CN104536446B - A kind of polar region wing sail wind-force Direct Drive Robot Control System control system - Google Patents
A kind of polar region wing sail wind-force Direct Drive Robot Control System control system Download PDFInfo
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- CN104536446B CN104536446B CN201410810358.0A CN201410810358A CN104536446B CN 104536446 B CN104536446 B CN 104536446B CN 201410810358 A CN201410810358 A CN 201410810358A CN 104536446 B CN104536446 B CN 104536446B
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Abstract
The invention discloses a kind of polar region wing sail wind-force Direct Drive Robot Control System control system.It includes Trajectory Planning System, and navigation control system, avoidance keeps away danger system and microprocessor；Described Trajectory Planning System is connected with navigation control system and microprocessor respectively, and the target trajectory path of whole wing sail robot is planned according to scientific investigation task；Described avoidance is kept away danger system and is connected respectively with navigation control system and microprocessor, and real-time road conditions are detected by sensor element, feeds back to wing sail robot progress avoidance and keeps away danger；Navigation control system respectively with Trajectory Planning System, avoidance keeps away danger system, GPS unit and microprocessor connection, and passes through motor and the wing sail unit and Heading control unit of servos control wing sail robot respectively.The present invention is rational in infrastructure, is easily achieved and is adapted to the detection application under the weather conditions complicated and changeable of polar region, with higher engineering application value.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of polar region wing sail wind-force Direct Drive Robot control
System.
Background technology
The nature of flood tide, science resource are contained in polar region.On the one hand, polar region ice-snow covered area as earth system maximum
Low-temperature receiver, the change of its environmental key-element plays key effect to Global climate change；On the other hand, the exploitation of polar region resource exist
There is unrivaled strategy meaning in terms of politics, economic dispatch.However, polar region bad environments, Alpine cold and hypoxia, extreme weather etc., with
When may all threaten the life of scientific investigation personnel, greatly govern the development of human sciences's expedition, it is flat relative to 14,000,000
For Fang Gongli Antarctica, the scope of activities of scientific investigation personnel or very limited amount of, the region that the mankind set foot in only accounts for minimum
A part.How scientific investigation is realized in broader time, space field, have become technology in the urgent need to address difficult
Topic.And polar region sniffing robot is as " agency " of people, as a kind of thinking for solving this technical barrier.Detected using polar region
Robot, the space-time for breaking through polar region environment for scientific investigation is limited, and is reduced polar region scientific investigation risk, is expanded job area, cause skill
The extensive concern of art power, " robotization " polar region scientific investigation turns into an important development direction.How south can just be made full use of
Profuse wind resource, the endurance for making polar region sniffing robot that there is long-time in polar region environment, detect on a large scale
Exactly solve an important channel of problem.
Wing sail robot is a kind of a kind of novel mobile robot that motive force is obtained by controlling the wing sail angle of attack.
It possesses preferably motion independence, posture course controllability and wind energy utilization.Traditional sail is generally soft cloth sail, and is passed through
The soft cloth sail of comparative study and rigid wing sail, the aerodynamic quality of the latter are more excellent, soft cloth sail wind than it is larger when be more easy to incline
Turn over.Both at home and abroad except the research to wing sail robotic structure, the research of its control system also becomes the focus of concern.
Wing sail robot is paid close attention to due to preferably motion independence and wind energy utilization efficiency.Its course and speed
Close coupling, the windward angle of attack, angle are influenceed by the wind speed and direction of time-varying, ice and snow face sastruga line, Snow dritf etc. in the natural environment of the South Pole, are
The difficulties that autonomous control must pull against.The security of robot is also the important research content of autonomous control part, including：
Avoidance keeps away danger, resistant to tipping etc..However, at present wing sail robot control system course gesture stability and it is anti-tipping in terms of exist
It is not enough.
The content of the invention
It is an object of the invention to for problem above, propose a kind of polar region wing sail wind-force Direct Drive Robot control system
System, can meet the control machine people under the weather conditions complicated and changeable of polar region and realize that the base detection of long-time long range is required.
In order to achieve the above object, idea of the invention is that：
The effect of trajectory planning device is the target trajectory instruction for going out sniffing robot according to scientific investigation task design, and this is referred to
Order sends navigation control unit to.Navigation control unit is anti-according to target trajectory, GPS the track feedback provided and laser range finder
The complaint message of feedback, the crevasse information of GPR feedback, provide the bogey heading instruction of sniffing robot, and instruction is passed
Heading control unit is given, the course of sniffing robot is adjusted by course driver.
