CN213948812U - Motion control device of wheel type moon detection robot - Google Patents
Motion control device of wheel type moon detection robot Download PDFInfo
- Publication number
- CN213948812U CN213948812U CN202022883775.1U CN202022883775U CN213948812U CN 213948812 U CN213948812 U CN 213948812U CN 202022883775 U CN202022883775 U CN 202022883775U CN 213948812 U CN213948812 U CN 213948812U
- Authority
- CN
- China
- Prior art keywords
- wheel
- exploration robot
- lunar exploration
- control device
- motion control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides a wheeled moon detection robot motion control device relates to aeronautical equipment technical field. The utility model discloses a wheeled lunar exploration robot motion control device for control wheeled lunar exploration robot removes, wheeled lunar exploration robot includes the frame, a plurality of relative frame position adjustable wheels, and the rotation drive arrangement who sets up with each wheel one-to-one, motion control device includes: the device comprises a first angle detection device and a rotation control module, wherein the first angle detection device is arranged corresponding to each wheel, the rotation control module is electrically connected with the rotation drive device respectively, and the rotation control module is used for controlling the rotating speed of each wheel. The utility model discloses a wheeled lunar exploration robot motion control device can control the robot and go smoothly in the complicated changeable environment in lunar surface.
Description
Technical Field
The utility model relates to an aeronautical equipment technical field specifically is a wheeled moon detection robot motion control device.
Background
The wheeled robot for lunar exploration is also called lunar exploration probe or lunar vehicle, and is a wheeled mobile robot capable of moving and roaming on the surface of the moon. The driving environment of the lunar rover is an unknown, uneven and soft lunar surface, and the condition of trapping failure is easy to occur. The lunar exploration task requires that the lunar vehicle can effectively work for a longer time in a more severe environment, explore a wider range and complete a more complex exploration task. Because the wheel-type lunar vehicle usually encounters the condition of uneven road surface when running on the lunar surface, no motion control device which can accurately control the motion of the lunar vehicle and enable the wheels of the lunar vehicle to adapt to the road surface with fluctuating changes exists at present.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a wheeled lunar exploration robot motion control device for solve the technical problem that current wheeled lunar exploration robot can't adapt to the complicated changeable environment of traveling in lunar surface.
In a first aspect, the present invention provides a wheeled lunar exploration robot motion control device for control wheeled lunar exploration robot removes, wheeled lunar exploration robot includes the frame, a plurality of relative frame position adjustable wheels, and the rotation drive device who sets up with each wheel one-to-one, motion control device includes: the device comprises a first angle detection device and a rotation control module, wherein the first angle detection device is arranged corresponding to each wheel, the rotation control module is electrically connected with the rotation drive device respectively, and the rotation control module is used for controlling the rotating speed of each wheel.
Preferably, the wheeled lunar exploration robot further comprises a steering mechanism for driving the wheels to steer, and the motion control device comprises: the steering control module is used for controlling the steering angle of the steering mechanism.
Preferably, the wheeled lunar exploration robot comprises a wheel track adjusting mechanism, the motion control device further comprises a wheel track adjusting module, the wheel track adjusting module is electrically connected with the wheel track adjusting mechanism, and the wheel track adjusting module is used for controlling the wheel track adjusting mechanism to adjust the distance between wheels.
Preferably, the motion control device further comprises a processor and an image acquisition device, wherein the image acquisition device is electrically connected with the processor, and the processor is electrically connected with the rotation control module.
Preferably, the motion control device further comprises a laser range finder electrically connected to the processor, and the laser range finder is configured to measure a distance between the wheeled lunar exploration robot and the target.
Preferably, the wheeled lunar exploration robot comprises a first connecting mechanism and a first wheel set, the first connecting mechanism comprises a main rocker arm and an auxiliary rocker arm, the first wheel set comprises a first wheel, a second wheel and a third wheel, the main rocker arm is rotatably connected with the frame, the first wheel and the auxiliary rocker arm are arranged at two ends of the main rocker arm opposite to each other in the second direction, the auxiliary rocker arm is rotatably connected with the main rocker arm, and the second wheel and the third wheel are arranged at two ends of the auxiliary rocker arm opposite to each other in the second direction.
Preferably, the motion control device further comprises a third angle detection device, the third angle detection device is electrically connected with the processor, and the third angle detection device is used for detecting a rotation angle of the main rocker arm relative to the vehicle frame.
