CN109649686B - Star detection autonomous obstacle avoidance mobile robot - Google Patents
Star detection autonomous obstacle avoidance mobile robot Download PDFInfo
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- CN109649686B CN109649686B CN201811633996.4A CN201811633996A CN109649686B CN 109649686 B CN109649686 B CN 109649686B CN 201811633996 A CN201811633996 A CN 201811633996A CN 109649686 B CN109649686 B CN 109649686B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention belongs to the technical field of celestial body detection, and particularly relates to a celestial body detection autonomous obstacle avoidance mobile robot. The system comprises a chassis, and a vertical axis wind driven generator, a driving advancing system, a path resetting system, an obstacle avoiding retreating system, an obstacle avoiding turning system and a coupling trigger which are arranged on the chassis, wherein the driving advancing system, the path resetting system, the obstacle avoiding retreating system and the obstacle avoiding turning system are coupled together through the coupling trigger, the coupling trigger and the chassis can move relatively, the driving advancing system is connected with the vertical axis wind driven generator, and the vertical axis wind driven generator is used as a power source; when the coupling trigger collides with an obstacle, the obstacle avoidance retreating system, the obstacle avoidance turning system and the path resetting system are triggered by relative movement with the chassis, so that the obstacle avoidance retreating, the obstacle avoidance turning and the path resetting movement of the mobile robot are realized. The invention reduces the number of drives, simplifies the transmission structure and improves the stability of the whole mobile detection robot.
Description
Technical Field
The invention belongs to the technical field of celestial body detection, and particularly relates to a celestial body detection autonomous obstacle avoidance mobile robot.
Background
The planet detection robot is a moving device for inspecting the surface of detected planet, and is known as an inspection detector. The space mobile robot can adapt to various complex environments on the surface of the celestial sphere, carries scientific research equipment to carry out mobile detection on the surface of the detected celestial sphere, transmits detection data back to the control mechanism to carry out analysis, and is a space mobile robot capable of freely moving on the surface of the detected celestial sphere and completing a scientific detection task. A large number of novel lunar and mars vehicles are currently emerging worldwide. These lunar vehicles and mars vehicles carry the existing advanced electronic circuits of human beings, and can realize various exploration tasks on the lunar surface and the mars surface. The detection robots can be powered by a combined power supply mode of solar energy and a storage battery because of good ground light, and can also use an electronic circuit system to complete a series of functions. However, the existing detection robot cannot perform scientific detection activities well for detecting the surfaces of the celestial bodies with dim surface light, high temperature, large temperature difference, high-concentration radioactive substances and high-concentration corrosive substances.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an autonomous obstacle avoidance mobile robot for celestial body detection, so that a detection vehicle can complete a detection task on the surface of a celestial body with an extreme environment for a long time, and the current problem of celestial body detection with an extreme environment can be solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a star ball detection autonomous obstacle avoidance mobile robot comprises a chassis, and a vertical axis wind driven generator, a driving advancing system, a path resetting system, an obstacle avoidance retreating system, an obstacle avoidance turning system and a coupling trigger which are arranged on the chassis, wherein the driving advancing system, the path resetting system, the obstacle avoidance retreating system and the obstacle avoidance turning system are coupled together through the coupling trigger, the coupling trigger and the chassis can move relatively, the driving advancing system is connected with the vertical axis wind driven generator, and the vertical axis wind driven generator is used as a power source; when the coupling trigger collides with an obstacle, the obstacle avoidance retreating system, the obstacle avoidance turning system and the path resetting system are triggered by relative movement of the coupling trigger and the chassis, so that the obstacle avoidance retreating, the obstacle avoidance turning and the path resetting movement of the mobile robot are realized.
