极地研究2025，Vol.37Issue(1)：72-82,11.DOI:10.13679/j.jdyj.20230039
极地冰盖履带机器人控制系统的研究与设计
Research and design of control system for polar ice cover tracked robot
摘要
Abstract
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 communica-tion 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 estab-lishes 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 de-mands 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Key words
polar ice sheet/tracked robot/environmental information/remote communication/Arctic and Antarctic引用本文复制引用
张帆,窦银科,吴顺杰,左广宇,王煜尘,李根,郭井学..极地冰盖履带机器人控制系统的研究与设计[J].极地研究,2025,37(1):72-82,11.基金项目
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)和山西省高等学校科技创新项目(2021L025)资助 （2021YFC2803304）