Preferably, the motion control device further comprises a fourth angle detection device, the fourth angle detection device is electrically connected with the processor, and the fourth angle detection device is used for detecting a rotation angle of the auxiliary rocker arm relative to the frame.
Preferably, the motion control device further includes an accelerometer for measuring acceleration when the wheeled lunar exploration robot moves.
Preferably, the wheeled lunar exploration robot comprises a braking device, the motion control device further comprises a braking control module, the braking control module is electrically connected with the braking device, and the braking control module is used for controlling the braking device to brake the wheeled lunar exploration robot.
Has the advantages that: because the utility model discloses a wheeled lunar exploration robot motion control device has set up rotation control module, and rotation control module is connected with the rotation drive device electricity that sets up with each wheel one-to-one for rotation control module can carry out independent control to each wheel of wheeled lunar exploration robot, thereby can accord with the requirement of the environment of traveling according to the rotational speed of each wheel of wheeled lunar exploration robot.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings, and these drawings are all within the protection scope of the present invention.
Fig. 1 is a three-dimensional structure diagram of a wheeled lunar exploration robot according to the present invention;
fig. 2 is a schematic structural view of the wheeled lunar exploration robot of the present invention;
fig. 3 is a schematic structural view of the wheeled lunar exploration robot of the present invention when the rocker arm mechanism is used to pass through a rough road;
fig. 4 is a schematic structural view of the wheeled lunar exploration robot of the present invention when the telescopic connecting rod is adopted to pass through a rough road;
fig. 5 is a schematic structural diagram of the overload protection mechanism of the present invention;
FIG. 6 is a schematic view of the wheel-type lunar exploration robot of the present invention having a large wheel track and being difficult to pass through a rough road;
FIG. 7 is a schematic view of the wheeled lunar exploration robot of the present invention passing through a rough road after the track is shortened;
fig. 8 is a schematic structural view of a wheel distance adjusting mechanism according to the present invention;
fig. 9 is a block diagram illustrating a motion control device of a wheeled lunar exploration robot according to the present invention;
fig. 10 is a block diagram of a motion control device of a wheeled lunar exploration robot with an accelerometer and a gyroscope according to the present invention;
fig. 11 is a block diagram illustrating a wheeled lunar exploration robot control apparatus according to the present invention;
fig. 12 is a schematic view of the solar panel of the present invention in a folded state;
fig. 13 is a schematic view of the solar panel of the present invention in an expanded state;
fig. 14 is a block diagram of a wheeled lunar exploration robot control device with a solar panel angle control submodule according to the present invention;
parts and numbers in the figures: the vehicle comprises a vehicle frame 10, a first connecting mechanism 20, a main rocker arm 21, an auxiliary rocker arm 22, a first wheel set 40, a first wheel 41, a second wheel 42, a third wheel 43, an overload protection mechanism 50, a first transmission piece 51, a second transmission piece 52, a first telescopic piece 61, a second telescopic piece 62, a first rotating piece 63, a second rotating piece 64, a solar panel 70 and an expansion rod 71.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the various features of the embodiments and examples of the present invention may be combined with each other and are within the scope of the present invention.
Example 1:
as shown in fig. 9, the present embodiment provides a motion control device for a wheeled lunar exploration robot, for controlling the movement of the wheeled lunar exploration robot, the motion control device including: the device comprises a first angle detection device and a rotation control module, wherein the first angle detection device is arranged corresponding to each wheel, the rotation control module is electrically connected with the rotation drive device respectively, and the rotation control module is used for controlling the rotating speed of each wheel.
The rotation control module sends a control command to the motors of the rotation driving devices, and the motors are controlled to rotate so that the wheels rotate according to the set rotating speed and the set rotating angle, and therefore the robot is driven to move on the surface of the moon. In addition, the embodiment can also be provided with an angle detection device for detecting the rotation angle of each wheel, and measure the speed of each wheel through the rotation angle of each wheel and the time. The wheel rotation angle and the wheel rotation speed measured by the first angle detection device can be fed back to the rotation control module, so that the controller can adjust the control mode in real time according to the actual rotation condition of the wheel.
As shown in fig. 1, the wheeled lunar exploration robot controlled by the motion control device includes: the frame 10, first coupling mechanism 20, first wheel group 40, second coupling mechanism and second wheel group, first coupling mechanism 20 and second coupling mechanism are located the both sides of frame 10 along first direction respectively, first wheel group 40 and second wheel group all include a plurality of wheels, the wheel of first wheel group 40 forms relative position adjustable connection through first coupling mechanism 20 and frame 10, the wheel of second wheel group forms relative position adjustable connection through second coupling mechanism and frame 10.
