CN103803100A - Binary star eight-wheel lunar vehicle - Google Patents
Binary star eight-wheel lunar vehicle Download PDFInfo
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- CN103803100A CN103803100A CN201210446844.XA CN201210446844A CN103803100A CN 103803100 A CN103803100 A CN 103803100A CN 201210446844 A CN201210446844 A CN 201210446844A CN 103803100 A CN103803100 A CN 103803100A
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Abstract
The invention discloses a binary star eight-wheel lunar vehicle, which comprises a binary star vehicle body structure, a coordination control system, a driving system, a steering system, an eight-wheel arm coordination vertical telescopic moving system, an image pick-up and infrared temperature and humidity detection system, a remote monitoring and control system and a mixed energy source supply system, wherein the stability and the operability of the control system are high, the energy utilization rate is high, the motive power is strong, the maneuverability and the flexibility are high, the environment is protected, the energy is saved, and duplex walking systems are adopted. The binary star eight-wheel lunar vehicle has the advantages that each kind of unique mechanism and control system improves the adaptation capability of the vehicle and can be used as a lunar vehicle walking system; the excellent flexibility is realized, the driving force is strong, and the binary star eight-wheel lunar vehicle can adapt to desert environment; the relative position can be regulated in a certain space through the binary star vehicle body structure, the flexibility of a vehicle body is improved to a great degree, and the binary star eight-wheel lunar vehicle can be applied to a special heavy-weight-class transportation vehicle.
Description
Technical field
The present invention relates to lunar exploration instrument field, particularly a kind ofly possess powerful propulsive effort, superior obstacle detouring grade climbing performance, easy motion function and the very strong Gemini that passes through performance eight taken turns the lunar rover vehicle.
Background technology
The lunar rover vehicle (also claim " moon exploration remote control robot ") is travel and the moon is investigated and the special-use vehicle of collection analysis sample at moonscape.
For the lunar rover vehicle can be travelled smoothly on lunar surface, the U.S., the former Soviet Union had once launched a series of satellite sounding, and lunar surface environment has been carried out to scientific experiment repeatedly, had laid failure-free basis for carry the success of the lunar rover vehicle on detector.Scientist has carried out analytical investigation to the valuable data of taking back via the firsthand investigation of lunar rover vehicle lunar surface, has greatly deepened the understanding of the mankind to the moon.On November 17th, 1970, " moon " No. 17 detectors of Soviet Union's transmitting are the unpiloted lunar rover vehicle of First--" lunar rover vehicle " serves the moon No. 1 in the world.This car nearly weighs 1.8 tons, has travelled 10.5 kilometers on lunar surface, has investigated the lunar surface of 80,000 sq ms.After this Soviet Union serves the moon " lunar rover vehicle " and has travelled for No. 2 37 kilometers, and has beamed back 88 width lunar surface panorama sketchs to the earth.On September 30th, 1971, U.S.'s Apollo Personnel investigation Program " No. 15 airship is climbed up the moon, and two cosmonaut drive the lunar rover vehicle and have travelled 27.9 kilometers; Apollo Personnel investigation Program " No. 16, the lunar rover vehicle that carries for No. 17; on lunar surface, travel respectively 27 kilometers and 35 kilometers; and utilize colour TV camera and the transmission equipment on the lunar rover vehicle, beamed back in real time cosmonaut movable sight and jet scene of lunar module rising stage motor when leaving the moon and returning to lunar orbit on lunar surface to the earth.
Various countries start to strengthen the dynamics of investment of space technology in succession at present, labour for the one seat of occupying oneself future at the outer space soon, the space technology of the U.S. is always in prostatitis, the world, in June, 2008, in order to return to as early as possible the moon, NASA has released first lunar rover vehicle sample, is called " battlebus " (Chariot)." battlebus " only spent one-year age from starting research and development to completion, has 12 wheels, by 2 electrical motor driven, and can two-stage speed change.European Space Agency is also constantly strengthening going deep into lunar rover vehicle Development Techniques.