The vertical axis wind driven generator comprises blades, a blade supporting shaft, a vertical axis wind driven generator main shaft and a vertical axis wind driven generator base, wherein the vertical axis wind driven generator base is arranged on the chassis, the lower end of the vertical axis wind driven generator main shaft is rotatably connected with the vertical axis wind driven generator base, the upper end of the vertical axis wind driven generator main shaft is connected with a plurality of blades distributed along the circumferential direction through the blade supporting shaft, and the vertical axis wind driven generator main shaft is connected with the driving advancing system through a bevel gear set I.
The driving advancing system comprises a transmission shaft I, a transmission shaft II, a transmission shaft III and a synchronous belt transmission device, wherein the transmission shaft I and the transmission shaft II are rotationally arranged on the chassis and are parallel to the advancing direction of the mobile robot, the transmission shaft I is connected with a vertical axis wind driven generator through a bevel gear set I, the transmission shaft I and the transmission shaft II are in transmission connection through a friction gear set I arranged at the front end of the chassis, the transmission shaft III is arranged at the rear end of the chassis and is perpendicular to the advancing direction of the mobile robot, the transmission shaft II is connected with the transmission shaft III through the bevel gear set II, and the transmission shaft III is connected with a rear wheel driving shaft through the synchronous belt transmission device.
Friction wheel group I includes friction wheel I and friction wheel II of mutual frictional contact, wherein friction wheel I with I key-type connection of transmission shaft, and can follow axial displacement, friction wheel I rotationally is connected with friction wheel fixed bolster, friction wheel fixed bolster with coupling trigger fixed connection, II covers of friction wheel are located on the transmission shaft II, and axial and circumference are all fixed, friction wheel I passes through the coupling trigger is relative the removal on chassis realizes with the separation and the meshing of friction wheel II.
The obstacle avoidance retreating system comprises a friction wheel set II, a friction driving wheel I and a friction driving wheel supporting shaft, wherein the friction wheel set II comprises a friction wheel III and a friction wheel IV, the friction wheel III and the friction wheel IV are fixedly arranged on the transmission shaft I and the transmission shaft II respectively, one end of the friction driving wheel supporting shaft is fixedly connected with the coupling trigger, the other end of the friction driving wheel supporting shaft is rotatably connected with the friction driving wheel I, and the friction driving wheel I moves backwards through the coupling trigger and is meshed with the friction wheel III and the friction wheel IV positioned on two sides, so that the rear wheel driving shaft is driven to rotate reversely, and the retreating function of the mobile robot is realized.
The obstacle avoidance turning system comprises an upper rack, a fixed gear, a lower rack, a knuckle arm and a knuckle, wherein the upper rack is connected with the coupling trigger, the lower rack is fixedly connected with the chassis and hinged to one end of the knuckle arm, the other end of the knuckle arm is connected with the knuckle, and the fixed gear is rotatably connected with the chassis and meshed with the upper rack and the lower rack.
The path resetting system comprises a friction wheel assembly III, a friction driving wheel II, a friction driving wheel support, a bevel gear set III, a transmission shaft IV, a transmission shaft V and a cam, wherein the transmission shaft IV and the transmission shaft V are rotatably arranged on the chassis and are parallel to the transmission shaft I, the transmission shaft V is vertically arranged with the transmission shaft IV and is in transmission connection with the transmission shaft IV through the bevel gear set III, the friction wheel assembly III comprises a friction wheel IV and a friction wheel V, the friction wheel IV and the friction wheel V are respectively and fixedly arranged on the transmission shaft I and the transmission shaft IV and correspond to each other, the cam is fixedly arranged on the transmission shaft V, the friction driving wheel II is arranged on the coupling trigger through the friction driving wheel support, the friction driving wheel II is meshed with the friction wheel IV and the friction wheel V through the movement of the coupling trigger relative to the chassis, the cam is driven to rotate, and the cam pushes the coupling trigger to reset.
The coupling trigger is provided with a roller assembly corresponding to the cam, the roller assembly comprises a roller bracket and a roller installed on the roller bracket, the roller bracket is connected with the coupling trigger, and the cam rotates to push the roller so as to realize the reset of the coupling trigger.
