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Projection recovery type large-range sensing robot and sensing method

A robot and a wide range of technology, applied in the field of perception robots, can solve the problems of limited life, short flight time, etc., and achieve the effect of good reliability and long life

Pending Publication Date: 2022-08-02
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to solve the problems of short flight time and limited lifespan when Mars UAVs perform large-scale sensing, especially suitable for complex environments without atmosphere such as the lunar surface

Method used

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  • Projection recovery type large-range sensing robot and sensing method
  • Projection recovery type large-range sensing robot and sensing method
  • Projection recovery type large-range sensing robot and sensing method

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Experimental program
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Effect test

Embodiment 1

[0032] The projectile recovery type large-scale perception robot of the present invention adopts the large-scale perception robot with repeated projecting and recovery methods, and can take pictures at local terrain during projectile motion. After stitching multiple pictures, it can complete large-scale Extraterrestrial table mapping. This method does not depend on the atmospheric environment, and the projected electric energy comes directly from the patrol device, which can be reused and is a flexible and large-scale sensing method.

[0033] The ejection recovery type large-scale perception robot is installed on the extraterrestrial surface patrol and is divided into two parts: the mechanical ejection recovery module (such as figure 1 shown), the flight perception module; the flight perception module is placed in the mesh basket of the mechanical ejection recovery module.

[0034] There is a mesh basket on the top of the mechanical ejection recovery module, which is used to ...

Embodiment 2

[0052] An ejection recovery type large-scale perception robot, comprising a mechanical ejection recovery module and a flight perception module;

[0053] The mechanical ejection recovery module includes a mesh basket, a motor, a transmission mechanism, and a spring; the mesh basket is used to place and retrieve the flight perception module, the motor compresses the spring through the transmission mechanism, and the spring is used to eject the flight perception module in the mesh basket; the flight perception module includes damping Shell, control module, IMU, UWB positioning module, perception sensor, flywheel; the control module determines the real-time pose through the IMU, UWB positioning module measurement, and determines the speed of the flywheel according to the deviation between the real-time pose and the target attitude, and controls the flight perception The module tracks the three-axis attitude of the target; during the whole process of ejection of the flight perceptio...

Embodiment 3

[0060] An ejection recovery type large-scale perception robot, comprising a mechanical ejection recovery module and a flight perception module;

[0061] The mechanical ejection recovery module includes a mesh basket, a motor, a transmission mechanism, and a spring; the mesh basket is used to place and recover the flight perception module, the motor compresses the spring through the transmission mechanism, and the spring is used to eject the flight perception module in the mesh basket; the flight perception module is provided with The spherical shell made of damping material also includes a motion control system, a sensory sensor, and a positioning system. The motion control system is used to control its own posture and align the sensory sensor to the target area; the positioning system is used to determine the position of itself and the target area. Location; Perceptual sensors are used to image the target area at different heights.

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Abstract

The invention discloses a casting recovery type large-range sensing robot, which adopts a mechanical energy storage ejection recovery device to realize reliable casting recovery. By means of dynamic attitude control in the flight module, accurate alignment and measurement of the sensor to a target point are achieved, the sensor can be recycled through multiple times of casting, perception of a large-range environment outside the ground is achieved, and the sensor has the capacity of sensing the large-range environment (dozens of meters to hundreds of meters). The method can solve the problems of short flight time and limited service life when a Mars unmanned aerial vehicle is used for large-range sensing, and is also suitable for atmosphere-free complex environments such as the lunar surface.

Description

technical field [0001] The invention relates to a projectile recovery type large-scale sensing robot and a sensing method, which belong to the field of sensing robots. Background technique [0002] The extraterrestrial environment is complex, harsh and unknown. It has the characteristics of primitive and natural appearance, high texture similarity, and large illumination difference. The scientific detection profession requires accurate identification and positioning of high-value targets, and large-scale autonomous movement requires cross-platform multi-sensor collaboration. Information fusion requires the patrol device to have large-scale mapping, obstacle avoidance, planning and movement control capabilities. Due to the limited height of the mast of the patrol device, the range that can be effectively sensed is about ten meters at the most. [0003] In order to improve the large-scale perception capability of the rover, NASA Mars 2020 is equipped with a coaxial twin-screw...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64F1/06B64G99/00
CPCB64F1/06
Inventor 胡勇邢琰解永春魏春岭
Owner BEIJING INST OF CONTROL ENG
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