CN103869770A - Polar pneumatic type spherical robot control system - Google Patents
Polar pneumatic type spherical robot control system Download PDFInfo
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- CN103869770A CN103869770A CN201410055803.7A CN201410055803A CN103869770A CN 103869770 A CN103869770 A CN 103869770A CN 201410055803 A CN201410055803 A CN 201410055803A CN 103869770 A CN103869770 A CN 103869770A
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Abstract
The invention discloses a polar pneumatic type spherical robot control system which comprises a power management system, a signal acquisition system, a thermal insulation system, a satellite communication system and a microprocessor, wherein the power management system is respectively connected with the signal acquisition system, the thermal insulation system, the satellite communication system and the microprocessor and performs system power supply; the signal acquisition system is connected with the microprocessor and obtains various information of the current environment; the thermal insulation system is connected with the microprocessor and the satellite communication system and performs thermal insulation control on electronic devices of the control system to ensure the normal operation of the control system under a low temperature environment; the satellite communication system is connected with the microprocessor and a PC (personal computer) and performs satellite remote data communication and remote control. The polar pneumatic type spherical robot control system is reasonable in structure, easy to realize and suitable for detection application under the polar low temperature environment and has higher engineering application value.
Description
Technical field
The invention belongs to Robotics field, particularly relate to a kind of polar region pneumatic type ball shape robot control system.
Background technology
Polar region environment is that a low temperature, low light shine and high wind environment, and the detection of polar region is had to great strategic importance.In order to explore polar region environment, intelligent robot application is just being subject to extensive concern.How under the environment of polar region, realizing robot head's continuation of the journey detection operations is a research difficult problem, and key is the index such as obtain manner and environmental suitability of the robot energy.
Wherein, ball shape robot is as a kind of mobile robot of novelty, compare with traditional wheeled, crawler type or sufficient formula mobile robot, ball shape robot be a kind ofly there is spherical housing, mode of motion is the intelligent robot rolling.It has good field adaptive faculty, is not easy overturning failure characteristic, is a kind of very good motion carrier, and both at home and abroad except the research to ball shape robot physical construction, the research of its control system also becomes the focus of a concern.
At present, ball shape robot has certain kinematic dexterity and environmental suitability and obtains concern.But at present ball shape robot control system is obtained and the aspect Shortcomings such as low-temperature protection at the energy.
Chinese utility model patent ZL200820032723.X discloses a kind of " omnidirectional moving spherical robot ", the artificial active ball shape robot of this machine, control system comprises motor driven systems, can realize omnidirectional moving, but adopt in-line power mode, there is no externally fed system, just cannot continue motion when internal electric source exhausts.
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 control system internal drive adopts solar electrical energy generation mode, like this for the application of polar region, due to deficiency at sunshine, cannot guarantee good built-in system power supply, and system additionally how the parts such as solar panels, system complex and define the movement locus of motion, can only carry out the motions such as simple obstacle detouring, direction of motion is single, cannot realize braking and the compound movement such as turn to can control.
Chinese utility model patent ZL201220062348.X discloses a kind of " ball shape robot automatic control system "; this robot control system comprises robot body control system and TT&C system; can realize ball shape robot surveys and moves etc. along both fixed tracks; but lack research at low-temperature protection and the energy aspect obtaining, cannot realize so long distance polar region operation needs for a long time.
Summary of the invention
The object of the invention is to for above problem, propose a kind of polar region pneumatic type ball shape robot control system, demand is surveyed in the polar region that can meet long-time long distance under polar low-temperature high wind environment.
In order to achieve the above object, design of the present invention is:
The present invention is arranged in spherical mechanism, can reasonable adaptation polar region field work environment, adopting power-supply management system is whole ball shape robot control system power supply, be low temperature resistant charge in batteries in real time by solar film battery, carry out rectification by controller for solar, realize the control system work of long distance for a long time.Adopt independently heat-insulation system, be effectively combined in robot interior mechanism framework, judge the electrical heating that supplies that carrys out Based Intelligent Control resistance film by the working temperature situation of electron gain system, to guarantee that electronic system can normally be operated in polar low-temperature environment.Adopt signal acquiring system to survey polar region environment, the sensor using and GPS module all direct and external environment condition are communicated with, to guarantee accuracy and the real-time of image data.Adopt satellite communication system to carry out the transmission of data, the network coverage whole world of IRIDIUM, can realize and the radio communication of PC, and IRIDIUM and microprocessor pass through wired connection, guarantee the stability of system.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of polar region pneumatic type ball shape robot control system, comprises power-supply management system, signal acquiring system, heat-insulation system, satellite communication system and microprocessor; Described power-supply management system is respectively at signal acquiring system, heat-insulation system, and satellite communication system is connected with microprocessor, carries out system power supply; Described signal acquiring system is connected with microprocessor, obtains the various information of current environment; Described heat-insulation system is connected with microprocessor and satellite communication system, carries out the preservation and controlling of control system electronic component, guarantees control system normally operation under low temperature environment; Described satellite communication system is connected with microprocessor, connects PC simultaneously, carries out satellite remote data communication and Long-distance Control.