The Chang'e's project of China starts, and the lunar rover vehicle plays an important role in space exploration.Domestic existing nearly 20 colleges and universities and related scientific research institutes are studied China's lunar rover vehicle, some has obtained certain achievement, but the designed lunar rover vehicle is substantially all on the basis of traditional lunar rover vehicle, to have carried out certain improvement before this, but the Design Mode not breaking traditions, so that cannot break-through skill barrier, in practice process, there are a lot of problems.For example certain lunar rover vehicle is out of touch in the time being absorbed in moon impact crater, causes the heavy losses of lunar exploration action.For above problem, the invention provides a kind of Gemini eight and take turns the lunar rover vehicle, " Gemini " body construction and coordinated control system can be realized and be kept away barrier and mutuum adjutorium by computer monitoring adjust operation route in the time running into obstacle.
Summary of the invention
The technical problem to be solved in the present invention is: the problem existing for the current lunar rover vehicle, provide a kind of Gemini eight to take turns the lunar rover vehicle, break the Design Mode of orthodox car and cross-country car, design various unique mechanisms and control system for moonscape complex environment, possess powerful propulsive effort, superior obstacle detouring grade climbing performance, easy motion function and the very strong performance of passing through.
The technical solution adopted in the present invention is: a kind of Gemini eight is taken turns the lunar rover vehicle, comprises that " Gemini " body construction and coordinated control system, drive system, steering swivel system, eight take turns arm and coordinate vertical telescopic kinematic scheme, shooting and infrared temperature humidity detection system, remote monitor and control and control system, energy mix feed system." Gemini " body construction and coordinated control system comprise car body, spherical hinge, bearing, hydraulic connecting rod; Drive system comprises drive motor, wheel, driving gear, driven gear, wheel stand, fulcrum; Eight take turns arm coordination vertical telescopic kinematic scheme comprises link span and hydraulic actuating cylinder; Remote monitor and control and control system comprise Sensor section, two car body, operating console; Shooting comprises two CMU 2+ cameras, vision sensor, Temperature Humidity Sensor, humiture probe, remote control reception receipts device, projector, driving circuit with infrared temperature humidity detection system; Energy mix feed system comprises solar panel and discharges and recharges lithium cell.
Robot adopts two body constructions, car body is mainly used in fixing other system, spherical hinge is arranged on car body by bearing, and hydraulic connecting rod is fixed on the end of spherical hinge by pipe link, and two hydraulic connecting rods link together two car bodies by middle contiguous block.Two joint car bodies can free motion within the scope of certain space; adjust in real time relative position; in the time running into obstacle by by sensor institute acquired information through being wirelessly transmitted to master control PC; master control PC uses image recognition and analytical technology to obtain shape and the location information of target object; after the bright object of finger prosthesis, master control PC calculates through artificial intelligence (pattern-recognition, path planning, track collision prevention etc.); Control command, by radioing to car body embedded Control computing machine, is controlled to body movement automatically, can implement mutuum adjutorium.In addition, can experimentally need to increase corresponding compartment, articulate just as the compartment of train, because the drive system in every joint compartment is relatively independent unit, even if certain compartment power generation problem wherein can not affect the normal operation of whole car body yet.
Eight take turns arm coordination vertical telescopic hydraulic actuating cylinder is fixed on car body by erecting frame, regulates height of the carbody by wheel arm automatic telescopic, has reached the object on indirect regulation chassis, can keep within the specific limits the level of car body, realizes shock-absorbing function; This system also can guarantee that each wheel does forming movement under raised or sunken environmental conditions, has realized ACTIVE CONTROL, has improved the conformability of car to lunar surface, and car load passes through performance.
Independent steering assembly is fixed on the bottom of vertical telescopic hydraulic actuating cylinder, each wheel can independent any angle turn to, also can unanimously turn to by total tune, realized zero turn radius of car body and turned, improved to a great extent divertical motion alerting ability and the mass motion alerting ability of the lunar rover vehicle.
