CN104890460A - Novel multifunctional polar region exploring trolley - Google Patents
Novel multifunctional polar region exploring trolley Download PDFInfo
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- CN104890460A CN104890460A CN201510298755.9A CN201510298755A CN104890460A CN 104890460 A CN104890460 A CN 104890460A CN 201510298755 A CN201510298755 A CN 201510298755A CN 104890460 A CN104890460 A CN 104890460A
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Abstract
The invention discloses a novel multifunctional polar region exploring trolley. The novel multifunctional polar region exploring trolley comprises a spherical body, wherein wheels are arranged on two sides of the spherical body; a manipulator for collecting samples is arranged on the front surface of the spherical body; a storage box for storing the samples is arranged below the manipulator; cameras which can rotate so as to explore the up-down direction, the left-right direction and the front-back direction of the exploring trolley are respectively arranged on the upper portions of the front surface and the reverse surface of the spherical body; the top of the spherical body is connected with a foldable large propeller for driving the exploring trolley to fly through a rotating shaft; a solar cell panel for charging storage batteries in the spherical body is arranged on the top of the spherical body; a small hole is formed in the solar cell panel; and the rotating shaft penetrates in the small hole. Technologies of remote data transmission and control, a multi-mode driving system and solar energy supplying are used together. The novel multifunctional polar region exploring trolley is simple in structure, explores quickly and accurately, adapts to various terrains and is long in life time.
Description
Technical field
The present invention relates to a kind of detection dolly, particularly relate to a kind of Multifunction polar region detection dolly.
Background technology
At present, earth population grows with each passing day, and natural resources is more and more nervous, and present deficient trend, therefore people have stepped up the exploration to unknown regions such as the earth even extraterrestrial (as the moon).The south of the such as earth, the two poles of the earth, north are the mankind temporarily extensive unknown regions explored, the especially South Pole, it be the earth is not developed so far, unpolluted clean continent, mystery and the information of countless science are contained in there.Explore with global climate change study in global resources, have irreplaceable key position, the attention of increasing country is to the investigation of south poles and research in the world.Therefore, will become more and more important to polar region detection and data acquisition, and due to polar region bad environments, people cannot close to corresponding area in some cases.In the epoch of nowadays scientific and technological high speed development, remote controlled unmanned probing dolly is just used in this field widely, and technology is also ripe all the more, and they possess the functions such as detection, collection, photograph respectively, have certain adaptive capacity to severe natural environment.But there are the problems such as very flexible, exploration context is narrow and small, crossing ability is poor, continuous working period is short in modern detection dolly, this will be unfavorable for that people carry out reconnoitring to scene comprehensively, timely.Therefore, the detection practicality of dolly, rapidity, accuracy all the more value by people, progressively become the main standard evaluating various detector.
Nowadays, domestic unmanned probing dolly independent research product gets more and more, but most of complex structure, and economic and practical is low, using function and performance unsatisfactory.There is minority on the market to take turns or the detection dolly of track propulsion more, the basic work requirement of people can be met, but do not possess flight performance simultaneously; Have some unmanned probing devices to possess certain low-level capability, detection alerting ability is better, but cannot collecting sample on the spot accurately on the ground; Also have some unmanned probing dollies to be furnished with omnidirectional camera, can determine the orientation of object fast and accurately, possess manipulator also can collect specimen simultaneously, but its complete machine often volume is large and crossing ability is poor.In above-mentioned most of similar existing product, although major part can meet the requirement that people carry out unmanned probing and sampling, the most of complex structure of these detection dollies, manufacturing cost is high.Simultaneously, complicated structure makes the volume of detection dolly greatly increase, reduce the kinematic dexterity of detector, and many wheels or crawler type drive and also make such detection dolly energy consumption increase, and under the harsies environment such as polar region, often be difficult to the supply realizing the energy, such detection dolly just cannot work long hours.
Summary of the invention
Complicated, bulky for overcoming traditional detection vehicle structure, by poor performance, cannot be suitable for complicated landform, energy consumption is large simultaneously, and manufacturing price is expensive, the shortcomings such as work-hours is short, the invention provides a kind of Multifunction polar region detection dolly.The technology such as remote data transmission and control, multi-mode drive system, solar power energy supply has been merged in the present invention, have that structure is simple, detection quick and precisely, adapt to the advantages such as multiple landform, cruise duration is long.
