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A direct drive robot control system for polar wing sails

A control system and robot technology, applied in the field of robots, can solve the problems of heading attitude control and anti-overturning, and achieve the effect of avoiding the danger of overturning, easy to implement, and reasonable in structure

Inactive Publication Date: 2017-08-11
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current wing-sail robot control system has deficiencies in the aspects of heading attitude control and anti-rollover.

Method used

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  • A direct drive robot control system for polar wing sails

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] see figure 1 , the polar sail wind direct drive robot control system, including trajectory planning system (4), obstacle avoidance system (2), navigation control system (3), and microprocessor (1); characterized in that: The trajectory planning system (4) is respectively connected with the navigation control system (3) and the microprocessor (1), and plans the target trajectory path of the entire wingsail robot according to the scientific research task; the obstacle avoidance system (2 ) are respectively connected with the navigation control system (3) and the microprocessor (1), detect real-time road conditions through sensor elements, and feed back to the wing sail robot for obstacle avoidance; the navigation control system (3) is respectively connected with the trajectory planning system (4), the obstacle avoidance system (2) is connected with the microprocessor (1), receives the GPS signal and outputs the control signal to the wing sail driver and the heading driver...

Embodiment 2

[0024] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the trajectory planning system (4) designs the target trajectory instruction of the detection robot according to the scientific research task, and transmits the instruction to the navigation control unit. The obstacle avoidance system (2) includes a laser rangefinder (2-1) and a ground-penetrating radar (2-2), and the laser rangefinder (2-1) and the ground-penetrating radar (2-2) 2) Both are connected with the microprocessor (1) for real-time information interaction control feedback. The navigation control system (3) includes a winged sail control unit (3-1) and a heading control unit (3-2), according to the target trajectory provided by the trajectory planning system (4), the trajectory feedback provided by GPS and The obstacle information fed back by the laser range finder (2-1) and the ice crack information fed back by the ground penetrating radar (2-2) give the target hea...

Embodiment 3

[0026] like figure 1 As shown, a polar sail wind direct drive robot control system includes a trajectory planning system (4), an obstacle avoidance system (2), a navigation control system (3), and a microprocessor (1); The trajectory planning system (4) is connected with the navigation control system (3) and the microprocessor (1) respectively, and plans the target trajectory path of the entire wingsail robot according to the scientific research task; the obstacle avoidance system (2) Connect with the navigation control system (3) and the microprocessor (1) respectively, detect real-time road conditions through sensor elements, and feed back to the wing sail robot for obstacle avoidance; the navigation control system (3) is respectively connected with the trajectory planning system (4) , the obstacle avoidance system (2), the GPS and the microprocessor (1) are connected, and the wing sail unit and the heading control unit of the wing sail robot are controlled through the motor...

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Abstract

The invention discloses a polar wing sail wind force direct drive robot control system. It includes a trajectory planning system, a navigation control system, an obstacle avoidance system and a microprocessor; the trajectory planning system is connected with the navigation control system and the microprocessor respectively, and the target trajectory path of the entire wing-sail robot is adjusted according to the scientific research task. Carry out planning; Described obstacle avoidance system is connected with navigation control system and microprocessor respectively, detects real-time road condition by sensor element, feeds back to wing sail robot and carries out obstacle avoidance; Navigation control system is respectively with trajectory planning system, In the obstacle avoidance system, the GPS unit is connected to the microprocessor, and controls the wing sail unit and the heading control unit of the wing sail robot through the motor and the steering gear respectively. The invention has a reasonable structure, is easy to implement, and is suitable for detection and application under complex and changeable climate conditions in polar regions, and has high engineering application value.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a direct-driven robot control system for polar sails. Background technique [0002] The polar regions contain huge natural and scientific resources. On the one hand, the polar ice and snow-covered area is the largest cold source of the earth system, and changes in its environmental elements play a key role in global climate change; on the other hand, the development and utilization of polar resources has an unparalleled strategy in terms of politics and economy. meaning. However, the harsh environment in the polar region, high cold, low oxygen, and extreme weather may threaten the lives of scientific expedition personnel at any time, which greatly restricts the development of human scientific expeditions. Compared with the 14 million square kilometers of the Antarctic continent, the scientific expedition The range of activities of personnel is still very limited, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 谢少荣沈天昊陈继清张凯冯凯罗均李恒宇
Owner SHANGHAI UNIV
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