Autonomous separation control method suitable for inspector in lunar back environment
A separate control and patrol technology, applied in the direction of control/regulation system, non-electric variable control, three-dimensional position/channel control, etc., to achieve the effect of ensuring intelligent analysis
Active Publication Date: 2019-12-10
BEIJING INST OF CONTROL ENG
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[0005] The technical problem to be solved by the present invention is to provide an autonomous separation control method suitable for the patrol device in the back of the moon environment, and solve the problem of autonomous separation of the patrol device in the back of the moon environment and reach the safety measurement and control area
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[0042] The present invention aims at the deficiencies of the prior art, utilizes the global terrain information injected at the initial stage of separation, adopts a point-by-point step-by-step movement mode, and judges occlusion and pose information after each movement until the movement meets the separation conditions If the ground exit command is not received, keep the measurement and control channel unblocked through appropriate small-scale movement.
[0043] Such as figure 1 Shown is the flow chart of measurement and control beacon interpretation in the process of patrol separation, as shown in figure 2 Shown is a schematic diagram of the detection target point behind the patrol device. The present invention specifically includes the following steps:
[0044] In the first step, before the separation of the patrol device and the lander, the front wheel of the patrol device does not leave the two-device combination driving away mechanism, wherein, before the two devices a...
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The invention discloses an autonomous separation control method for an inspector in a lunar back environment. The method includes: setting the separation expected target point queue and an occlusion area position range of an inspector; initiating touring device autonomous separation, then controlling the patrolling device to sequentially move towards the expected target point queue; determining whether the current motion point satisfies the judgment conditions of the in-place beacon and the measurement and control beacon or not, automatically analyzing the state of the measurement and controlchannel of the current patrolling device by utilizing the measurement and control channel after the separation working condition is ended, and automatically searching the measurement and control channel through the movement of the patrolling device under the condition that the measurement and control channel is unlocked. Compared with the prior art, the problems of complex terrain influence, measurement and control shielding and illumination shielding in the separation process of the patrolling device are solved, and the patrolling device has good use value.
Description
technical field [0001] The invention belongs to the field of autonomous management and control of deep space detectors. Background technique [0002] With the continuous expansion of the detection range in the field of deep space exploration at home and abroad, the speed of detector expansion from near-Earth space detection to deep space detection is getting faster and faster. At the same time, after the deep space probe lands on the surface of the detection celestial body, the terrain conditions are complex and uncertain, and the measurement and control support conditions of the ground measurement and control system for the probe cannot meet the needs of the real-time detection of the probe. Harsh terrain conditions, long-delay measurement and control channels and uncertain light energy constraints pose a severe test to the survival status of the detector. During the patrol detection process, the technical method of the patrol vehicle leaving the lander determines the impl...
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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张晋张志顾朋李志平腾宝毅邢琰毛晓艳万丽景林琳陈建新
Owner BEIJING INST OF CONTROL ENG