For reaching above-mentioned technique effect, technical scheme of the present invention is:
A kind of Multifunction polar region detection dolly, comprise spherical body, the both sides of described spherical body are provided with wheel, and spherical body front is provided with the manipulator for collecting sample, are provided with the receiver placing sample below manipulator; The front upper of spherical body and reverse side top are all provided with rotatable with the camera detected the top to bottom, left and right, front and rear of detection dolly; Spherical body top is connected with the collapsible king bolt oar driving the flight of detection dolly by turning cylinder, the top of spherical body is provided with for the solar panel of battery charge being in spherical internal body, and solar panel is provided with the aperture passed for turning cylinder.
On rear side of spherical body, afterbody is provided with collapsible minor spiral oar, and described collapsible minor spiral oar comprises propeller drive shaft, permanent seat, the collapsible blade of left collapsible blade and the right side; Collapsible minor spiral oar is connected with spherical body by propeller drive shaft; Propeller drive shaft top is provided with permanent seat, and permanent seat is provided with left rail and right guide rail; Left collapsible blades installation is on left rail, and right collapsible blades installation is on right guide rail; The retractor device being carried out by the collapsible blade of collapsible for left side blade and the right side shrinking and launching is provided with in permanent seat.
Described wheel drives respectively by the left wheel drive motor and right wheel drive motors being in spherical internal body; Collapsible king bolt oar is driven by the top screw propeller drive motor being in spherical internal body; Spherical internal body is provided with opens or closes the charge function of solar panel to prevent the charge control module of storage battery overshoot or over discharge according to the electric energy service condition of storage battery; Spherical internal body is also provided with the remote control module that can receive remote control signal, and remote control module is connected with the drive control module controlling left wheel drive motor and right wheel drive motors rotating speed separately; Collapsible minor spiral oar is driven by the rear side screw propeller drive motor being in spherical internal body; Rear side screw propeller drive motor has can the output shaft that regulates of multi-angle, is provided with and controls output shaft adjusting angle to control prop shaft left and right stepping motor and the upper and lower stepping motor of prop shaft of the anglec of rotation of collapsible minor spiral oar in spherical body.
Further improvement, the diameter of described wheel is greater than the height of spherical body, and the surface of wheel is provided with the tread contour increasing wheel adhesion value.
Further improvement, the angle of described propeller drive shaft and level ground is 45 °.
Further improvement, the shape of described collapsible king bolt oar and collapsible minor spiral oar with construct identical, but size is different.
Further improvement, the collapsible blade in a described left side is arranged on left rail by latch, and right collapsible blade is arranged on right guide rail by latch.
Advantage of the present invention:
1, this detection dolly adopts the custom wheel that diameter is larger drive and support, and enhances its crossing ability.
2, folding flight screw propeller is housed, the low-latitude flying of its complete machine can be realized, for by short range trench or higher ladder hillside, improve the Local Adaptation of dolly, improve scope and the accuracy of detection.
3, the different rotating speeds of remote controlled motor, makes left and right two wheels have different power and speed at synchronization, can realize dolly original place and rotate or the rotation of walking limit, limit, reach the object of multi-angle detection, have stronger comformability and alerting ability.
4, solar panel charge system is housed, energy needed for power wheel, camera, screw propeller, manipulator all obtains by solar panel charging, energy-conserving and environment-protective, the problems such as before solving, energy recharge is difficult, work-hours is short, increase effectively the investigative range of dolly.
Accompanying drawing explanation
Fig. 1 is detection dolly front, Multifunction polar region general illustration;
Fig. 2 is general illustration on rear side of Multifunction polar region detection dolly;
Fig. 3 is that Multifunction polar region detection dolly folds screw propeller deployed condition front elevational schematic;
Fig. 4 is that Multifunction polar region detection dolly folds screw propeller deployed condition schematic top plan view;
Fig. 5 is that Multifunction polar region detection dolly folds screw propeller folded state schematic diagram;
Fig. 6 is the spherical organism internal structure front elevational schematic of Multifunction polar region detection dolly;
Fig. 7 is the spherical organism internal structure schematic side view of Multifunction polar region detection dolly.
Wherein: 1, wheel; 2, camera; 3, solar panel; 4, the collapsible king bolt oar in top; 5, spherical body; 6, receiver; 7, manipulator; 8, the collapsible minor spiral oar of rear side; 9, left rail; 10, left collapsible blade; 11, right collapsible blade; 12, right guide rail; 13, propeller drive shaft; 14, retractor device; 15, permanent seat; 16, left wheel drive motor; 17, right wheel drive motors; 18, rear side screw propeller drive motor; 19, remote control module; 20, top screw propeller drive motor; 21, charge control module; 22, drive control module; 23, storage battery; 24, prop shaft left and right stepping motor; 25, the upper and lower stepping motor of prop shaft; 26, turning cylinder.