The coupling trigger comprises an installation frame, the installation frame is connected with the transmission shaft I and the transmission shaft II in a sliding mode, and the path resetting system, the obstacle avoiding retreating system and the obstacle avoiding turning system are connected with the installation frame.
The coupling trigger further comprises a collision plate arranged at the front end of the mounting frame, and the collision plate is of a cambered surface structure.
The invention has the advantages and beneficial effects that:
the invention can generate energy by utilizing wind energy on the surface of the planet, forms environment drive, utilizes a pure mechanical structure with high temperature resistance and corrosion resistance to carry out transmission, does not need an electronic circuit for controlling the advancing of a probe vehicle, is not easily interfered by radioactive substances on the surface of the planet, and adopts a distributed structure to realize autonomous walking and autonomous navigation.
The invention can work for weeks, months and even years without faults under the environment of high temperature difference, high radioactive substances, high corrosive substances and high air pressure, realizes the collection of data samples in a plurality of places, has enough working time to collect weather change data, and observes and understands the change of the surface environment of the planet.
The invention uses the coupling trigger to couple all systems on the chassis, thereby reducing the driving quantity, simplifying the transmission structure and improving the stability of the whole mobile detection robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of a vertical axis wind turbine according to the present invention;
FIG. 4 is a schematic view of the drive-advancing system of the present invention;
fig. 5 is a schematic structural diagram of an obstacle avoidance and retreat system according to the present invention;
FIG. 6 is a schematic structural diagram of an obstacle avoidance turning system of the present invention;
FIG. 7 is an isometric view of an obstacle avoidance turning system of the present invention;
FIG. 8 is a schematic diagram of a path resetting system according to the present invention.
In the figure: 1 is a blade, 2 is a blade supporting shaft, 3 is a main shaft of a vertical axis wind motor, 4 is a power output bevel gear I, 5 is a vertical axis wind motor base, 6 is a power output bevel gear II, 7 is a transmission shaft I, 8 is a guide key, 9 is a friction wheel I, 10 is a friction wheel II, 11 is a transmission shaft II, 12 is a transmission bevel gear I, 13 is a transmission bevel gear II, 14 is a transmission shaft III, 15 is a belt transmission wheel, 16 is a synchronous belt, 17 is a rear wheel driving shaft, 18 is a friction wheel III, 19 is a friction wheel IV, 20 is a friction transmission wheel I, 21 is a coupling trigger, 22 is a friction transmission wheel supporting shaft, 23 is a friction wheel fixing bracket, 24 is an upper rack, 25 is a fixed gear, 26 is a lower rack, 27 is a cylindrical pin, 28 is a knuckle arm, 29 is a knuckle, 30 is a front beam, 31 is a friction wheel IV, 32 is a friction wheel V, and 33 is a friction transmission wheel II, 34 is a transmission bevel gear III, 35 is a transmission bevel gear IV, 36 is a cam, 37 is a roller, 38 is a roller bracket, 39 is a friction transmission wheel bracket, 40 is a chassis, 41 is a transmission shaft IV, 42 is a transmission shaft V, 43 is a mounting frame, 44 is a collision plate, 50 is a vertical shaft wind driven generator, 60 is a driving advancing system, 70 is a path resetting system, 80 is an obstacle avoiding retreating system, and 90 is an obstacle avoiding turning system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the star-ball detection autonomous obstacle avoidance mobile robot provided by the present invention includes a chassis 40, a vertical axis wind turbine 50 disposed on the chassis 40, a driving advancing system 60, a path resetting system 70, an obstacle avoidance retreating system 80, an obstacle avoidance turning system 90, and a coupling trigger 21, wherein the driving advancing system 60, the path resetting system 70, the obstacle avoidance retreating system 80, and the obstacle avoidance turning system 90 are coupled together by the coupling trigger 21, the coupling trigger 21 and the chassis 40 can move relatively, the driving advancing system 60 is connected to the vertical axis wind turbine 50, and the vertical axis wind turbine 50 is used as a power source; when the coupling trigger 21 collides with an obstacle, the obstacle avoidance retreating system 80, the obstacle avoidance turning system 90 and the path resetting system 70 are triggered by relative movement with the chassis 40, so that the obstacle avoidance retreating, the obstacle avoidance turning and the path resetting movement of the mobile robot are realized.