Fulcrum is arranged on the lower end of steering hardware, and wheel stand is fixed on below fulcrum, and motor is fixed on wheel stand, by driven by motor driving gear, and driving gear and driven gear engagement, and then drive wheel movement.The present invention simplifies the transmission device of orthodox car complexity, directly by electrical motor input power, adopt power wheel independent driving mechanism to carry out transmission, each wheel has a drive motor to drive, and it is upper that electrical motor is directly sent to power wheel through retarder, can greatly improve the speed of a motor vehicle and horsepower, reduce the degradation of energy of complicated transmission device, thereby improve energy utilization efficiency, thereby utilized the energy fully, and solved the partially slow problem of conventional electric car speed.CMU 2+ camera is arranged on car body, and the steering hardware of the body inside that is open to traffic can guarantee to rotate in 360 degree, and vision sensor, Temperature Humidity Sensor, humiture probe, remote control reception are received device, projector, driving circuit and be all arranged on car body inside.Can follow the tracks of and monitor the region of high-contrast, motion monitoring, color identification and detection, follow the tracks of.Can also export different video formats and carry out extra image processing to computing machine simultaneously.
The sensor of control system and each module are arranged on car body inside, and Sensor section comprises wide access, many information fusion device.Wide access, many information fusion, based on ARM9 system, are made up of 12 above A/D of precision, 32 road I/O, RS232 communication interface, can merge multiple sensors signal; Two car bodies comprise embedded Control computing machine and each joint servo motor, can drive each axle, distribute each axle motion, process and control various quantity of states; Operating console part comprises master control PC, instruction decoder, image decoder, wireless receiving projector etc.Graphicinformation, obstacle information that ccd video camera and ultrasonic transduter obtain, through being wirelessly transmitted to master control PC.After the bright object of finger prosthesis, master control PC by radioing to two car body embedded Control computing machines, is controlled two car body coordinated movements of various economic factors by control command automatically.
Solar panel is arranged on above car body by rotating shaft and rotating mechanism, and lithium cell is positioned at car body inside.The direction of extension of cell panel keeps vertical with sunshine direct projection direction all the time, guarantees maximum illuminating area, has solar automatic tracking system control; Effective makeup energy by day, the charging and discharging that over capacity lithium cell can be interrupted, provides sufficient Power supply.And do not produce any waste, embodied the theory of space environmental protection.
This lunar rover vehicle adopts six degree of freedom mechanical arm, is suitable for and can be used as lunar rover vehicle walking instrument, also can be lunar rover vehicle clearing of obstruction thing, blaze the trail, has strengthened the adaptive capacity of the lunar rover vehicle to complex environment.In addition, Two Links Flexible Manipulator is implemented sampling work by computer controlled, uses therefore also can be used as sampling instrument.
The technical advantage that the present invention has is: stability of control system and workable, capacity usage ratio is high, power is powerful, maneuverability is strong, environmental protection and energy saving, dual running gear.Its various unique mechanisms and control system, improved the adaptive capacity of car, can be used as lunar rover vehicle running gear; Because it possesses superior alerting ability, powerful propulsive effort, also can adapt to desert Environment; Individual drive and independent steering system have very large Prospect of R & D, the restriction that it is applied to electronlmobil and can effectively improves speed; " Gemini " body construction can be adjusted relative position in certain space, has improved to a great extent the alerting ability of car body, can be applicable to special weight class transport trolley.
Accompanying drawing explanation
Fig. 1 is lunar rover vehicle constructional drawing
Wherein: 1. erecting frame 2. vertical telescopic hydraulic actuating cylinder 3. independent steering gear 4. fulcrum 5. drive motor 6. wheel stand 7. wheel 8. driven gear 9. driving gear 10. car body 11. spherical hinge 12. camera bracket 13. camera 14. solar panel 15. rotating shaft 16. rotating mechanism 17. hydraulic connecting rod contiguous block 18. hydraulic connecting rod 19. contiguous blocks
The specific embodiment
As shown in the figure, the present invention includes " Gemini " body construction and coordinated control system, drive system, steering swivel system, eight is taken turns arm and is coordinated vertical telescopic kinematic scheme, shooting and infrared temperature humidity detection system, remote monitor and control and control system, energy mix feed system." Gemini " body construction and coordinated control system comprise car body, spherical hinge, bearing, hydraulic connecting rod; Drive system comprises drive motor, wheel, driving gear, driven gear, wheel stand, fulcrum; Eight take turns arm coordination vertical telescopic kinematic scheme comprises link span and hydraulic actuating cylinder; Remote monitor and control and control system comprise Sensor section, two car body, operating console; Shooting comprises two CMU 2+ cameras, vision sensor, Temperature Humidity Sensor, humiture probe, remote control reception receipts device, projector, driving circuit with infrared temperature humidity detection system; Energy mix feed system comprises solar panel and discharges and recharges lithium cell.