Detailed description of the invention
A kind of Multifunction polar region detection dolly as shown in Figures 1 to 7, comprise spherical body 5, the both sides of described spherical body 5 are provided with wheel 1, and spherical body 5 front is provided with the manipulator 7 for collecting sample, are provided with the receiver 6 placing sample below manipulator 7; The front upper of spherical body 5 and reverse side top are all provided with rotatable with the camera 2 detected the top to bottom, left and right, front and rear of detection dolly; Spherical body 5 top is connected with the collapsible king bolt oar 4 driving the flight of detection dolly by turning cylinder 26, the top of spherical body 5 is provided with the solar panel 3 for charging to the storage battery 23 being in spherical body 5 inside, and solar panel 3 is provided with the aperture passed for turning cylinder 26.
On rear side of spherical body 5, afterbody is provided with collapsible minor spiral oar 8, and described collapsible minor spiral oar 8 comprises propeller drive shaft 13, permanent seat 15, the collapsible blade 11 of left collapsible blade 10 and the right side; Collapsible minor spiral oar 8 is connected with spherical body 5 by propeller drive shaft 13; Propeller drive shaft 13 top is provided with permanent seat 15, and permanent seat 15 is provided with left rail 9 and right guide rail 12; Left collapsible blade 10 is arranged on left rail 9, and right collapsible blade 11 is arranged on right guide rail 12; The retractor device 14 being carried out by the collapsible blade 11 of collapsible for left side blade 10 and the right side shrinking and launching is provided with in permanent seat 15.
Described wheel 1 drives respectively by the left wheel drive motor 16 and right wheel drive motors 17 being in spherical body 5 inside; Collapsible king bolt oar 4 is driven by the top screw propeller drive motor 20 being in spherical body 5 inside; Spherical body 5 inside is provided with opens or closes the charge function of solar panel 3 to prevent the charge control module 21 of storage battery 23 overshoot or over discharge according to the electric energy service condition of storage battery 23; Spherical body 5 inside is also provided with the remote control module 19 that can receive remote control signal, and remote control module 19 is connected with the drive control module 22 controlling left wheel drive motor 16 and the respective rotating speed of right wheel drive motors 17; Collapsible minor spiral oar 8 is driven by the rear side screw propeller drive motor 18 being in spherical body 5 inside; Rear side screw propeller drive motor 18 has can the output shaft that regulates of multi-angle, is provided with and controls output shaft adjusting angle to control prop shaft left and right stepping motor 24 and the upper and lower stepping motor 25 of prop shaft of the anglec of rotation of collapsible minor spiral oar 8 in spherical body 5.The diameter of described wheel 1 is greater than the height of spherical body 5, and the surface of wheel 1 is provided with the tread contour increasing wheel 1 adhesion value.Described propeller drive shaft 13 is 45 ° with the angle of level ground.The shape of described collapsible king bolt oar 4 and collapsible minor spiral oar 8 with construct identical, but size is different.The collapsible blade 10 in a described left side is arranged on left rail 9 by latch, and right collapsible blade 11 is arranged on right guide rail 12 by latch.
The present invention utilizes solar panel and storage battery to provide power for detection dolly, has met the green standard of Modern times call, has solved the problems such as type energy recharge is in the past difficult, work-hours is short, effectively improve the operational paradigm of detection dolly.Meanwhile, dolly is equipped with folding screw propeller, makes dolly can make full use of air superiority when exploring, coordinating omnidirectional camera, expanding the scope of detecting, be convenient to find target.In addition, utilize screw propeller that detection dolly can be made to arrive detection fast and accurately on-the-spot, reduce and rough ground contact probability, avoid the generation of emergency case.Moreover, have employed two-wheel drive in body both sides, greatly improve complete machine and move sensitieness and crossing ability, be applicable to various rough topography, ensure that carrying out smoothly of detection.
This detection dolly is partly made up of custom wheel, folding screw propeller and the spherical body etc. that diameter is larger.At least plural motor is controlled by utilizing remote control technology, different rotating speed is obtained to make its left and right wheels, under special circumstances simultaneously, screw propeller is coordinated to make detection dolly realize low-latitude flying, ensure that detection dolly can pass through various rugged complex road surface smoothly, complete the unmanned probing under the environment of severe polar region.The structure of innovative design and kinematic mechanism, coordinate special drive system can realize the accessible action detection of 360 degree, dolly.This detection dolly install 2 or more can all around, the camera that freely up and down rotates, the complex environment around polar region can be detected more all sidedly, by tele-control system real-time Transmission live view, the research that controllers can carry out next step very first time detects.The flight screw propeller of this dolly can fold, and packs up, and reduces the Outside Dimensions of detection dolly, improves crossing ability.
