Active and passive combined planet vehicle automatic docking system and docking method

Abstract

The invention provides an active and passive combined planet vehicle automatic docking system. The system comprises a capturing end and a captured end which are arranged on the two sides of a planet vehicle. The capturing end comprises a capturing end connecting flange fixedly connected with the side face of the planet vehicle, a capturing end docking frame vertically and fixedly connected to thecapturing end connecting flange, and at least two capturing rod assemblies arranged on the periphery of the capturing end connecting flange; the captured end comprises a captured end connecting flangefixedly connected with the side face of the planet vehicle, a structure barrel vertically and fixedly connected to the captured end connecting flange, a docking flange in lap joint with the end of the structure barrel, a corrugated sealing barrel arranged outside the structure barrel in a sleeving mode and with the two ends fixedly connected with the captured end connecting flange and the end face of the docking flange respectively, and an elastic pull rod assembly. The capturing end actively implements docking, the driven end is used for passively receiving docking, the number of driving devices is small, and the manufacturing cost and the control difficulty can be effectively reduced; and the adaptability to topographic conditions is high.

Description

technical field [0001] The invention relates to the technical field of automatic docking of a planetary vehicle, in particular to an active and passive automatic docking system and a docking method for a planetary vehicle. Background technique [0002] In the field of aerospace exploration, planetary vehicles are used to patrol and detect planetary surfaces. In order to expand the functions of planetary vehicles, multiple planetary vehicles can be docked with each other to form a planetary base. [0003] The docking of the planetary vehicle needs to meet two requirements: one is the requirement of automatic docking. Usually, the surface environment of the alien planet is harsh. Realize automatic docking without the manual participation of astronauts. In contrast, the docking of ground train cars is generally connected by manual operation to connect components such as couplers, buffer devices, and car windshields, which has no reference value; the second is the planet under t...

AI Technical Summary

Problems solved by technology

There are at least two deficiencies in this "active-active adaptive docking system". One is that it needs to be composed of two sets of active docking mechanisms in series. Greatly increased, leading to problems such as heavy weight, poor reliability, and high risk; second, it is necessary to use an additional attitude perception system to iterate in real time, that is, the internal motion calculation of the docking system is iterated with the external perception parameters. The reliability of the system depends on the perception system, and the perception The sensor equipment of the system is affected by the external environment such as temperature, and there are uncertainties, which leads to the low reliability of the entire docking system

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