As shown in fig. 3, the vertical axis wind turbine 50 includes blades 1, a blade support shaft 2, a vertical axis wind turbine main shaft 3, and a vertical axis wind turbine base 5, wherein the vertical axis wind turbine base 5 is disposed on a base plate 40, the lower end of the vertical axis wind turbine main shaft 3 is rotatably connected to the vertical axis wind turbine base 5, the upper end is connected to a plurality of blades 1 arranged along the circumferential direction through the blade support shaft 2, and the vertical axis wind turbine main shaft 3 is connected to a driving advancing system 60 through a bevel gear set i.
In an embodiment of the invention, the blade 1 is a NACA0018 airfoil blade manufactured by the national aviation advisory Commission (NACA).
As shown in fig. 4, the driving advancing system 60 includes a transmission shaft i 7, a transmission shaft ii 11, a transmission shaft iii 14, and a synchronous belt transmission device, wherein the transmission shaft i 7 and the transmission shaft ii 11 are rotatably disposed on the chassis 40 and are parallel to the advancing direction of the mobile robot, the transmission shaft i 7 is connected to the vertical axis wind turbine 50 through a bevel gear set i, the transmission shaft i 7 is in transmission connection with the transmission shaft ii 11 through a friction gear set i disposed at the front end of the chassis 40, the transmission shaft iii 14 is disposed at the rear end of the chassis 40 and is perpendicular to the advancing direction of the mobile robot, the transmission shaft ii 11 is connected to the transmission shaft iii 14 through a bevel gear set ii, and the transmission shaft iii 14 is connected to the rear wheel driving shaft 17 through the synchronous belt transmission device.
Friction wheelset I includes friction pulley I9 and friction pulley II 10 of mutual frictional contact, wherein friction pulley I9 and I7 key-type connection of transmission shaft, and can follow axial displacement, friction pulley I9 rotationally is connected with friction pulley fixed bolster 23, friction pulley fixed bolster 23 and coupling trigger 21 fixed connection, transmission shaft II 11 is located to friction pulley II 10 cover, and axial and circumference are all fixed, friction pulley I9 passes through the relative chassis 40's of coupling trigger 21 removal, realize with the separation and the meshing of friction pulley II 10.
The bevel gear set I comprises a power output bevel gear I4 and a power output bevel gear II 6, the power output bevel gear I4 is sleeved on the vertical axis wind motor spindle 3, and the power output bevel gear II 6 is arranged at the end of the transmission shaft I7 and meshed with the power output bevel gear I4.
The bevel gear set II comprises a transmission bevel gear I12 and a transmission bevel gear II 13, the transmission bevel gear I12 is arranged at the end part of the transmission shaft II 11, and the transmission bevel gear II 13 is arranged at the end part of the transmission shaft III 14 and meshed with the transmission bevel gear I12. The synchronous belt transmission device comprises a synchronous belt 16 and two belt transmission wheels 15, wherein the two belt transmission wheels 15 are respectively sleeved on the transmission shaft III 14 and the rear wheel driving shaft 17 and are in transmission connection through the synchronous belt 16.
The blade 1 of the vertical axis wind driven generator 50 starts to move under the action of wind force, at the moment, the vertical axis wind driven generator 50 starts to convert wind energy into mechanical energy, kinetic energy is transmitted to the transmission shaft I7 through the bevel gear set I, the friction gear set I transmits the kinetic energy of the transmission shaft I7 to the transmission shaft II 11, the bevel gear set II transmits power to the transmission shaft III 14, the transmission shaft III 14 transmits the rear wheel driving shaft 17 through the synchronous belt transmission device, and finally, the power is output to the driving wheel to finish driving forward movement.
