A Balanced Self-Stable Space Motion Positioning System

Abstract

The invention discloses a balanced and self-stabilizing space motion positioning system, which comprises a spherical shell, a balanced state self-stabilizing mechanism, a balance platform, an integrated circuit board and a power supply; Fixedly connected, the balance platform is fixedly connected to the integrated circuit board, and the power supply is connected to the integrated circuit board; the balanced state self-stabilizing mechanism has three groups of driving and detecting units, and the three groups of driving and detecting units are all self-stabilizing in a balanced state The center of the mechanism is the reference point, equally spaced around the circumference of the power supply. The space motion positioning system of the present invention controls the attitude angle, angular velocity, angular acceleration, rotational speed, etc., and can calculate the motion status and motion trajectory of the system according to the collected data. It can be used in the fields of map construction, exploration, robot positioning, etc., and has stable , convenient, efficient and other advantages.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to a balanced self-stabilizing space motion positioning system. Background technique [0002] With the continuous development of science and technology, robots are increasingly used in various industries and environments. However, because many robots need to operate in closed and unknown environments, and these environments are relatively small, they cannot receive GPS signals or other signals for real-time positioning. For example, spherical pipeline robots usually need to perform various defect detection tasks (cracks, sags, etc.) or carry out various in-pipe operations (cleaning, welding, etc.) in buried pipelines. Position information is crucial for pipeline robots . The traditional pipeline robot positioning adopts the traction rope measurement method, that is, the distance of the robot’s movement is inferred by measuring how long the rope connected to t...

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Problems solved by technology

[0003] The Sahara pipeline detection device developed by Pure company abroad can be used for defect detection of pressurized water supply pipelines. Its communication cable restricts its movement distance and flexibility; and the cable-free pipeline robot is usually based on its own wheel odometer. Obtain the distance and posture of its own movement, but affected by its structure, it can only move in a simple straight pipeline, and cannot work in a pressurized pipeline, and its flexibility is greatly restricted; therefore, the spherical detection device is due to its The simple structure and small size have attracted widespread attention in the industry. The device moves in the tube and performs detection tasks through the promotion of water flow. It is a passive detection device, and the distance information of its movement is solved by its own inertial measurement unit. However, due to the large noise contained in the inertial measurement unit, the positioning strategy often cannot obtain accurate positioning results, and the device cannot move autonomously, making it lose the ability to move flexibly, and the application area is narrow

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