In the present embodiment, the first connecting mechanism 20, the first wheel set 40, the second connecting mechanism and the second wheel set together constitute a traveling mechanism of the wheeled lunar exploration robot. The first direction is a direction perpendicular to the direction in which the robot moves, i.e., a left-right direction of the robot. And the first connecting mechanism 20 and the second connecting mechanism are respectively positioned at two sides of the frame 10 along the first direction, which means that the first connecting mechanism 20 and the second connecting mechanism are arranged at the left and right sides of the frame 10. Wherein the first wheel set 40 and the second wheel set may have the same number of wheels. Each set of wheels is connected to frame 10 by a corresponding connection mechanism. The first connecting mechanism 20 and the second connecting mechanism have structural characteristics that the position relationship between each wheel and the frame 10 can be flexibly adjusted according to the road surface fluctuation condition during the driving process of the wheels. When the road surface of the moon, on which some wheels are located, is higher from the vehicle frame 10, the wheels are also adjusted to a higher position from the vehicle frame 10 by the first connecting mechanism 20 or the second connecting mechanism. When the road surface of the moon, on which some of the wheels are located, is low from the frame 10, the wheels are also adjusted to a low position from the frame 10 by the first connecting mechanism 20 or the second connecting mechanism. The road surface on two sides of the frame 10 may have different undulations, so the first connecting mechanism 20 and the second connecting mechanism on two sides of the frame 10 can adjust the height position of each wheel in the first wheel set 40 and the second wheel set relative to the frame 10 independently to adapt to the road surface with different heights on the left and right sides.
Example 2
The present embodiment describes a specific structure of the first connecting mechanism 20 on the basis of embodiment 1. As shown in fig. 2, in the present embodiment, the first connecting mechanism 20 includes a primary swing arm 21 and a secondary swing arm 22, the first wheel set 40 includes a first wheel 41, a second wheel 42 and a third wheel 43, the primary swing arm 21 is rotatably connected to the vehicle frame 10, the first wheel 41 and the secondary swing arm 22 are disposed at two ends of the primary swing arm 21 opposite to each other in the second direction, the secondary swing arm 22 is rotatably connected to the primary swing arm 21, and the second wheel 42 and the third wheel 43 are disposed at two ends of the secondary swing arm 22 opposite to each other in the second direction.
The second direction is a direction in which the robot moves forward, i.e., a front-back direction of the robot. The present embodiment provides three wheels on one side of the robot, wherein the second wheel 42 and the third wheel 43 are connected to the auxiliary swing arm 22, and can adjust the relative position relationship between itself and the vehicle frame 10 along with the rotation of the auxiliary swing arm 22. And the auxiliary rocker arm 22 and the first wheel 41 are connected to both ends of the main rocker arm 21, respectively. The auxiliary rocker arm 22 and the first wheel 41 can be adjusted in relative position with respect to the vehicle frame 10 in accordance with the rotation of the main rocker arm 21. As shown in fig. 3, it can be seen from the foregoing analysis that the three wheels on the same side of the vehicle frame 10 can adjust their relative position relationship with the vehicle frame 10 by the rotation of the main rocker arm 21 and the auxiliary rocker arm 22. For example, when the road surface on which the first wheel 41 is located is high, the main swing arm 21 rotates clockwise, so that the first wheel 41 rotates to a high position along with the main swing arm 21, and the second wheel 42 and the third wheel 43 rotate to a relatively low position. At this time, if the second wheel 42 is located on a road surface with a height lower than that of the road surface on which the third wheel 43 is located, the auxiliary rocker arm 22 rotates counterclockwise, so that the second wheel 42 rotates with the auxiliary rocker arm 22 to a position lower than that of the third wheel 43, and the heights of the three wheels can be adapted to the road surface on which the three wheels are located. By adopting the connecting mechanism, the position of each wheel can be automatically adjusted along with the change of the road surface, and a special driving mechanism is not needed for driving the main rocker arm 21 and the auxiliary rocker arm 22 to rotate.
In the same way, the second connecting mechanism may also be the same as the first connecting mechanism 20, and the second wheel group also includes three wheels, namely a fifth wheel and a sixth wheel of the fourth wheel.