As shown in fig. 5, the obstacle avoidance retreating system 80 includes a friction wheel set ii, a friction driving wheel i 20 and a friction driving wheel support shaft 22, wherein the friction wheel set ii includes a friction wheel iii 18 and a friction wheel iv 19, the friction wheel iii 18 and the friction wheel iv 19 are respectively and fixedly disposed on a transmission shaft i 7 and a transmission shaft ii 11, one end of the friction driving wheel support shaft 22 is fixedly connected with the coupling trigger 21, and the other end is rotatably connected with the friction driving wheel i 20, the friction driving wheel i 20 is engaged with the friction wheel iii 18 and the friction wheel iv 19 disposed on both sides by the backward movement of the coupling trigger 21, so as to drive the rear wheel drive shaft 17 to reversely rotate, thereby realizing the retreating function of the mobile robot.
When the driving advances, the power transmission between the transmission shaft I7 and the transmission shaft II 11 is mainly completed by the friction wheel set I, the friction wheel I9 in the friction wheel set I can slide back and forth on the guide key 8, the friction wheel I9 is fixed on the coupling trigger 21 by the fixing support 23, and the clutch can be realized along with the back and forth movement of the coupling trigger 21 and the friction wheel II 10. When the mobile robot collides with an obstacle, the coupling trigger 21 retreats for a certain distance, the coupling trigger 21 together with the fixed bracket 23 of the friction wheel I9 retreats, and the forward power of the friction wheel group I after disengaging disappears. At the moment, the friction driving wheel I20 retreats to the position between the friction wheel sets II along with the coupling trigger 21, the friction wheel sets II are meshed, reverse power is transmitted to the transmission shaft II 11, and finally the driving wheel rotates reversely.
As shown in fig. 6 to 7, the obstacle avoidance turning system 90 includes an upper rack 24, a fixed gear 25, a lower rack 26, a knuckle arm 28 and a knuckle 29, wherein the upper rack 24 is connected to the coupling trigger 21, the lower rack 26 is fixedly connected to the chassis 40 and is hinged to one end of the knuckle arm 28, the other end of the knuckle arm 28 is connected to the knuckle 29, and the fixed gear 25 is rotatably connected to the chassis 40 and is engaged with the upper rack 24 and the lower rack 26.
When the coupling trigger 21 moves backward, the upper rack 24 in the rack and pinion mechanism moves backward together with the coupling detector 21, and the lower rack 26 in the rack and pinion mechanism is activated to move in a coordinated reverse direction, and the end of the lower rack 26 is connected to a knuckle arm 28 in the front axle of the mobile robot through a cylindrical pin 27 and can move relatively. When the lower rack 26 moves forward of the mobile robot, the knuckle arm 28 also moves forward, and the associated knuckle 29 is deflected by a deflection angle, so that the wheels are steered. At the moment, the mobile robot realizes the backward movement and generates a certain deflection angle with the original forward direction.
As shown in fig. 8, the path resetting system 70 includes a friction wheel assembly iii, a friction driving wheel ii 33, a friction driving wheel bracket 39, a bevel gear set iii, a driving shaft iv 41, a driving shaft v 42 and a cam 36, wherein the driving shaft iv 41 and the driving shaft v 42 are rotatably disposed on the chassis 40, the driving shaft iv 41 is parallel to the driving shaft i 7, the driving shaft v 42 is perpendicular to the driving shaft iv 41 and is in driving connection with the driving shaft iv 41 through the bevel gear set iii, the friction wheel assembly iii includes a friction wheel iv 31 and a friction wheel v 32, the friction wheel iv 31 and the friction wheel v 32 are respectively fixed on the driving shaft i 7 and the driving shaft iv 41 and correspond to each other, the cam 36 is fixed on the driving shaft v 42, the friction driving wheel ii 33 is mounted on the coupling trigger 21 through the friction driving wheel bracket 39, the friction driving wheel ii 33 is engaged with the friction wheel iv 31 and the friction wheel v 32 through the movement of the coupling trigger 21 relative to the chassis 40, the cam 36 is rotated, and the cam 36 pushes the coupling trigger 21 to reset.