Crossing ability of the present invention is strong, can comprehensively, accurately carry out detecting and the work such as data acquisition, and solve energy recharge in the past difficult, the problems such as detection range is short, improve its labor aptitude and investigative range.Simultaneously, this detection dolly has custom wheel, folding screw propeller, be applicable to various rough topography, strengthen dolly and travel crossing ability in way and alerting ability, to ensure in polar region etc. that complex road surface can clear an obstacle can realize the object that sample collection and multi-angle detect smoothly.
As shown in Figure 1, the left and right sides of spherical body 5 is provided with special wheel 1, and for detecting the driving of dolly, special wheel 1 has special tire construction and tread contour, special wheel 1 adhesion value is increased, ensures the road surface of detection dolly by complex environments such as polar regions.Spherical body 5 front is provided with manipulator 7, and by Long-distance Control, the sample of collection is in place in the receiver 6 of spherical body 5 front, manipulator 7 bottom, so that post analysis by it.Spherical body 5 front and reverse side top are all provided with camera 2, and this camera has the function that top to bottom, left and right, front and rear motion realizes omnidirectional detection, and transmits back its picture detected by remote control module, are convenient to user and carry out next step operation.The top of spherical body 5 is provided with solar panel 3, charges for giving the storage battery 23 of internal body.The collapsible king bolt oar 4 in top through solar panel 3 medial small hole, is arranged on the top of spherical body 5, for complete machine low-latitude flying by turning cylinder 26.
As shown in Figure 2, spherical body 5 afterbody is transferred and is provided with the collapsible minor spiral oar 8 of rear side with ground angle 45 degree of positions, flies, and control complete machine heading for auxiliary complete machine.The collapsible king bolt oar 4 in above-mentioned top, rear side collapsible minor spiral oar 8 structure is identical, and just size is different.
As shown in Fig. 3, Fig. 4, Fig. 5, the structure of collapsible minor spiral oar is: be provided with permanent seat 15 at propeller drive shaft 13 top, left rail 9, right guide rail 12 is had in permanent seat, its left collapsible blade 10, right collapsible blade 11 are arranged on left rail 9, right guide rail 12 by latch respectively, by the retractor device 14 in permanent seat 15, collapsible for left side blade 10, right collapsible blade 11 retracted downward are realized the folding of blade, or protrude upward the expansion realizing blade.
As shown in Figure 6, Figure 7, charge control module 21 is opened according to the electric energy service condition of storage battery 23 or is closed the charge function of solar panel 3, prevents battery overshoot or over discharge.Remote control module 19 can receive remote control signal, by signal transmission to drive control module 22, control left wheel drive motor 16 by drive control module 22, right wheel drive motors 17 drives this detection moving of car, constant speed drives can realize dolly straight-line travelling, driving left and right special wheel 1 by adjusting different rotating speeds, realizing the motion such as various angle veer and original place rotation of dolly.When remote control module 19 receives flight directive, control signal can be passed to drive control module 22 by it, is controlled the work of retractor device 14, top screw propeller drive motor 20, rear side screw propeller drive motor 18, prop shaft left and right stepping motor 24, the upper and lower stepping motor 25 of prop shaft by drive control module 22.Retractor device 14 protrudes upward the expansion realizing top collapsible king bolt oar 4 blade.Top screw propeller drive motor 20 is used for driving the collapsible king bolt oar 4 in top, and detection dolly can be made to fly away from ground; And rear side screw propeller drive motor 18 be used for drive rear side collapsible minor spiral oar 8, can the flight of assistive drive complete machine rise, simultaneously have can the output shaft that regulates of multi-angle for rear side screw propeller drive motor 18, this output shaft is controlled by prop shaft left and right stepping motor 24, the upper and lower stepping motor 25 of prop shaft, for changing the anglec of rotation of the collapsible minor spiral oar 8 of rear side that rear side screw propeller drive motor 18 drives, to control the heading detecting dolly, make greatly being improved by performance of detection dolly, improve accuracy and comprehensive of its detection.Storage battery 23 is for powering to detection all controls of dolly, driving, kinematic mechanism.
