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作 者:张帆 窦银科[1] 吴顺杰 左广宇 王煜尘 李根 郭井学 ZHANG Fan;DOU Yinke;WU Shunjie;ZUO Guangyu;WANG Yuchen;LI Gen;GUO Jingxue(College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024,China;The 710 Research Institute of China Shipbuilding Industry Corporation,Yichang 443003,China;Polar Research Institute of China,Shanghai 200136,China)
机构地区:[1]太原理工大学电气与动力工程学院,山西太原030024 [2]中国船舶集团公司第七一〇研究所,湖北宜昌443003 [3]中国极地研究中心(中国极地研究所),上海200136
出 处:《极地研究》2025年第1期72-82,共11页Chinese Journal of Polar Research
基 金:国家重点研发计划(2021YFC2803304);国家科技部重点研发计划(2018YFB1307504);中国博士后科学基金面上项目(2023M733042);国家自然科学基金面上项目(42176231);山西省基础研究计划项目(20210302124318);山西省高等学校科技创新项目(2021L025)资助。
摘 要:为解决极地冰盖特有地形地貌、严酷自然环境和冰盖移动等导致的自动化监测装置和数据长距离传输等问题,本研究基于极地冰盖如雪丘、雪垄、冰坝、软雪、硬雪等特有地形地貌,以及气候寒冷、多狂风暴雪等特殊自然环境,针对数据长距离传输和人工智能考察作业的需求,设计了一款专用于极地的冰盖履带机器人。机器人的硬件设计以工控机和STM32F103芯片为控制核心,搭载小型综合气象观测装置、实时动态定位装置、激光雷达和深度相机获取环境信息,构建铱星9523和网桥通信系统实现远距离数据通讯。机器人的软件设计采用多任务实时调度的FreeRTOS操作系统,构建上位机和数据库。此款极地冰盖履带机器人在中国第38次南极科学考察中,依托中山站进行了现场实验。结果表明,该机器人性能稳定、通信可靠、具有较理想的控制效果且较好地满足了极地冰盖作业需求,可为我国南北极科学考察提供关键技术支撑。To address the urgent issues of automated monitoring equipment and long-distance data transmission in the unique terrain and harsh natural environment of the polar ice cap,this study designed a crawler robot specifically for polar ice cap operations.The design concept considers the unique terrain of the polar ice cap,(e.g.,snow dunes,snow ridges,ice dams,soft snow,and hard snow,)and harsh weather conditions(e.g.,cold climate and frequent blizzards)of the polar ice cap.It also satisfies to the requirements of long-distance data transmission and AI-based fieldwork.The hardware incorporates an industrial computer and STM32F103 chip as the control core,and is equipped with a miniature integrated meteorological observation device,Real-Time Kinematic device,lidar,and a depth camera to gather environmental information.A communication system built on Iridium 9523 and bridge communication facilitates long-distance data transmission.The software design employs the FreeRTOS operating system with multitasking real-time scheduling,and establishes a master computer and a database.The polar ice cap crawler robot was field-tested during Chinese 38th Antarctic Research Expedition at Zhongshan Station.The results indicated that the robot exhibits stable performance and reliable communication,and is able to be controlled effectively.Thus,it satisfies the demands regarding operation on the polar ice cap,and can provide key technical support for China’s polar scientific expeditions in both Arctic and Antarctic regions,demonstrating its potential as a valuable asset in these challenging environments.
关 键 词:极地冰盖 履带机器人 环境信息 远程通讯 南北极
分 类 号:TP242.2[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]
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