The bevel gear set III comprises a transmission bevel gear III 34 and a transmission bevel gear IV 35, the bevel gear III 34 is sleeved on the transmission shaft IV 41, and the transmission bevel gear IV 35 is sleeved on the transmission shaft V42 and meshed with the transmission bevel gear III 34.
The coupling trigger 21 is provided with a roller assembly corresponding to the cam 36, the roller assembly comprises a roller bracket 38 and a roller 37 mounted on the roller bracket 38, the roller bracket 38 is connected with the coupling trigger 21, and the cam 36 rotates to push the roller 37, so that the coupling trigger 21 is reset.
When the coupling trigger 21 retreats, the friction driving wheel II 33 and the roller 37 connected with the coupling trigger also retreat, the friction driving wheel II 33 is rubbed into the friction wheel assembly III, the transmission shaft IV 41 obtains power, the power is transmitted to the transmission shaft V42 through the bevel gear set III, and the cam 36 starts to move. When the friction transmission wheel II 33 retreats, the roller 37 moves to the base radius of the cam 36, so that the movement of the cam 36 pushes the roller 37 to generate the reset movement. When the cam 36 moves to the farthest distance, the coupling trigger 21 returns to the original point position along with the reset of the roller 37, the friction driving wheel I20 and the friction driving wheel II 33 are pulled away, the upper rack 24 returns to the original point, the wheels reset, the friction wheel set I is meshed again, the transmission shaft II 11 obtains driving power for driving the moving forward, the driving wheels rotate forward, and the mobile robot moves forward.
The coupling trigger 21 includes a mounting frame 43 and a collision plate 44 disposed at a front end of the mounting frame 43, and the mounting frame 43 is slidably connected to the transmission shafts i 7 and ii 11 and reciprocates using the transmission shafts i 7 and ii 11 as a slide way. The path resetting system 70, the obstacle avoidance backing system 80 and the obstacle avoidance turning system 90 are all connected with the mounting frame 43, thereby realizing multi-modal movement. The collision plate 44 is of a cambered surface structure, and the collision plate 44 is arranged in front, so that the collision load of the vehicle body can be effectively reduced, and a good protection effect is achieved.
In the embodiment of the invention, the rotation ratio of the bevel gear set I is 1: 2; the transmission ratio of the friction wheel set I is 1: 1; the transmission ratio of the friction wheel set II is 1: 1; the transmission ratio of the bevel gear set II is 1: 2; the transmission ratio of the friction wheel set III is 1:4, and the transmission ratio of the bevel gear set III is 1: 2.
The invention realizes multi-mode autonomous obstacle avoidance moving walking by using pure mechanical components such as a gear rack, a cam, a friction wheel and the like, wherein the coupling trigger effectively reduces the driving quantity, can effectively couple and detect each system of the robot, and simplifies the control system of the robot. The invention can autonomously complete obstacle avoidance movement without electronic circuit control, simultaneously adopts titanium alloy and stainless steel commonly used in the aerospace field as the used materials of the robot, is not interfered by radioactive substances, has strong corrosion resistance, can adapt to extremely high temperature and temperature difference on the surface of a planet, and the radioactive substances with high concentration can not influence the autonomous obstacle avoidance system of the mobile detection robot any more, thereby greatly improving the stability of the robot. The mobile detection robot adopts the vertical wind motor as a power device, can convert wind energy on the surface of a planet into mechanical energy on the surface of the planet without sunlight or with very weak sunlight, completes the generation and conversion of energy and realizes the non-electric drive.
