Automatic attitude-adjusting, landing, patrolling and launching integrated detector for besides-satellite complex environment

Abstract

An autonomous attitude-adjusting, landing, patrolling and launching integrated detector for a besides-satellite complex environment comprises a main structure box body and multi-mode leg mechanisms arranged on the four side faces of the main structure box body respectively, and each multi-mode leg mechanism comprises a multi-mode main chain and two multi-mode auxiliary chains. A controller, a double-shaft tilt angle sensor, a position sensor and a visual sensor are arranged on the main structure box body. The integrated detector is based on the inverted tripod leg shape and further expands the inverted tripod leg shape into a robot leg shape or a novel detector leg shape with four operation modes. And through reasonable mechanism and structure optimization design, the overall structure is simple and reliable, and the defects of low rigidity and low bearing performance caused by a complex multi-loop mechanism are overcome under the condition that multiple modes are integrated at the same time.

Description

technical field [0001] The invention relates to a technology in the field of space detectors, in particular to an integrated detector for autonomous attitude adjustment, landing, patrolling and launching in an extraterrestrial complex environment. Background technique [0002] Alien landing, patrol detection, and sample return are important technical means for understanding the origin and evolution of planets. The current detection method generally uses a lander equipped with a patrol device and an ascender. The lander is responsible for landing safely on the surface of the alien planet. The patrol device is responsible for patrolling detection, drilling and sampling of the alien surface. It will be launched on the ground and docked with the satellite in orbit to transfer the sample to the earth. However, the system mainly has the following problems: 1) The existing lander has a truss structure, and the position of the touch point of the foot end relative to the fuselage be...

AI Technical Summary

Problems solved by technology

However, the system mainly has the following problems: 1) The existing lander has a truss structure, and the position of the touch point of the foot end relative to the fuselage before landing cannot be changed. The entire area cannot reach the complex and harsh environment that humans have not yet explored; 2) The lander and the rover are separated, so the mechanical and electronic hardware systems have high redundancy, large launch quality, large volume, and high cost. Coordination also brings difficulties to communication control; 3) The lander after landing does not have the ability to adjust the attitude, so it is impossible to realize that the ascender can launch back on the lander at the best launch angle

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