Sphere-Inscribed Wheel-Driven Mobile Platform for Universal Orientation

摘要

A sphere-inscribed wheel-driven mobile platform for universal orientation includes an outer shell unit, a seismometer module, a level sensing module, a movable unit, and a bearing unit. The outer shell unit includes an inner spherical surface defining an accommodating chamber. The seismometer module is disposed in the accommodating chamber, and defines a central axis. The movable unit is mounted to the seismometer module, and includes two rotating wheel units. The bearing unit is mounted to the seismometer module, and includes a plurality of bearing members disposed around the central axis. The seismometer module and the inner spherical surface are spaced by the movable unit and the bearing unit. The seismometer module is rotatable about the central axis and a rotating axis perpendicular to the central axis.

主权项

1. A sphere-inscribed wheel-driven mobile platform for universal orientation comprising:
an outer shell unit including an inner spherical surface that defines an accommodating chamber; a seismometer module disposed in said accommodating chamber in said outer shell unit and defining an imaginary central axis having a section interconnecting two points of said spherical surface, said section having two half portions; a level sensing module connected to said seismometer module and adapted for detecting a horizontal deflection amount between said central axis and a water surface, a vertical deflection amount between said central axis relative and a gravity direction, and a directional deflection amount between said central axis and a polar direction; a movable unit mounted to said seismometer module and including two rotating wheel units, each of said rotating wheel units including a wheel body in contact with said inner spherical surface of said outer shell unit, and a motor driving forward or reverse rotation of said wheel body, said wheel bodies of said rotating wheel units being symmetric with respect to said central axis, rotating centers of said wheel bodies being located on an imaginary rotating axis perpendicular to said central axis; and a bearing unit mounted to said seismometer module and including a plurality of bearing members disposed around said central axis and in contact with said inner spherical surface of said outer shell unit; wherein said rotating wheel units cooperate with said bearing members of said bearing units to space said seismometer module from said inner spherical surface of said outer shell unit; wherein, when said wheel bodies rotate in the same direction, said seismometer module rotates about said rotating axis to change said vertical deflection amount, and when said wheel bodies rotate in different directions, said seismometer module rotates about said central axis to change said horizontal deflection amount or said directional deflection amount.