For the wing sail angle of attack, angle is by the wind speed and direction of time-varying, ice and snow face sastruga line, Snow dritf in the natural environment of the South Pole windward
It is simplify control Deng influence, intends using following control strategy：During cruise, fed back by wing sail control unit according to anemoclinograph
Wind speed and direction information, attitude reference system（IMU）Feedback detection robot pose information, encoder feedback wing sail position letter
Breath, keeps the constant angle of attack, Heading control unit individually controls course, is allowed to be maintained at desired bogey heading automatically.
In Members In Antarctic Environment, barrier, ice seam are all the security threat of sniffing robot, airborne laser range finder, spy ground
The sensors such as radar are detected after danger, and Heading control subsystem should change course in time, the wing sail control unit regulation angle of attack, control
Speed processed, avoids obstacle or danger.
For resistant to tipping problem, when wind speed and direction change is smaller, the measured value of anemoclinograph is subjected to some cycles
（Find in test desired value）Smothing filtering, then feed back to wing sail control unit, realize stability contorting；If wind speed mistake
Greatly, easily cause to tumble, Security Techniques should be taken immediately, the angle of attack for making symmetrical expression wing sail is 0, and wing sail windward side is reduced to
It is minimum, it is to avoid rollover risk.
Conceived according to foregoing invention, the present invention uses subordinate's technical scheme：
A kind of polar region wing sail wind-force Direct Drive Robot Control System control system, including Trajectory Planning System, navigation control system,
Avoidance keeps away danger system and microprocessor；Described Trajectory Planning System is connected with navigation control system and microprocessor respectively, root
The target trajectory path of whole wing sail robot is planned according to scientific investigation task；Described avoidance keep away danger system respectively with navigation
Control system and microprocessor connection, real-time road conditions are detected by sensor element, are fed back to wing sail robot and are carried out avoidance
Keep away danger；Navigation control system respectively with Trajectory Planning System, avoidance keeps away danger system, GPS unit and microprocessor connection, and respectively
Pass through motor and the wing sail unit and Heading control unit of servos control wing sail robot.
Preferably, described Trajectory Planning System, is that the target trajectory for going out sniffing robot according to scientific investigation task design refers to
Order, and the instruction is sent to navigation control unit.
Preferably, described avoidance, which keeps away danger system, includes laser range finder and GPR, wherein laser range finder and spy
Ground radar is all connected with microprocessor, carries out real-time information exchange control feedback.
Preferably, described navigation control system include wing sail control unit and Heading control unit, according to target trajectory,
The track feedback that GPS is provided and the complaint message that laser range finder feeds back, the crevasse information of GPR feedback, provide detection
The bogey heading instruction of robot, and Heading control unit is transmitted commands to, sniffing robot is adjusted by course driver
Course.
Preferably, described microprocessor is that STM32 develops board chip.
The present invention compared with prior art, substantive distinguishing features and remarkable advantage is obviously protruded with following：
The present invention is by Trajectory Planning System, and avoidance keeps away danger system and navigation control system, from early stage path planning, to reality
Border work in real-time adjustment the problems such as on both provide solution, particularly in view of South Pole synoptic climate is complicated and changeable,
When running into that wind speed is excessive or other natural problems occur easily causing to tumble, the data gathered with reference to anemoclinograph are led to
It is 0 to cross wing sail control unit and can adjust the symmetrical expression wing sail angle of attack, wing sail windward side is minimized, so as to avoid danger of tumbling
Danger.The present invention can effectively realize the autonomous control of polar region wing sail robot, rational in infrastructure, be easily achieved and be adapted in pole
Detection application under ground weather conditions complicated and changeable, with higher engineering application value.
Brief description of the drawings
Fig. 1 is the polar region wing sail wind-force Direct Drive Robot Control System control system theory diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings to a preferred embodiment of the present invention will be described in detail.
Embodiment one：
Referring to Fig. 1, this polar region wing sail wind-force Direct Drive Robot Control System control system, including Trajectory Planning System（4）, avoidance
Keep away danger system（2）, navigation control system（3）, and microprocessor（1）；It is characterized in that：Described Trajectory Planning System（4）Point
Not and navigation control system（3）And microprocessor（1）Connection, according to target trajectory road of the scientific investigation task to whole wing sail robot
Planned in footpath；Described avoidance keeps away danger system（2）Respectively with navigation control system（3）And microprocessor（1）Connection, by passing
Sensor component detects real-time road conditions, feeds back to wing sail robot progress avoidance and keeps away danger；The navigation control system（3）Respectively with
Trajectory Planning System（4）, avoidance keeps away danger system（2）And microprocessor（1）Connection, by receiving gps signal and output control letter
Number to wing sail robot wing sail driver and course driver.