The explanation of above example just understands core concept of the present invention for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (5)
1. a Multifunction polar region detection dolly, comprises spherical body (5), it is characterized in that,
The both sides of described spherical body (5) are provided with wheel (1), spherical body (5) front is provided with the manipulator (7) for collecting sample, and manipulator (7) below is provided with the receiver (6) placing sample; The front upper of spherical body (5) and reverse side top are all provided with rotatable with the camera (2) detected the top to bottom, left and right, front and rear of detection dolly; Spherical body (5) top is connected with the collapsible king bolt oar (4) driving the flight of detection dolly by turning cylinder (26), the top of spherical body (5) is provided with the solar panel (3) for charging to the storage battery (23) being in spherical body (5) inside, and solar panel (3) is provided with the aperture passed for turning cylinder (26);
Spherical body (5) rear side afterbody is provided with collapsible minor spiral oar (8), and described collapsible minor spiral oar (8) comprises propeller drive shaft (13), permanent seat (15), left collapsible blade (10) and the right side collapsible blade (11); Collapsible minor spiral oar (8) is connected with spherical body (5) by propeller drive shaft (13); Propeller drive shaft (13) top is provided with permanent seat (15), and permanent seat (15) is provided with left rail (9) and right guide rail (12); Left collapsible blade (10) is arranged on left rail (9), and right collapsible blade (11) is arranged on right guide rail (12); The retractor device (14) collapsible for left side blade (10) and the collapsible blade in the right side (11) being carried out shrinking and launching is provided with in permanent seat (15);
Described wheel (1) is respectively by being in the inner left wheel drive motor (16) of spherical body (5) and right wheel drive motors (17) driving; Collapsible king bolt oar (4) drives by being in inner top screw propeller drive motor (20) of spherical body (5); Spherical body (5) inside is provided with opens or closes the charge function of solar panel (3) to prevent the charge control module (21) of storage battery (23) overshoot or over discharge according to the electric energy service condition of storage battery (23); Spherical body (5) inside is also provided with the remote control module (19) that can receive remote control signal, and remote control module (19) is connected with the drive control module (22) controlling left wheel drive motor (16) and the respective rotating speed of right wheel drive motors (17); Collapsible minor spiral oar (8) drives by being in the inner rear side screw propeller drive motor (18) of spherical body (5); Rear side screw propeller drive motor (18) has can the output shaft that regulates of multi-angle, is provided with and controls output shaft adjusting angle to control prop shaft left and right stepping motor (24) and the upper and lower stepping motor of prop shaft (25) of the anglec of rotation of collapsible minor spiral oar (8) in spherical body (5).
2. detection dolly in Multifunction polar region as claimed in claim 1, it is characterized in that, the diameter of described wheel (1) is greater than the height of spherical body (5), and the surface of wheel (1) is provided with the tread contour increasing wheel (1) adhesion value.
3. detection dolly in Multifunction polar region as claimed in claim 1, it is characterized in that, described propeller drive shaft (13) is 45 ° with the angle of level ground.
4. Multifunction polar region detection dolly as claimed in claim 1, is characterized in that, the shape of described collapsible king bolt oar (4) and collapsible minor spiral oar (8) with construct identical, but size is different.
5. detection dolly in Multifunction polar region as claimed in claim 1, it is characterized in that, the collapsible blade in a described left side (10) is arranged on left rail (9) by latch, and right collapsible blade (11) is arranged on right guide rail (12) by latch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510298755.9A CN104890460B (en) | 2015-06-03 | 2015-06-03 | A kind of Multifunction polar region detects dolly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510298755.9A CN104890460B (en) | 2015-06-03 | 2015-06-03 | A kind of Multifunction polar region detects dolly |
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| CN104890460A true CN104890460A (en) | 2015-09-09 |
| CN104890460B CN104890460B (en) | 2017-03-01 |
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| CN106004286A (en) * | 2016-06-23 | 2016-10-12 | 福建工程学院 | Novel solar electric polar region detection vehicle |
| CN106476954A (en) * | 2016-12-08 | 2017-03-08 | 福建工程学院 | Novel intelligent portable electric trolley |
| CN107234385A (en) * | 2017-07-27 | 2017-10-10 | 韩朝锋 | A kind of signal tower tower body maintenance of equipment |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN111998879A (en) * | 2020-08-17 | 2020-11-27 | 万海雄 | Polar region monitoring facilities protection device |
| CN112706722A (en) * | 2020-12-31 | 2021-04-27 | 宋燕燕 | External stable form polar region detection equipment that marchs of keeping away barrier structure |
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| CN112706722A (en) * | 2020-12-31 | 2021-04-27 | 宋燕燕 | External stable form polar region detection equipment that marchs of keeping away barrier structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104890460B (en) | 2017-03-01 |
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