Robot adopts two body constructions, car body 10 is mainly used in fixing other system, spherical hinge 11 is arranged on car body 10 by bearing, and hydraulic connecting rod 18 is fixed on the end of spherical hinge 11 by pipe link 19, and two hydraulic connecting rods 18 link together two car bodies 10 by middle contiguous block 19.
Eight take turns arm coordination vertical telescopic hydraulic actuating cylinder 2 is fixed on car body 10 by erecting frame 1, regulates height of the carbody by wheel arm automatic telescopic, has reached the object on indirect regulation chassis, can keep within the specific limits the level of car body, realizes shock-absorbing function; This system also can guarantee that each wheel does forming movement under raised or sunken environmental conditions, has realized ACTIVE CONTROL, has improved the conformability of car to lunar surface, and car load passes through performance.
Fulcrum 4 is arranged on the lower end of steering hardware 3, and wheel stand 6 is fixed on below fulcrum 4, and motor 5 is fixed on wheel stand 6, drives driving gear 9 by motor 5, and driving gear 9 and driven gear 8 engage, and then band motor car wheel 7 moves.
CMU 2+ camera 13 is arranged on car body 10 by erecting frame 12, and the steering hardware of the body inside that is open to traffic can guarantee to rotate in 360 degree, vision sensor, Temperature Humidity Sensor, humiture probe, remote control reception are received device, projector, driving circuit and are all arranged on car body 10 inside.
The sensor of control system and each module are arranged on car body 10 inside.
The developing direction that this lunar rover vehicle can be lunar rover vehicle running gear, following electronlmobil, special weight class transport trolley, electronic dune buggy provides a kind of brand-new thinking, has wide DEVELOPMENT PROSPECT.
Claims (3)
1. a Gemini lunar rover vehicle, comprises that " Gemini " body construction and coordinated control system, drive system, steering swivel system, eight take turns arm and coordinate vertical telescopic kinematic scheme, shooting and infrared temperature humidity detection system, remote monitor and control and control system, energy mix feed system; " Gemini " body construction and coordinated control system comprise car body, spherical hinge, bearing, hydraulic connecting rod; Drive system comprises drive motor, wheel, driving gear, driven gear, wheel stand, fulcrum; Eight take turns arm coordination vertical telescopic kinematic scheme comprises link span and hydraulic actuating cylinder; Remote monitor and control and control system comprise Sensor section, two car body, operating console; Shooting comprises two CMU 2+ cameras, vision sensor, Temperature Humidity Sensor, humiture probe, remote control reception receipts device, projector, driving circuit with infrared temperature humidity detection system; Energy mix feed system comprises solar panel and discharges and recharges lithium cell.
2. the Gemini lunar rover vehicle according to claim 1, it is characterized in that: adopt two body constructions, car body (10) is mainly used in fixing other system, spherical hinge (11) is arranged on car body (10) by bearing, hydraulic connecting rod (18) is fixed on the end of spherical hinge (11) by pipe link (19), two hydraulic connecting rods (18) link together two car bodies (10) by middle contiguous block (19).
3. Shuangzi celestial body car according to claim 2, it is characterized in that: eight take turns arm coordination vertical telescopic hydraulic actuating cylinder (2) is fixed on car body (10) by erecting frame (1), regulate height of the carbody by wheel arm automatic telescopic, reach the object on indirect regulation chassis, the level that can keep within the specific limits car body, realizes shock-absorbing function.