Embodiment two：
The present embodiment and embodiment one are essentially identical, and special feature is as follows：Described Trajectory Planning System（4）It is according to section
Appoint by examination business and design the target trajectory instruction of sniffing robot, and the instruction is sent to navigation control unit.Described avoidance
Keep away danger system（2）Include laser range finder（2-1）And GPR（2-2）, the laser range finder（2-1）And GPR
（2-2）All with microprocessor（1）Connection, carries out real-time information exchange control feedback.Described navigation control system（3）Comprising
There is wing sail control unit（3-1）With Heading control unit（3-2）, according to the Trajectory Planning System（4）The target trajectory of offer,
Track feedback and the laser range finder that GPS is provided（2-1）The complaint message of feedback, the GPR（2-2）Feedback
Crevasse information, provides the bogey heading instruction of sniffing robot, and transmits commands to Heading control unit, is driven by course
Device adjusts the course of sniffing robot.Described microprocessor（1）Board chip is developed for STM32.
Embodiment three：
As shown in figure 1, a kind of polar region wing sail wind-force Direct Drive Robot Control System control system, including Trajectory Planning System（4）,
Avoidance keeps away danger system（2）, navigation control system（3）, and microprocessor（1）；Described Trajectory Planning System（4）Respectively with navigation
Control system（3）And microprocessor（1）Connection, professional etiquette is entered according to scientific investigation task to the target trajectory path of whole wing sail robot
Draw；Described avoidance keeps away danger system（2）Respectively with navigation control system（3）And microprocessor（1）Connection, passes through sensor element
Real-time road conditions are detected, wing sail robot progress avoidance is fed back to and keeps away danger；Navigation control system（3）Respectively with Trajectory Planning System
（4）, avoidance keep away danger system（2）, GPS and microprocessor（1）Connection, and pass through motor and servos control wing sail robot respectively
Wing sail unit and Heading control unit.Described avoidance keeps away danger system（2）Including laser range finder（2-1）And GPR（2-
2）, laser range finder（2-1）And GPR（2-2）All with microprocessor（1）Connection, carries out real-time information exchange control anti-
Feedback.Described navigation control system（3）Including wing sail control unit（3-1）With Heading control unit（3-2）, according to target track
The track feedback that mark, GPS are provided and the crevasse information that complaint message, the GPR of laser range finder feedback feed back, are provided
The bogey heading instruction of sniffing robot, and Heading control unit is transmitted commands to, by course driver adjustment detection machine
The course of people.
Microprocessor（1）It is connected with each said system by wired mode.Board chip is developed as whole from STM32
The microprocessor of individual control system, STM32 development boards are by acp chip STM32F103RBT6, A/D sampled measurements circuit, multiple
Serial communication and USB turn the composition such as serial port unit, and there is provided multiple interfaces module, it is possible to achieve Function Extension.
Avoidance keeps away danger system（2）In laser range finder（2-1）And GPR（2-2）It is technical grade product, low temperature
Can normal work under environment.GPR（2-2）The electromagnetic wave for being reflected back ground is received by reception antenna, electromagnetic wave is in underground
Reflected when the interface that there is electrical property difference is run into during Propagation, according to the waveform of the electromagnetic wave received, amplitude
The features such as the change of intensity and time infer locus, structure, form and the buried depth of underground medium, similar LTD pipelines
GPR etc., which has, to be widely applied.Laser range finder（2-1）Using pulse laser to objective emission single laser arteries and veins
Punching or laser pulse train, counter measures laser pulse reach target and the two-way time of receiver are returned by target, thus transport
Calculate the distance of target.
Navigation control system（3）In, Heading control unit（3-2）Device is industrial steering wheel, microprocessor（1）3.3- is provided
5V high pulse widths signal realizes PWM waveform control to steering wheel.Wing sail control unit（3-1）It is servomotor, according to wind speed
The wind speed and direction information of anemoscope feedback, attitude reference system（IMU）Feedback detection robot pose information, the encoder feedback wing
Sail positional information, come the angle of attack value for adjusting wing sail sail face and carrying out wind generation, so as to obtain propulsive force.