In conclusion, the extraterrestrial object detection vehicle capable of autonomous navigation based on the pure mechanical structure is designed for the celestial objects which have extremely high temperature difference and extremely high atmospheric pressure on the earth surface, contain extremely many radioactive substances and corrosive substances, have surfaces covered by the atmosphere and cannot utilize extreme environments such as solar energy. The high-temperature-resistant and corrosion-resistant pure mechanical structure is used for transmission, an electronic circuit for controlling the probe vehicle to advance is not needed, the probe vehicle is not easily interfered by radioactive substances on the surface of the planet, and the distributed structure is adopted to realize autonomous walking and autonomous navigation. Can work stably for weeks, months and even years under the environment of high temperature difference, high radioactive substances, high corrosive substances and high air pressure. The method realizes the collection of data samples in a plurality of places, has enough working time to collect weather change data, and observes and understands the change of the surface environment of the planet.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The star detection autonomous obstacle avoidance mobile robot is characterized by comprising a chassis (40), a vertical axis wind driven generator (50), a driving advancing system (60), a path resetting system (70), an obstacle avoidance retreating system (80), an obstacle avoidance turning system (90) and a coupling trigger (21), wherein the vertical axis wind driven generator (50), the driving advancing system (60), the path resetting system (70), the obstacle avoidance retreating system (80) and the obstacle avoidance turning system (90) are arranged on the chassis (40) and are coupled together through the coupling trigger (21), the coupling trigger (21) and the chassis (40) can move relatively, the driving advancing system (60) is connected with the vertical axis wind driven generator (50), and the vertical axis wind driven generator (50) serves as a power source; when the coupling trigger (21) collides with an obstacle, the obstacle avoidance retreating system (80), the obstacle avoidance turning system (90) and the path resetting system (70) are triggered by relative movement with the chassis (40), so that the obstacle avoidance retreating, the obstacle avoidance turning and the path resetting movement of the mobile robot are realized;
the vertical axis wind driven generator (50) comprises blades (1), a blade supporting shaft (2), a vertical axis wind driven generator main shaft (3) and a vertical axis wind driven generator base (5), wherein the vertical axis wind driven generator base (5) is arranged on the chassis (40), the lower end of the vertical axis wind driven generator main shaft (3) is rotatably connected with the vertical axis wind driven generator base (5), the upper end of the vertical axis wind driven generator main shaft is connected with a plurality of blades (1) which are distributed along the circumferential direction through the blade supporting shaft (2), and the vertical axis wind driven generator main shaft (3) is connected with the driving advancing system (60) through a bevel gear set I;
the driving advancing system (60) comprises a transmission shaft I (7), a transmission shaft II (11), a transmission shaft III (14) and a synchronous belt transmission device, wherein the transmission shaft I (7) and the transmission shaft II (11) are rotatably arranged on the chassis (40) and are both parallel to the advancing direction of the mobile robot, the transmission shaft I (7) is connected with a vertical shaft wind driven generator (50) through a bevel gear set I, the transmission shaft I (7) and the transmission shaft II (11) are in transmission connection through a friction wheel set I arranged at the front end of the chassis (40), the transmission shaft III (14) is arranged at the rear end of the chassis (40) and is vertical to the advancing direction of the mobile robot, the transmission shaft II (11) is connected with the transmission shaft III (14) through a bevel gear set II, and the transmission shaft III (14) is connected with a rear wheel driving shaft (17) through a synchronous belt transmission device.
2. The celestial body detection autonomous obstacle avoidance mobile robot according to claim 1, wherein the friction wheel set i comprises a friction wheel i (9) and a friction wheel ii (10) which are in friction contact with each other, wherein the friction wheel i (9) is in key connection with the transmission shaft i (7) and can move axially, the friction wheel i (9) is rotatably connected with a friction wheel fixing support (23), the friction wheel fixing support (23) is fixedly connected with the coupling trigger (21), the friction wheel ii (10) is sleeved on the transmission shaft ii (11) and is fixed axially and circumferentially, and the friction wheel i (9) is separated from and engaged with the friction wheel ii (10) through movement of the coupling trigger (21) relative to the chassis (40).