Other attachment structures may be used in other embodiments to allow adjustment of the relative position of the wheel and frame 10. As shown in fig. 4, each wheel is connected to the frame 10, for example, by a telescopic link, which changes its length by extension to move the wheel up and down relative to the frame 10. Or the electric cylinder can be adopted to drive the wheels to move up and down along the road surface.
The wheeled lunar exploration robot in this embodiment further includes a rotation driving device disposed in one-to-one correspondence with the first wheel 41, the second wheel 42, and the third wheel 43, and configured to drive the wheels corresponding thereto to rotate. The wheel-type moon detection robot of the embodiment is provided with one rotation driving device for each wheel, so that each wheel of the wheel-type moon detection robot can be driven independently.
In order to realize the function of steering according to the planned path, the wheeled lunar exploration robot in the embodiment further includes a steering driving mechanism disposed in one-to-one correspondence with the first wheel 41 and the third wheel 43, and the steering driving mechanism is configured to drive the wheels corresponding to the steering driving mechanism to steer. The first wheel 41 is the front wheel of the robot, and the second wheel 42 is the rear wheel of the robot. The embodiment provides corresponding steering driving devices for front and rear wheels of the robot to drive the robot to steer. The wheels at the front end and the rear end of the robot can flexibly adjust the traveling direction according to the planned path.
The following describes a specific structure of a drive steering mechanism:
the steering driving mechanism comprises a motor, a speed reducer and a rotating shaft, the rotating direction of the rotating shaft is perpendicular to the axial direction of the wheel, the output shaft of the motor is connected with the input end of the speed reducer, the output end of the speed reducer is in transmission connection with the rotating shaft, and the wheel is connected with the rotating shaft through a rotating driving device corresponding to the wheel. After the power is on, the motor rotates and is output to the rotating shaft after being decelerated by the speed reducer. The rotating shaft rotates around an axis perpendicular to the axial direction of the wheel so as to drive the rotation driving device to rotate. And the rotation driving device is connected with the corresponding wheel, so that the rotation driving device drives the wheel to rotate around the axis of the rotating shaft under the driving of the rotating shaft, thereby realizing the steering of the wheel.
In addition, a planetary gear can be adopted to convert the rotation around the axis of the wheel output by the rotation driving device into the rotation around the rotating shaft and then drive the rotating shaft to drive the wheel to turn.
Due to the complex surface condition of the moon, when the robot encounters an extremely rugged moon surface, the wheels may be locked, and at this time, the load borne by the rotation driving device is too large, which easily causes damage to the rotation driving device. In this regard, the rotational driving apparatus of the present embodiment includes a motor and an overload protection mechanism 50, the motor is in transmission connection with the overload protection mechanism 50, the overload protection mechanism 50 is in transmission connection with the corresponding wheel, and the overload protection mechanism 50 is configured to enable the rotation of the wheel and the motor to be out of synchronization when the wheel corresponding to the overload protection mechanism is overloaded. When the wheel is locked, the overload protection mechanism 50 timely disconnects the rotation of the motor from the rotation of the wheel, so that the motor is prevented from being locked and damaged. As shown in fig. 5, the overload protection mechanism 50 includes a first transmission member 51 and a second transmission member 52, wherein the first transmission member 51 is in transmission connection with the wheel, and the second transmission member 52 is in transmission connection with the motor. The contact surface between the first transmission member 51 and the second transmission member 52 is a corrugated surface. When the wheel is not locked, the first transmission piece 51 and the second transmission piece 52 can synchronously rotate by friction. When the load is too large, the first transmission piece 51 and the second transmission piece 52 rotate relatively, so that the rotation of the wheel is asynchronous with the rotation of the motor.
Example 3
In the present embodiment, the auxiliary swing arm 22 is provided with a track adjusting mechanism for adjusting the distance between the first wheel 41 and the second wheel 42 in the second direction, in which case if the distance between two adjacent wheels is too large, a portion of the ground surface may be caught between the two wheels when the robot encounters a rough lunar surface. When the vehicle runs on a relatively flat ground, the distance between two adjacent wheels can be adjusted to be far through the wheel track adjusting mechanism. As shown in fig. 6 and 7, if a bumpy area is encountered, the distance between two adjacent wheels can be adjusted by the track adjusting mechanism to avoid the bumpy area from being passed through.