Preferably, described power-supply management system comprises solar film battery, low temperature resistant accumulator and controller for solar, and wherein controller for solar is connected with low temperature resistant accumulator with solar film battery respectively, carries out solar electrical energy generation management.
Preferably, described signal acquiring system comprises temperature sensor, humidity sensor, baroceptor and GPS module, sends the temperature of current environment, humidity, pressure information and global positioning satellite information to microprocessor.
Preferably, described microprocessor is connected by wired mode with signal acquiring system.
Preferably, described microprocessor is STM32 development board chip.
Preferably, described satellite communication system is IRIDIUM, carries out radio communication with PC.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
The present invention carries out utilization of regenerative energy by solar film battery, realizes robot polar region, the field operation needs of long distance for a long time; Independently heat-insulation system can meet the normal operation of whole control system under polar low-temperature environment; In the time of data acquisition, by three kinds of sensors and GPS module image data, image data is comprehensive, and obtaining information is accurate; When data transmit, carry out data wireless transmission by IRIDIUM, realize and PC real-time Communication for Power.The present invention can effectively realize the automatic control of polar region pneumatic type ball shape robot, and system architecture advantages of simple, function are easy to realize, be suitable for detection application under polar low-temperature environment, can application wider, has higher engineering using value.
Accompanying drawing explanation
Fig. 1 is polar region of the present invention pneumatic type ball shape robot control system structured flowchart.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, a kind of polar region pneumatic type ball shape robot control system, comprises power-supply management system, signal acquiring system, heat-insulation system, satellite communication system and microprocessor; Described power-supply management system is respectively at signal acquiring system, heat-insulation system, and satellite communication system is connected with microprocessor, carries out system power supply; Described signal acquiring system is connected with microprocessor, obtains the various information of current environment; Described heat-insulation system is connected with microprocessor and satellite communication system, carries out the preservation and controlling of control system electronic component, guarantees control system normally operation under low temperature environment; Described satellite communication system is connected with microprocessor, connects PC simultaneously, carries out satellite remote data communication and Long-distance Control.Described power-supply management system comprises solar film battery, low temperature resistant accumulator and controller for solar, and wherein controller for solar is connected with low temperature resistant accumulator with solar film battery respectively, carries out solar electrical energy generation management.Described signal acquiring system comprises temperature sensor, humidity sensor, baroceptor and GPS module, sends the temperature of current environment, humidity, pressure information and global positioning satellite information to microprocessor.
Microprocessor is connected by wired mode with signal acquiring system.Select the microprocessor of STM32 development board chip as whole control system, STM32 development board turns serial ports unit etc. by acp chip STM32F103RBT6, A/D sampled measurements circuit, multiple serial communication and USB and forms, multiple interfaces module is provided, can practical function expansion.
The sensor using in signal acquiring system and GPS module are technical grade product, under low temperature environment, can normally work.Sensor comprises digital temperature, humidity and baroceptor, is made up of inducing probes and transmitter unit.Described transmitter unit is made up of bridge-type electric capacity and signal isolated amplifier, overvoltage protective module and current-limiting protection module, and when measurement, antijamming capability is strong, digital linearization correction, high precision, high stability.What GPS module adopted is GX601-TE module, this module volume is little, low in energy consumption, has extraordinary GPS sensitivity and orienting response time, on portable set, embedded device, all show good stability, well make up the inaccurate problem of satellite communication system positioning precision.
Heat-insulation system comprises resistive film, insulation filling material and electronic temperature transmitter, can be automatically for microprocessor and power-supply management system carry out preservation and controlling.Carry out the electrical heating that supplies of controlling resistance film by the working temperature situation of electron gain system, to guarantee that electronic system can normally be operated in polar low-temperature environment.
