamo.
5. the cross-country robot of air-cushion type according to claim 1, is characterized in that: described left and right sidesing driving wheel (25) is arranged symmetrically with along car body (1) longitudinal central axis line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310537974.9A CN103754214A (en) | 2013-11-05 | 2013-11-05 | Air cushion off-road robot |
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| CN201310537974.9A CN103754214A (en) | 2013-11-05 | 2013-11-05 | Air cushion off-road robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235677A (en) * | 2015-10-14 | 2016-01-13 | 江门飞鲸科技实业有限公司 | Hovercraft using distributed duct fans |
| CN105667619A (en) * | 2016-03-24 | 2016-06-15 | 柳州市中晶科技有限公司 | Air cushion suspension trolley |
| CN111332271A (en) * | 2020-04-21 | 2020-06-26 | 浙江海舟船舶制造有限公司 | Wheel type air cushion ice transportation platform |
-
2013
- 2013-11-05 CN CN201310537974.9A patent/CN103754214A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235677A (en) * | 2015-10-14 | 2016-01-13 | 江门飞鲸科技实业有限公司 | Hovercraft using distributed duct fans |
| CN105235677B (en) * | 2015-10-14 | 2018-05-01 | 佛山夸克兄弟科技有限公司 | A kind of aircushion vehicle of application distribution formula ducted-fan blower |
| CN105667619A (en) * | 2016-03-24 | 2016-06-15 | 柳州市中晶科技有限公司 | Air cushion suspension trolley |
| CN111332271A (en) * | 2020-04-21 | 2020-06-26 | 浙江海舟船舶制造有限公司 | Wheel type air cushion ice transportation platform |
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Application publication date: 20140430 |