As shown in fig. 7, as an example, the track adjusting mechanism includes a first telescopic member 61 and a second telescopic member 62 disposed at opposite ends of the auxiliary swing arm 22 in the second direction, the third wheel 41 is connected to the first telescopic member 61, the second wheel 42 is connected to the second telescopic member 62, the first telescopic member 61 is movable in the second direction with respect to the auxiliary swing arm 22, and the second telescopic member 62 is movable in the second direction with respect to the auxiliary swing arm 22. The link rod 71 can be driven by an electric cylinder to move forward and backward relative to the auxiliary swing arm 22. When the two telescopic bars 71 move in the direction to approach each other, the distance between the two wheels is shortened, and when the two telescopic bars 71 move in the direction to separate from each other, the distance between the two wheels is lengthened.
As another example, as shown in fig. 8, in the present embodiment, the track adjusting mechanism includes a first rotating member 63 and a second rotating member 64 rotatably connected to the auxiliary rocker arm 22, respectively, the third wheel 41 is connected to the first rotating frame, and the second wheel 42 is connected to the second rotating member 64. The distance between the two wheels is shortened when the two rotating members are rotated in the direction approaching each other, and the distance between the two wheels is lengthened when the two rotating members are rotated in the direction away from each other.
An axial distance adjustment mechanism may also be provided to adjust the distance between the first linkage 20 and the second linkage. Therefore, when the robot needs to pass through a narrow ground area, the distance between the two groups of wheels can be adjusted to be small through the axial distance adjusting mechanism. Specifically, the aforementioned axial distance adjustment mechanism may be provided below the vehicle frame 10. The axial distance adjusting mechanism comprises a first rocker arm and a second rocker arm which are respectively hinged with the vehicle frame 10, wherein the first rocker arm is connected with a first connecting mechanism 20, and the second rocker arm is connected with a second connecting mechanism. The distance between the two wheels is shortened when the two swing arms are rotated in the direction of approaching each other, and the distance between the two wheels is lengthened when the two swing arms are rotated in the direction of separating from each other.
Example 4
In this embodiment, the motion control device further includes a second angle detection device and a steering control module, which are disposed corresponding to the steering mechanism, the second angle detection device and the steering mechanism are electrically connected to the steering control module, respectively, and the steering control module is configured to control a steering angle of the steering mechanism.
The steering control module of the embodiment can control the rotation of the driving motor of the steering mechanism and control the steering angle of the wheels by controlling the rotation angle of the motor. In order to accurately control the steering angle, the present embodiment further provides a second angle detecting device to measure the actual turning angle of the wheel, and feed back the measured turning angle to the steering control module, so that the steering control module can adjust the control mode in real time.
In this embodiment, the motion control device further includes a track adjusting module, the track adjusting module is electrically connected to the track adjusting mechanism, and the track adjusting module is used for controlling the track adjusting mechanism to adjust the distance between the wheels. The track width adjusting module can control the distance between two adjacent wheels by controlling an electric cylinder driving the telescopic rod 71 or a motor driving the first rotating member 63 and the second rotating member 64.
In addition, in this embodiment, the motion control device further includes a processor and an image capturing device, the image capturing device is electrically connected to the processor, and the processor is electrically connected to the rotation control module.
The image acquisition device can be a camera, the robot shoots images of the surrounding environment through the camera, the processor processes the images acquired by the camera, plans the traveling route of the robot according to the processing result, reasonably avoids the area with higher risk, and calculates the rotating speed of each wheel and the steering angle of the steering wheel according to the processing result.
In order to further enhance the perception capability of the robot to the environment, in this embodiment, the motion control device further includes a laser range finder electrically connected to the processor, and the laser range finder is configured to measure the distance between the wheeled lunar exploration robot and the target. The laser range finder can be used in combination with the image acquisition device, and after the processor selects a target object of interest such as an obstacle from the acquired image, the motion control device controls the laser range finder to measure the distance between the robot and the target measurement object.
As shown in fig. 10, in order to precisely control the traveling mechanism of the robot when the robot passes through the rough terrain, in the present embodiment, the motion control device further includes a third angle detection device electrically connected to the processor, and the third angle detection device is configured to detect the rotation angle of the main swing arm 21 with respect to the vehicle frame 10. In addition, the control device of the present embodiment further includes a fourth angle detection device electrically connected to the processor, and the fourth angle detection device is configured to detect a rotation angle of the auxiliary rocker arm 22 with respect to the vehicle frame 10.