GPS modules use GX601-TE modules, the module small volume, low in energy consumption, sensitive with extraordinary GPS
Degree and orienting response time, good stability is all shown on portable set, embedded device, satellite is made up well
The problem of communication system positioning precision is inaccurate.
For summary, the type of drive of the wing sail robot in the invention is entirely to rely on wind energy, is not wrapped in control system
All multiple motor driven systems of active robot are included, the complexity of whole system is reduced, also reduces the energy of system
Consumption.Control system of the present invention can in real time be perceived to the environment of polar region, with micro- place after each collecting sensor signal
Device communication is managed, data interaction is carried out.
Claims (4)
1. a kind of polar region wing sail wind-force Direct Drive Robot Control System control system, including Trajectory Planning System（4）, avoidance keeps away danger system
（2）, navigation control system（3）, and microprocessor（1）；It is characterized in that：Described Trajectory Planning System（4）Respectively with navigation
Control system（3）And microprocessor（1）Connection, professional etiquette is entered according to scientific investigation task to the target trajectory path of whole wing sail robot
Draw；Described avoidance keeps away danger system（2）Respectively with navigation control system（3）And microprocessor（1）Connection, passes through sensor element
Real-time road conditions are detected, wing sail robot progress avoidance is fed back to and keeps away danger；The navigation control system（3）Respectively with trajectory planning
System（4）, avoidance keeps away danger system（2）And microprocessor（1）Connection, by receiving gps signal and outputing control signals to wing sail
The wing sail driver and course driver of robot；Described navigation control system（3）Include wing sail control unit（3-1）With
Heading control unit（3-2）, navigation control system（3）According to the Trajectory Planning System（4）Target trajectory, the GPS of offer are carried
The track feedback and laser range finder of confession（2-1）Complaint message, the GPR of feedback（2-2）The crevasse information of feedback, gives
Go out the bogey heading instruction of sniffing robot, and transmit commands to Heading control unit（3-2）, adjusted and visited by course driver
Survey the course of robot；Wind speed and direction information that wing sail control unit is fed back according to anemoclinograph, attitude reference system feedback
Sniffing robot attitude information, encoder feedback wing sail positional information, adjust the angle of attack by wing sail driver, constant attack are kept automatically
Angle, or the regulation angle of attack, control speed, avoid obstacle or danger, or make the angle of attack of symmetrical expression wing sail be 0, and wing sail windward side is subtracted
To minimum, it is to avoid rollover risk.
2. polar region wing sail wind-force Direct Drive Robot Control System control system according to claim 1, it is characterised in that：Described
Trajectory Planning System（4）It is the target trajectory instruction for going out sniffing robot according to scientific investigation task design, and the instruction is sent to
Heading control unit（3-2）.
3. polar region wing sail wind-force Direct Drive Robot Control System control system according to claim 1, it is characterised in that described
Avoidance keeps away danger system（2）Include laser range finder（2-1）And GPR（2-2）, the laser range finder（2-1）With spy ground
Radar（2-2）All with microprocessor（1）Connection, carries out real-time information exchange control feedback.
4. polar region wing sail wind-force Direct Drive Robot Control System control system according to claim 1, it is characterised in that：Described
Microprocessor（1）Board chip is developed for STM32.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410810358.0A CN104536446B (en) | 2014-12-24 | 2014-12-24 | A kind of polar region wing sail wind-force Direct Drive Robot Control System control system |
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| CN201410810358.0A CN104536446B (en) | 2014-12-24 | 2014-12-24 | A kind of polar region wing sail wind-force Direct Drive Robot Control System control system |
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| CN104536446B true CN104536446B (en) | 2017-08-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889993B (en) * | 2015-06-17 | 2017-01-11 | 上海大学 | Multi-wing-sail polar detection robot |
| CN106741782A (en) * | 2016-12-27 | 2017-05-31 | 武汉理工大学 | A kind of unmanned boat and its navigation control method driven based on wind energy |
| CN110696917B (en) * | 2019-10-30 | 2020-12-29 | 深圳市人工智能与机器人研究院 | Wing sail vehicle, wing sail vehicle control method, device and storage medium |
| CN111624597B (en) * | 2020-06-03 | 2024-06-14 | 中国科学院沈阳自动化研究所 | Ice structure detection robot and detection method |
| CN114779760A (en) * | 2022-03-22 | 2022-07-22 | 哈尔滨工业大学 | Sensing and control system of autonomous snow roaming robot and operation and path planning method thereof |
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