When ball shape robot normal operating conditions, by storage battery power supply, be low temperature resistant charge in batteries in real time by solar film battery, carry out rectification by controller for solar, realize the control system work of long distance for a long time.
Satellite communication system is IRIDIUM, and the radio communication with PC is realized in the network coverage whole world.Described satellite communication system adopts GPRS, iridium satellite SBD data terminal 9602, for realizing global gps satellite location, GPRS data communication, satellite data communication, completes the function such as remote data communication and Long-distance Control.Wherein said iridium satellite 9602 small volumes, power consumption is lower, can under polar low-temperature environment, normally work.
Particularly, ball shape robot is wind drive formula, does not comprise active due motor driven systems in control system, has not only reduced the complicacy of whole system, has also solved electricity shortage problem.The control system the present invention relates to is responsible in real time polar region environment being carried out to perception, after signals collecting, with microprocessor communication, carries out data transmission.Signal acquiring system is responsible for the transmission of the content such as sensor measurement data, GPS module location, and signal acquiring system is by serial communication interface and microprocessor STM32 development board chip communication.
Claims (6)
1. a polar region pneumatic type ball shape robot control system, is characterized in that, comprises power-supply management system, signal acquiring system, heat-insulation system, satellite communication system and microprocessor; Described power-supply management system is respectively at signal acquiring system, heat-insulation system, and satellite communication system is connected with microprocessor, carries out system power supply; Described signal acquiring system is connected with microprocessor, obtains the various information of current environment; Described heat-insulation system is connected with microprocessor and satellite communication system, carries out the preservation and controlling of control system electronic component, guarantees control system normally operation under low temperature environment; Described satellite communication system is connected with microprocessor, connects PC simultaneously, carries out satellite remote data communication and Long-distance Control.
2. polar region according to claim 1 pneumatic type ball shape robot control system, it is characterized in that, described power-supply management system comprises solar film battery, low temperature resistant accumulator and controller for solar, wherein controller for solar is connected with low temperature resistant accumulator with solar film battery respectively, carries out solar electrical energy generation management.
3. polar region according to claim 1 pneumatic type ball shape robot control system, it is characterized in that, described signal acquiring system comprises temperature sensor, humidity sensor, baroceptor and GPS module, sends the temperature of current environment, humidity, pressure information and global positioning satellite information to microprocessor.
4. polar region according to claim 1 pneumatic type ball shape robot control system, is characterized in that, described microprocessor is connected by wired mode with signal acquiring system.
5. polar region according to claim 1 pneumatic type ball shape robot control system, is characterized in that, described microprocessor is STM32 development board chip.
6. polar region according to claim 1 pneumatic type ball shape robot control system, is characterized in that, described satellite communication system is IRIDIUM, carries out radio communication with PC.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410055803.7A CN103869770A (en) | 2014-02-19 | 2014-02-19 | Polar pneumatic type spherical robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410055803.7A CN103869770A (en) | 2014-02-19 | 2014-02-19 | Polar pneumatic type spherical robot control system |
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| CN103869770A true CN103869770A (en) | 2014-06-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536446A (en) * | 2014-12-24 | 2015-04-22 | 上海大学 | Polar region wing sail wind power direct drive robot control system |
| CN111251798A (en) * | 2020-03-19 | 2020-06-09 | 广东海洋大学 | Amphibious scientific investigation robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144783A (en) * | 2012-09-11 | 2013-06-12 | 上海大学 | Polar roaming spherical robot |
| 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 |
| CN103496409A (en) * | 2013-09-26 | 2014-01-08 | 上海大学 | Independent power-supply-type all-dimensional exercise spherical robot |
-
2014
- 2014-02-19 CN CN201410055803.7A patent/CN103869770A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103144783A (en) * | 2012-09-11 | 2013-06-12 | 上海大学 | Polar roaming spherical robot |
| 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 |
| CN103496409A (en) * | 2013-09-26 | 2014-01-08 | 上海大学 | Independent power-supply-type all-dimensional exercise spherical robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536446A (en) * | 2014-12-24 | 2015-04-22 | 上海大学 | Polar region wing sail wind power direct drive robot control system |
| CN104536446B (en) * | 2014-12-24 | 2017-08-11 | 上海大学 | A kind of polar region wing sail wind-force Direct Drive Robot Control System control system |
| CN111251798A (en) * | 2020-03-19 | 2020-06-09 | 广东海洋大学 | Amphibious scientific investigation robot |
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Application publication date: 20140618 |