The first angle detecting means, the second angle detecting means, the third angle detecting means, and the fourth angle detecting means may be angle sensors or potentiometers.
In this embodiment, the motion control device further includes an accelerometer and a gyroscope, and the accelerometer is used for measuring the acceleration of the wheeled lunar exploration robot when the wheeled lunar exploration robot moves. The gyroscope is used for measuring the attitude of the wheeled lunar exploration machine.
In order to control the wheeled lunar exploration robot to stop at a set position, the embodiment further provides a braking device for the robot, the motion control device further includes a braking control module, the manufacturing control module is electrically connected with the braking device, and the braking control device is used for controlling the braking device to brake the wheeled lunar exploration robot.
Example 5
As shown in fig. 11, the present embodiment provides a wheeled lunar exploration robot control apparatus for controlling the wheeled lunar exploration robot in the foregoing embodiment, where the wheeled lunar exploration robot further includes a power supply device. The control device of this embodiment includes a power control module and each control module of the motion control device in embodiment 4, the power control device is electrically connected to the power supply equipment, and the power control module is used for controlling the power supply equipment to supply power to the wheeled lunar exploration robot.
The power supply device in this embodiment includes a solar panel 70 for converting light energy into electric energy and a storage battery for storing electric energy. In order to continuously supply power to the wheeled lunar exploration robot, the power supply device of the present embodiment supplies power to the wheeled lunar exploration robot by using electric energy generated by the solar panel 70 through photovoltaic action. The electric energy generated by the solar panel 70 is stored by the storage battery and supplies power to the rotation driving device, the steering driving mechanism, each control module, the image acquisition device, the laser range finder, the processor and other devices.
In order to adjust the unfolding area of the solar panel 70 according to the electricity consumption condition and the residual electricity of the storage battery, in the embodiment, the power supply device further comprises a folding mechanism for folding and unfolding the solar panel 70. In this embodiment, some of the solar panels 70 may be disposed below other solar panels 70, and then the folding mechanism may be used to push the solar panels 70 below to extend to a position where they are not covered by other solar panels 70. As shown in fig. 12, wherein the folding mechanism includes a telescopic rod 71 connected to the frame 10, one end of the telescopic rod 71 is connected to the solar panel 70. The telescopic rod 71 can be driven by an electric cylinder to extend and retract. When the telescopic rods 71 are extended, the solar panels 70 located below are extended to a position where they are not covered by other solar panels 70. The telescoping rods 71 shorten to push some of the solar panels 70 to a position hidden under other solar panels 70. As shown in fig. 13, when the power detection submodule of the control device detects that the current power consumption is large or the remaining battery power is small, the folding control submodule of the control device may control the folding mechanism to unfold the solar panel 70 to increase the solar energy received by the power supply apparatus.
As shown in fig. 14, since the sunlight is irradiated to the robot at different angles at different times, the power supply apparatus in this embodiment is further provided with an angle adjusting mechanism for adjusting the angle of the solar panel 70 according to the irradiation angle of the sun. The angle adjustment mechanism includes a link having one end hinged to solar panel 70 and the opposite end hinged to frame 10. The connecting rod is hinged with the frame 10 through a connecting rod rotating shaft, and the connecting rod rotating shaft can be driven by a motor to rotate so as to drive the connecting rod to rotate. Therefore, the control device can control the motor for driving the connecting rod to rotate through the solar panel 70 angle control submodule to adjust the angle of the solar panel 70.
The above is a detailed description of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. Wheeled lunar exploration robot motion control device for control wheeled lunar exploration robot removes, its characterized in that, wheeled lunar exploration robot includes the frame, a plurality of relative frame position adjustable wheels, the rotation drive device who sets up with each wheel one-to-one, motion control device includes: the device comprises a first angle detection device and a rotation control module, wherein the first angle detection device is arranged corresponding to each wheel, the rotation control module is electrically connected with the rotation drive device respectively, and the rotation control module is used for controlling the rotating speed of each wheel.
2. The wheeled lunar exploration robot motion control device according to claim 1, further comprising a steering mechanism for driving the wheels to steer, said motion control device comprising: the steering control module is used for controlling the steering angle of the steering mechanism.