3. The celestial body detection autonomous obstacle avoidance mobile robot according to claim 1, wherein the obstacle avoidance retreating system (80) comprises a friction wheel set II, a friction driving wheel I (20) and a friction driving wheel support shaft (22), wherein the friction wheel set II comprises a friction wheel III (18) and a friction wheel IV (19), the friction wheel III (18) and the friction wheel IV (19) are respectively and fixedly arranged on the transmission shaft I (7) and the transmission shaft II (11), one end of the friction driving wheel support shaft (22) is fixedly connected with the coupling trigger (21), the other end of the friction driving wheel support shaft is rotatably connected with the friction driving wheel I (20), the friction driving wheel I (20) is engaged with the friction wheels III (18) and the friction wheels IV (19) on two sides through the backward movement of the coupling trigger (21) so as to drive the rear wheel drive shaft (17) to reversely rotate, the backward function of the mobile robot is realized.
4. The celestial detection autonomous obstacle avoidance mobile robot of claim 1, wherein said obstacle avoidance turning system (90) comprises an upper rack (24), a fixed gear (25), a lower rack (26), a knuckle arm (28) and a knuckle (29), wherein said upper rack (24) is connected to said coupling trigger (21), said lower rack (26) is fixedly connected to said chassis (40) and hinged to one end of said knuckle arm (28), said other end of said knuckle arm (28) is connected to said knuckle (29), said fixed gear (25) is rotatably connected to said chassis (40) and meshed to said upper rack (24) and said lower rack (26).
5. The celestial detection autonomous obstacle avoidance mobile robot of claim 1, wherein the path resetting system (70) comprises a friction wheel assembly iii, a friction drive wheel ii (33), a friction drive wheel bracket (39), a bevel gear set iii, a transmission shaft iv (41), a transmission shaft v (42) and a cam (36), wherein the transmission shaft iv (41) and the transmission shaft v (42) are rotatably disposed on the chassis (40), the transmission shaft iv (41) is parallel to the transmission shaft i (7), the transmission shaft v (42) is perpendicular to the transmission shaft iv (41) and is in transmission connection with the transmission shaft iv (41) through the bevel gear set iii, the friction wheel assembly iii comprises a friction wheel iv (31) and a friction wheel v (32), the friction wheel iv (31) and the friction wheel v (32) are respectively and fixedly disposed on the transmission shaft i (7) and the transmission shaft iv (41), Correspondingly, the cam (36) is fixedly arranged on the transmission shaft V (42), the friction transmission wheel II (33) is arranged on the coupling trigger (21) through a friction transmission wheel bracket (39), the friction transmission wheel II (33) is meshed with the friction wheel IV (31) and the friction wheel V (32) through the movement of the coupling trigger (21) relative to the chassis (40) to drive the cam (36) to rotate, and the cam (36) pushes the coupling trigger (21) to reset.
6. The celestial body detection autonomous obstacle avoidance mobile robot according to claim 5, wherein a roller assembly corresponding to the cam (36) is arranged on the coupling trigger (21), the roller assembly comprises a roller bracket (38) and a roller (37) mounted on the roller bracket (38), the roller bracket (38) is connected with the coupling trigger (21), and the cam (36) rotates to push the roller (37) to reset the coupling trigger (21).
7. The celestial body detection autonomous obstacle avoidance mobile robot of claim 1, wherein said coupling trigger (21) comprises a mounting frame (43), said mounting frame (43) is slidably connected to said transmission shaft i (7) and said transmission shaft ii (11), and said path resetting system (70), said obstacle avoidance back system (80) and said obstacle avoidance turning system (90) are connected to said mounting frame (43).
8. The celestial body detection autonomous obstacle avoidance mobile robot of claim 7, wherein said coupling trigger (21) further comprises a collision plate (44) disposed at a front end of said mounting frame (43), said collision plate (44) being of a cambered surface structure.
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| CN114659556B (en) * | 2022-03-03 | 2024-03-12 | 中国科学院计算技术研究所 | Inspection device-oriented separable star table material identification method and system |
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