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| CN201210446844.XA CN103803100A (en) | 2012-11-11 | 2012-11-11 | Binary star eight-wheel lunar vehicle |
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| CN201210446844.XA CN103803100A (en) | 2012-11-11 | 2012-11-11 | Binary star eight-wheel lunar vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373122A (en) * | 2015-10-23 | 2016-03-02 | 哈尔滨朋来科技开发有限公司 | Intelligent courtyard cruiser |
| CN105525574A (en) * | 2015-12-28 | 2016-04-27 | 江阴皇润车业有限公司 | Temporary-term parking sign |
| CN105568890A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Shock-absorption stop board assembly |
| CN105568891A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Temporary parking plate |
| CN106246469A (en) * | 2016-07-30 | 2016-12-21 | 张学衡 | One can self-traveling wind power supply robot |
| CN106774366A (en) * | 2016-12-23 | 2017-05-31 | 山河智能装备股份有限公司 | A kind of bionical unmanned vehicle control and its control method |
| CN108809211A (en) * | 2018-07-11 | 2018-11-13 | 苏州太阳井新能源有限公司 | A kind of photovoltaic case with long-range remote control function |
| CN111547272A (en) * | 2020-03-30 | 2020-08-18 | 中国北方车辆研究所 | Manned lunar vehicle |
| CN112124629A (en) * | 2020-09-27 | 2020-12-25 | 西北工业大学 | Planet detector and system |
| CN113044247A (en) * | 2021-03-05 | 2021-06-29 | 上海智能制造功能平台有限公司 | Extraterrestrial planet landing device |
| RU2751836C1 (en) * | 2020-07-06 | 2021-07-19 | Федеральное государственное бюджетное научное учреждение "Федеральный научный центр "КАБАРДИНО-БАЛКАРСКИЙ НАУЧНЫЙ ЦЕНТР РОССИЙСКОЙ АКАДЕМИИ НАУК" (КБНЦ РАН) | Robotic complex for unmanned erection of structures/shelters on the moon |
| CN113460335A (en) * | 2021-08-13 | 2021-10-01 | 吉林大学 | Active suspension type planet vehicle climbing method |
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2012
- 2012-11-11 CN CN201210446844.XA patent/CN103803100A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373122A (en) * | 2015-10-23 | 2016-03-02 | 哈尔滨朋来科技开发有限公司 | Intelligent courtyard cruiser |
| CN105525574A (en) * | 2015-12-28 | 2016-04-27 | 江阴皇润车业有限公司 | Temporary-term parking sign |
| CN105568890A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Shock-absorption stop board assembly |
| CN105568891A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Temporary parking plate |
| CN106246469A (en) * | 2016-07-30 | 2016-12-21 | 张学衡 | One can self-traveling wind power supply robot |
| CN106774366A (en) * | 2016-12-23 | 2017-05-31 | 山河智能装备股份有限公司 | A kind of bionical unmanned vehicle control and its control method |
| CN108809211A (en) * | 2018-07-11 | 2018-11-13 | 苏州太阳井新能源有限公司 | A kind of photovoltaic case with long-range remote control function |
| CN111547272A (en) * | 2020-03-30 | 2020-08-18 | 中国北方车辆研究所 | Manned lunar vehicle |
| RU2751836C1 (en) * | 2020-07-06 | 2021-07-19 | Федеральное государственное бюджетное научное учреждение "Федеральный научный центр "КАБАРДИНО-БАЛКАРСКИЙ НАУЧНЫЙ ЦЕНТР РОССИЙСКОЙ АКАДЕМИИ НАУК" (КБНЦ РАН) | Robotic complex for unmanned erection of structures/shelters on the moon |
| CN112124629A (en) * | 2020-09-27 | 2020-12-25 | 西北工业大学 | Planet detector and system |
| CN112124629B (en) * | 2020-09-27 | 2022-03-15 | 西北工业大学 | Planet detector and system |
| CN113044247A (en) * | 2021-03-05 | 2021-06-29 | 上海智能制造功能平台有限公司 | Extraterrestrial planet landing device |
| CN113460335A (en) * | 2021-08-13 | 2021-10-01 | 吉林大学 | Active suspension type planet vehicle climbing method |
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Application publication date: 20140521 |