3. The wheeled lunar exploration robot motion control device of claim 1, wherein the wheeled lunar exploration robot comprises a track adjustment mechanism, the motion control device further comprising a track adjustment module, the track adjustment module being electrically connected with the track adjustment mechanism, the track adjustment module being configured to control the track adjustment mechanism to adjust a spacing between wheels.
4. The wheeled lunar exploration robot motion control device of claim 2, further comprising a processor and an image acquisition device, the image acquisition device electrically connected with the processor, the processor electrically connected with the rotation control module.
5. The wheeled lunar exploration robot motion control device of claim 4, further comprising a laser range finder electrically connected to the processor for measuring a distance between the wheeled lunar exploration robot and a target.
6. The wheeled lunar exploration robot motion control device of claim 4, wherein said wheeled lunar exploration robot comprises a first linkage mechanism and a first wheel set, said first linkage mechanism comprises a primary rocker and a secondary rocker, said first wheel set comprises a first wheel, a second wheel and a third wheel, said primary rocker is rotatably connected with said vehicle frame, said first wheel and secondary rocker are disposed at two ends of said primary rocker opposite to each other along a second direction, said secondary rocker is rotatably connected with said primary rocker, said second wheel and third wheel are disposed at two ends of said secondary rocker opposite to each other along said second direction.
7. The wheeled lunar exploration robot motion control device of claim 6, further comprising a third angle detection device electrically connected to said processor, said third angle detection device for detecting a rotation angle of the primary swing arm with respect to the vehicle frame.
8. The wheeled lunar exploration robot motion control device of claim 6, further comprising a fourth angle detection device electrically connected with said processor, said fourth angle detection device for detecting a rotation angle of an auxiliary rocker arm with respect to a vehicle frame.
9. The wheeled lunar exploration robot motion control device of claim 1, further comprising an accelerometer for measuring acceleration while the wheeled lunar exploration robot is moving.
10. The wheeled lunar exploration robot motion control device according to any of claims 1-9, wherein said wheeled lunar exploration robot comprises a braking device, said motion control device further comprising a braking control module, said braking control module being electrically connected with said braking device, said braking control module being configured to control said braking device to brake said wheeled lunar exploration robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022883775.1U CN213948812U (en) | 2020-12-05 | 2020-12-05 | Motion control device of wheel type moon detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022883775.1U CN213948812U (en) | 2020-12-05 | 2020-12-05 | Motion control device of wheel type moon detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213948812U true CN213948812U (en) | 2021-08-13 |
Family
ID=77214040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022883775.1U Active CN213948812U (en) | 2020-12-05 | 2020-12-05 | Motion control device of wheel type moon detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213948812U (en) |
-
2020
- 2020-12-05 CN CN202022883775.1U patent/CN213948812U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213518000U (en) | Wheeled lunar exploration robot control device | |
| CN109927498B (en) | Multi-variant amphibious four-rotor robot | |
| CN109866936B (en) | Unmanned aerial vehicle landing and recovery integrated mobile platform based on six-degree-of-freedom series-parallel mechanism | |
| CN107097866B (en) | Power line operation walking robot and obstacle crossing method thereof | |
| CN110525691A (en) | Foldable type moon campsite auxiliary builds robot | |
| EP2780228A1 (en) | Transformable aerial vehicle | |
| WO2018133191A1 (en) | Chassis vehicle | |
| CN110936346A (en) | Foldable four-wheel leg type obstacle crossing robot | |
| Chou et al. | Innovative design of a claw-wheel transformable robot | |
| CN112873188B (en) | Self-assembled modular robot unit, robot, assembly and control method | |
| CN112847363B (en) | Auxiliary operation robot outside lunar surface cabin and control method thereof | |
| CN107856762B (en) | Motorcycle type robot | |
| CN213948812U (en) | Motion control device of wheel type moon detection robot | |
| CN213769018U (en) | Wheeled moon detection robot | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN110666471B (en) | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections | |
| Jayatilaka et al. | Robonwire: Design and development of a power line inspection robot | |
| CN108423155B (en) | Aerial work robot | |
| CN105826862A (en) | Engaged-drive walking wheel structure, line patrol robot mechanical structure and obstacle crossing method of same | |
| Vysin et al. | The hybrid mobile robot | |
| Ye et al. | Research on an intelligent electric inspection robot | |
| CN114620160A (en) | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure | |
| CN114102551A (en) | Positioning device and method for inspection robot by applying 5G transmission communication | |
| CN114393965A (en) | Automatic folding air-ground amphibious multi-mode carrying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |