A cluster intelligently controlled piezoelectric driven lunar exploration system and method thereof

Abstract

The present invention discloses a cluster intelligently controlled piezoelectrically driven lunar exploration system and method thereof, wherein the system comprises a master control vehicle, an exploration vehicle group and an operation vehicle group. The master control vehicle is used to determine the targets and paths of exploration and operation and allocate them to the exploration vehicle group and the operation vehicle group respectively. The exploration vehicle group and the operation vehicle group respectively complete the lunar surface exploration task and the sample collection task. Among them, all mobile systems in the system are driven by patch-type piezoelectric actuators, which realizes the miniaturized design of the lunar probe and eliminates the problem of increased load caused by multiple probes in the form of clusters. The detection system of the present invention improves the reliability and detection efficiency of the lunar rover by using the control method of the intelligent cluster.

Description

Technical Field

[0001] The present invention relates to the field of piezoelectric drive technology and planetary exploration robot technology, and in particular to a cluster intelligently controlled piezoelectric drive lunar exploration system and method thereof. Background Art

[0002] Since the 21st century, planetary exploration has always been the forefront of the future scientific and technological development of various countries. As the natural satellite of the earth, the moon has attracted the attention of many countries. Exploration of the moon can not only understand the environment and topography of the lunar surface, but also deepen the understanding of the origin of the earth and other celestial bodies. Therefore, it is of great significance to conduct in-depth field investigations on the moon.

[0003] Lunar rover is the preferred way to explore the moon. my country has launched the Yutu lunar rover to explore the moon. For cost and safety reasons, lunar rover will continue to play an important role in the future. The current single rover model has problems such as poor reliability and complex structural system. With the development of artificial intelligence, the intelligent cluster exploration model can use multiple individuals performing simple tasks to reasonably arrange their decisions and behaviors through mutual consultation, thereby achieving collaboration and completing some complex exploration tasks that independent individuals cannot complete.

[0004] Piezoelectric drive uses piezoelectric ceramics to drive the stator to produce micro vibrations, which can achieve direct drive, simple structure, and easy miniaturization design. It can be seen that piezoelectric drive can be used to design micro planetary exploration vehicles, which can meet the requirements of lunar exploration clusters without increasing the carrying weight. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a cluster intelligently controlled piezoelectric driven lunar exploration system and method thereof in view of the defects involved in the background technology.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] A piezoelectric driven lunar exploration system with cluster intelligent control, including a main control vehicle, an exploration vehicle group and an operation vehicle group;

[0008] The master control vehicle has a management service Agent, which is used to make optimal path decisions and directly control the exploration vehicle cluster and the operation vehicle cluster;

[0009] The exploration vehicle cluster is used to explore the designated area, determine the specific distribution location and composition of resource minerals, and transmit the exploration information to the main control vehicle;

[0010] The operation vehicle cluster is used to perform mining operations at designated locations and collect mineral soil samples;

[0011] The master control vehicle comprises a carrier vehicle and a power module, a satellite positioning module, a camera module, a communication module, and a main control module arranged on the carrier vehicle, wherein the main control module is electrically connected to the power module, the satellite positioning module, the camera module, and the communication module respectively;

[0012] The exploration vehicle cluster includes a plurality of exploration vehicles, and the exploration vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, a detection module, a communication module, and an exploration processor arranged on the carrier vehicle, and the exploration processor is electrically connected to the power module, the satellite positioning module, the camera module, the detection module, and the communication module respectively;

[0013] The operation vehicle cluster includes a plurality of operation vehicles, and the operation vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, an operation module, a communication module, and an operation processor arranged on the carrier vehicle, and the operation processor is electrically connected to the power module, the satellite positioning module, the camera module, the operation module, and the communication module respectively;

[0014] The power module is used for power supply; the satellite positioning module is used for positioning; the camera module is used for sensing the surrounding terrain environment; the communication modules can communicate wirelessly; the detection module is used for component and structure analysis of the detected object; and the operation module is used for collecting and retaining soil samples;

[0015] The carrier vehicle comprises two actuators and a carrier plate;

[0016] The actuator comprises a patch-type piezoelectric vibrator, a first wheel and a second wheel;

[0017] The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1;

[0018] The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring;

[0019] The first driving ring and the second driving ring are both hollow cylinders with openings at both ends;

[0020] The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam;

[0021] The 2S pairs of piezoelectric ceramic groups are sequentially arranged along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on a first side surface and a third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups;

[0022] The first wheel and the second wheel both comprise a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft comprises a light rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both comprise a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole along its axis that matches the square rod of the variable-section shaft, and the second wheel hub is provided with a through hole at the center of the end face of its truncated cone section away from the truncated cone section for adjusting with the The variable cross-section shaft has a blind hole with interference fit on the polished rod; the first outer wheel and the second outer wheel are both annular, wherein the inner wall of the first outer wheel and the outer wall of the cylindrical section of the first hub are interference fit, and the inner wall of the second outer wheel and the outer wall of the cylindrical section of the second hub are interference fit; the adjusting nut is provided with a polished rod with one end having an interference fit on the blind hole on the second hub, and the other end passes through the square through hole on the first hub and is connected to the adjusting nut thread, and the square rod of the adjusting screw matches the square through hole on the first hub; the adjusting spring is sleeved on the screw of the adjusting nut, with one end abutting against the adjusting nut and the other end abutting against the first hub;

[0023] The side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring;

[0024] The supporting plate is a rectangular plate, and two protrusions for fixing are respectively provided on both sides of the plate; the rectangular beams of the two actuators are arranged in parallel, and the supporting plate is arranged between the rectangular beams of the two actuators; the two protrusions on one side of the supporting plate are fixedly connected to the second side surface of the rectangular beam of one of the actuators, and the two protrusions on the other side of the supporting plate are fixedly connected to the fourth side surface of the rectangular beam of the other actuator.

[0025] As a further optimization scheme of a cluster intelligently controlled piezoelectric-driven lunar exploration system of the present invention, the first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S pair of piezoelectric ceramic sheets, and the piezoelectric ceramic sheets in the 2S pair of piezoelectric ceramic sheets are glued to the rectangular beam by epoxy resin.

[0026] As a further optimization solution of the piezoelectric driven lunar exploration system with cluster intelligent control of the present invention, the first wheel and the second wheel are both made of metal material.

[0027] As a further optimization solution of the piezoelectric driven lunar exploration system with cluster intelligent control of the present invention, at least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel.

[0028] The present invention also discloses an actuator driving method of the piezoelectric driven lunar exploration system of the cluster intelligent control, comprising the following steps:

[0029] A first phase driving voltage and a second phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2X+1th pair of piezoelectric ceramic groups, respectively, where X is an integer greater than or equal to 0 and less than S; a second phase driving voltage and a first phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Yth pair of piezoelectric ceramic groups, respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; the first phase driving voltage and the second phase driving voltage are adjusted so that their phase difference is π / 2, and the Nth order bending vibration and the Mth order longitudinal vibration of the rectangular beam are excited simultaneously, where N is an odd number and M is an even number, and then two same-order in-plane bending vibrations with a spatial phase difference of π / 2 of the first and second driving rings are excited simultaneously, thereby coupling out two traveling waves with the same direction, generating the same micro-elliptical motion at the inner ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction respectively through friction, so that the patch-type traveling wave piezoelectric drive wheeled mobile robot moves;

[0030] If it is necessary to make the patch-type traveling wave piezoelectric drive wheeled mobile robot move in the reverse direction, the first phase drive voltage and the second phase drive voltage are adjusted so that their phase difference is -π / 2.

[0031] The wheels on both sides of the carrier vehicle driving the two actuators rotate at differential speeds, thereby enabling the carrier vehicle to turn.

[0032] The present invention also discloses a working method of the cluster intelligently controlled piezoelectric driven lunar exploration system, comprising the following steps:

[0033] Step 1), the satellite sends the detection area location information to the master control vehicle;

[0034] Step 2), the master control vehicle compares the received position information with the satellite scanned terrain map, and obtains the target point set T to be explored by analyzing the singular points of the terrain map c =[T1,T2,...,T Nc ],N c N is the number of targets to be detected. c ≥0;

[0035] Step 3), the main control module of the master vehicle takes the shortest total distance as the optimization goal according to the location information of the individuals in the exploration vehicle cluster and the location information of the target set, and takes single coordination as the constraint, that is, the exploration vehicle cluster only performs one exploration on the same target. N t In order to explore the number of vehicles in the cluster, the Dubins shortest path model is used to solve the exploration path. After the solution is completed, the master control vehicle uses the communication equipment to send the path planning information to each exploration vehicle.

[0036] Step 4), each exploration vehicle in the exploration vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, travels along the path to the target point to be explored, performs detection on the target, and sends the detected target information and its own position information to the master control vehicle through the communication device;

[0037] Step 5), the master vehicle selects a valuable target set T to be mined based on the target information fed back by the exploration vehicle cluster. w =[T1,T2,...,T Nw ],N w is the target number of operations to be performed, N w ≤N c ; Plan the path of the operating vehicle using the same optimization method as step 3) according to the position information of the individuals in the operating vehicle cluster and the target position information in the target set to be mined;

[0038] Step 6), each working vehicle in the working vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, moves along the path to the target point to be mined, performs excavation operations on the target, and after the operation is completed, sends the current information of the target and its own position information to the main control vehicle through the communication device;

[0039] Step 7), the main control vehicle receives the mining information fed back by the working vehicle, and sends the collection and exploration information to the satellite, waits for the satellite to transmit new exploration requirements, and jumps to step 1).

[0040] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0041] The present invention adopts piezoelectric drive to design a miniature lunar exploration robot, which avoids the disadvantages of traditional lunar patrol robots such as heavy weight and complex structure, and realizes structural and functional integration. At the same time, intelligent cluster control is used to enable the miniature exploration robots to achieve coordination through cluster control and jointly complete the lunar exploration mission. The existing single lunar rover has problems such as poor reliability and low efficiency in performing lunar exploration missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the piezoelectric driven lunar exploration system of the cluster intelligent control of the present invention;

[0043] Figure 2 It is a schematic diagram of the structure comparison of the main control vehicle, the exploration vehicle and the working vehicle in the present invention;

[0044] Figure 3 It is a structural schematic diagram of the carrier vehicle in the present invention;

[0045] Figure 4 It is a structural schematic diagram of the actuator in the present invention;

[0046] Figure 5 is a schematic diagram of the exploded structure of the first wheel of the actuator of the present invention;

[0047] Figure 6 is a schematic diagram of the assembly of the first wheel of the actuator of the present invention;

[0048] Figure 7 It is a schematic diagram of the polarization direction and applied electrical signal of each piezoelectric ceramic sheet when S=2 of the present invention;

[0049] Figure 8 It is a schematic diagram of the combined traveling waves of two identical fourth-order in-plane bending vibrations coupled on the first and second driving rings of the actuator in the present invention;

[0050] Fig. 9 It is a schematic flow chart of the working method of the present invention.

[0051] In the figure, 1-main control vehicle, 2-actuator, 3-frame, 4-exploration vehicle, 5-working vehicle, 6-metal substrate, 7-piezoelectric ceramic sheet, 7.1-first pair of piezoelectric ceramic groups, 7.2-second pair of piezoelectric ceramic groups, 7.3-third pair of piezoelectric ceramic groups, 7.4-fourth pair of piezoelectric ceramic groups, 8-first wheel hub, 9-second wheel hub, 10-adjusting nut, 11-second outer wheel, 12-adjusting spring, 13-variable cross-section shaft, 14-first outer wheel. DETAILED DESCRIPTION

[0052] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings:

[0053] The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0054] like Figure 1 As shown, the present invention discloses a cluster intelligently controlled piezoelectric driven lunar exploration system, including a main control vehicle, an exploration vehicle group and an operation vehicle group;

[0055] The master control vehicle has a management service Agent, which is used to make optimal path decisions and directly control the exploration vehicle cluster and the operation vehicle cluster;

[0056] The exploration vehicle cluster is used to explore the designated area, determine the specific distribution location and composition of resource minerals, and transmit the exploration information to the main control vehicle;

[0057] The operation vehicle cluster is used to carry out mining operations at designated locations and collect mineral soil samples.

[0058] like Figure 2 As shown, the master control vehicle comprises a carrier vehicle and a power module, a satellite positioning module, a camera module, a communication module, and a main control module arranged on the carrier vehicle, and the main control module is electrically connected to the power module, the satellite positioning module, the camera module, and the communication module respectively;

[0059] The exploration vehicle cluster includes a plurality of exploration vehicles, and the exploration vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, a detection module, a communication module, and an exploration processor arranged on the carrier vehicle, and the exploration processor is electrically connected to the power module, the satellite positioning module, the camera module, the detection module, and the communication module respectively;

[0060] The operation vehicle cluster includes a plurality of operation vehicles, and the operation vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, an operation module, a communication module, and an operation processor arranged on the carrier vehicle, and the operation processor is electrically connected to the power module, the satellite positioning module, the camera module, the operation module, and the communication module respectively;

[0061] The power module is used for power supply; the satellite positioning module is used for positioning; the camera module is used for sensing the surrounding terrain environment; the communication modules can communicate wirelessly; the detection module is used for component and structure analysis of the detected object; and the operation module is used for collecting and retaining soil samples.

[0062] like Figure 3 As shown, the carrier vehicle comprises two actuators and a carrier plate.

[0063] like Figure 4As shown, the actuator includes a patch-type piezoelectric vibrator, a first wheel and a second wheel;

[0064] The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1;

[0065] The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring;

[0066] The first driving ring and the second driving ring are both hollow cylinders with openings at both ends;

[0067] The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam.

[0068] like Figure 7 As shown, the 2S pairs of piezoelectric ceramic groups are arranged in sequence along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on the first side surface and the third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups.

[0069] like Figure 5 , Figure 6As shown, the first wheel and the second wheel both include a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft includes a smooth rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both include a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole matching the square rod of the variable-section shaft along its axis, and the second wheel hub is provided with a spring at the center of the end face of its truncated cone section away from the truncated cone section for adjusting the nut. The first outer wheel and the second outer wheel are both annular, wherein the inner wall of the first outer wheel and the outer wall of the cylindrical section of the first wheel hub are interference fit, and the inner wall of the second outer wheel and the outer wall of the cylindrical section of the second wheel hub are interference fit; the adjusting nut is provided with a polished rod, one end of which is interference fit with the blind hole on the second wheel hub, and the other end is connected with the adjusting nut thread after passing through the square through hole on the first wheel hub, and the square rod of the adjusting screw is matched with the square through hole on the first wheel hub; the adjusting spring is sleeved on the screw of the adjusting nut, one end of which is against the adjusting nut and the other end is against the first wheel hub;

[0070] The side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring;

[0071] The supporting plate is a rectangular plate, and two protrusions for fixing are respectively provided on both sides of the plate; the rectangular beams of the two actuators are arranged in parallel, and the supporting plate is arranged between the rectangular beams of the two actuators; the two protrusions on one side of the supporting plate are fixedly connected to the second side surface of the rectangular beam of one of the actuators, and the two protrusions on the other side of the supporting plate are fixedly connected to the fourth side surface of the rectangular beam of the other actuator.

[0072] As a further optimization scheme of a cluster intelligently controlled piezoelectric-driven lunar exploration system of the present invention, the first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S pair of piezoelectric ceramic sheets, and the piezoelectric ceramic sheets in the 2S pair of piezoelectric ceramic sheets are glued to the rectangular beam by epoxy resin.

[0073] The first wheel and the second wheel are both made of metal material, and at least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel.

[0074] The present invention also discloses an actuator driving method of the piezoelectric driven lunar exploration system of the cluster intelligent control, comprising the following steps:

[0075] A first phase driving voltage and a second phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2X+1th pair of piezoelectric ceramic groups, respectively, where X is an integer greater than or equal to 0 and less than S; a second phase driving voltage and a first phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Yth pair of piezoelectric ceramic groups, respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; the first phase driving voltage and the second phase driving voltage are adjusted to have a phase difference of π / 2, and the Nth order bending vibration and the Mth order longitudinal vibration of the rectangular beam are excited simultaneously, where N is an odd number and M is an even number, thereby simultaneously exciting two same-order in-plane bending vibrations of the first and second driving rings with a spatial phase difference of π / 2, thereby coupling out two traveling waves with the same direction, generating the same micro-elliptical motion at the inner ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction through friction, respectively, so that the patch-type traveling wave piezoelectric drive wheeled mobile robot moves; such as Figure 8 shown.

[0076] If it is necessary to make the patch-type traveling wave piezoelectric drive wheeled mobile robot move in the reverse direction, the first phase drive voltage and the second phase drive voltage are adjusted so that their phase difference is -π / 2.

[0077] The wheels on both sides of the carrier vehicle driving the two actuators rotate at differential speeds, thereby enabling the carrier vehicle to turn.

[0078] like Fig. 9 As shown, the present invention also discloses a working method of the cluster intelligently controlled piezoelectric driven lunar exploration system, comprising the following steps:

[0079] Step 1), the satellite sends the detection area location information to the master control vehicle;

[0080] Step 2), the master control vehicle compares the received position information with the satellite scanned terrain map, and obtains the target point set T to be explored by analyzing the singular points of the terrain map c =[T1,T2,...,T Nc ],N c N is the number of targets to be detected. c ≥0;

[0081] Step 3), the main control module of the master vehicle takes the shortest total distance as the optimization goal according to the location information of the individuals in the exploration vehicle cluster and the location information of the target set, and takes single coordination as the constraint, that is, the exploration vehicle cluster only performs one exploration on the same target. N tIn order to explore the number of vehicles in the cluster, the Dubins shortest path model is used to solve the exploration path. After the solution is completed, the master control vehicle uses the communication equipment to send the path planning information to each exploration vehicle.

[0082] Step 4), each exploration vehicle in the exploration vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, travels along the path to the target point to be explored, performs detection on the target, and sends the detected target information and its own position information to the master control vehicle through the communication device;

[0083] Step 5), the master vehicle selects a valuable target set T to be mined based on the target information fed back by the exploration vehicle cluster. w =[T1,T2,...,T Nw ],N w is the target number of operations to be performed, N w ≤N c ; Plan the path of the operating vehicle using the same optimization method as step 3) according to the position information of the individuals in the operating vehicle cluster and the target position information in the target set to be mined;

[0084] Step 6), each working vehicle in the working vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, moves along the path to the target point to be mined, performs excavation operations on the target, and after the operation is completed, sends the current information of the target and its own position information to the main control vehicle through the communication device;

[0085] Step 7), the main control vehicle receives the mining information fed back by the working vehicle, and sends the collection and exploration information to the satellite, waits for the satellite to transmit new exploration requirements, and jumps to step 1).

[0086] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0087] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A piezoelectric driven lunar exploration system with cluster intelligent control, characterized in that: Including the main control vehicle, exploration vehicle group and operation vehicle group; The master control vehicle has a management service Agent, which is used to make optimal path decisions and directly control the exploration vehicle cluster and the operation vehicle cluster; The exploration vehicle cluster is used to explore the designated area, determine the specific distribution location and composition of resource minerals, and transmit the exploration information to the main control vehicle; The operation vehicle cluster is used to perform mining operations at designated locations and collect mineral soil samples; The master control vehicle comprises a carrier vehicle and a power module, a satellite positioning module, a camera module, a communication module, and a main control module arranged on the carrier vehicle, wherein the main control module is electrically connected to the power module, the satellite positioning module, the camera module, and the communication module respectively; The exploration vehicle cluster includes a plurality of exploration vehicles, and the exploration vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, a detection module, a communication module, and an exploration processor arranged on the carrier vehicle, and the exploration processor is electrically connected to the power module, the satellite positioning module, the camera module, the detection module, and the communication module respectively; The operation vehicle cluster includes a plurality of operation vehicles, and the operation vehicles include a carrier vehicle and a power module, a satellite positioning module, a camera module, an operation module, a communication module, and an operation processor arranged on the carrier vehicle, and the operation processor is electrically connected to the power module, the satellite positioning module, the camera module, the operation module, and the communication module respectively; The power module is used for power supply; the satellite positioning module is used for positioning; the camera module is used for sensing the surrounding terrain environment; the communication modules can communicate wirelessly; the detection module is used for component and structure analysis of the detected object; and the operation module is used for collecting and retaining soil samples; The carrier vehicle comprises two actuators and a carrier plate; The actuator comprises a patch-type piezoelectric vibrator, a first wheel and a second wheel; The patch-type piezoelectric vibrator comprises a metal substrate and 2S pairs of piezoelectric ceramic groups, where S is an integer greater than or equal to 1; The metal matrix comprises a rectangular beam, a first driving ring and a second driving ring; The first driving ring and the second driving ring are both hollow cylinders with openings at both ends; The rectangular beam is a straight beam, comprising a first end face, a second end face, and first to fourth side faces, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first end face and the second end face of the rectangular beam are respectively connected to the outer walls of the first driving ring and the second driving ring, and the axis of the rectangular beam passes through the center of the first driving ring and the second driving ring, and the first driving ring and the second driving ring are symmetrical about the center of the rectangular beam; The 2S pairs of piezoelectric ceramic groups are sequentially arranged along the rectangular beam, and both include a first piezoelectric ceramic sheet and a second piezoelectric ceramic sheet symmetrically arranged on a first side surface and a third side surface of the rectangular beam, and the 2S pairs of piezoelectric ceramic groups are symmetrical in pairs about a plane passing through the midpoint of the rectangular beam and perpendicular to the rectangular beam; the piezoelectric ceramic sheets in the 2S pairs of piezoelectric ceramic groups are all polarized along the thickness direction, the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups are the same, and the polarization directions of the piezoelectric ceramic sheets in the S+1th to 2S pairs of piezoelectric ceramic groups are opposite to the polarization directions of the piezoelectric ceramic sheets in the first to S pairs of piezoelectric ceramic groups; The first wheel and the second wheel both comprise a first wheel hub, a second wheel hub, a variable-section shaft, a first outer wheel, a second outer wheel, an adjusting spring and an adjusting nut; the variable-section shaft comprises a light rod, a square rod and a screw rod coaxially connected in sequence, and the external thread on the screw rod matches the internal thread of the adjusting nut; the first wheel hub and the second wheel hub both comprise a cylindrical section and a truncated cone section, the end face of the truncated cone section with a larger area is fixedly connected to one end of the cylindrical section, and the truncated cone section and the cylindrical section are coaxial; the first wheel hub is provided with a square through hole along its axis that matches the square rod of the variable-section shaft, and the second wheel hub is provided with a through hole at the center of the end face of its truncated cone section away from the truncated cone section for adjusting with the The variable cross-section shaft has a blind hole with interference fit on the polished rod; the first outer wheel and the second outer wheel are both annular, wherein the inner wall of the first outer wheel and the outer wall of the cylindrical section of the first hub are interference fit, and the inner wall of the second outer wheel and the outer wall of the cylindrical section of the second hub are interference fit; the adjusting nut is provided with a polished rod with one end having an interference fit on the blind hole on the second hub, and the other end passes through the square through hole on the first hub and is connected to the adjusting nut thread, and the square rod of the adjusting screw matches the square through hole on the first hub; the adjusting spring is sleeved on the screw of the adjusting nut, with one end abutting against the adjusting nut and the other end abutting against the first hub; The side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the first wheel respectively abut against the two ends of the first driving ring, and the side walls of the first wheel hub cone section and the side walls of the second wheel hub cone section of the second wheel respectively abut against the two ends of the second driving ring; the adjusting nut of the first wheel is used to adjust the pre-pressure between the first wheel and the first driving ring, and the adjusting nut of the second wheel is used to adjust the pre-pressure between the second wheel and the second driving ring; The bearing plate is a rectangular plate, and two protrusions for fixing are respectively provided on both sides of the bearing plate; the rectangular beams of the two actuators are arranged in parallel, and the bearing plate is arranged between the rectangular beams of the two actuators; the two protrusions on one side of the bearing plate are fixedly connected to the second side surface of the rectangular beam of one actuator, and the two protrusions on the other side of the bearing plate are fixedly connected to the fourth side surface of the rectangular beam of the other actuator; The first wheel and the second wheel are both made of metal material; At least four gear teeth are evenly arranged on the outer walls of the first outer wheel and the second outer wheel.

2. The piezoelectric driven lunar exploration system with cluster intelligent control according to claim 1 is characterized in that: The first side surface and the third side surface of the rectangular beam are provided with mounting grooves corresponding to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2S piezoelectric ceramic group. The piezoelectric ceramic sheets in the 2S piezoelectric ceramic group are glued to the rectangular beam by epoxy resin.

3. The actuator driving method of the piezoelectric driven lunar exploration system based on the cluster intelligent control according to claim 1 is characterized in that: The following steps are involved: Applying a first phase driving voltage and a second phase driving voltage to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2X+1th pair of piezoelectric ceramics, respectively, where X is an integer greater than or equal to 0 and less than S; A second phase driving voltage and a first phase driving voltage are applied to the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet in the 2Yth pair of piezoelectric ceramic groups, respectively, where Y is an integer greater than or equal to 1 and less than or equal to S; the first phase driving voltage and the second phase driving voltage are adjusted so that their phase difference is π / 2, and the Nth order bending vibration and the Mth order longitudinal vibration of the rectangular beam are excited simultaneously, where N is an odd number and M is an even number, thereby simultaneously exciting two same-order in-plane bending vibrations of the first and second driving rings with a spatial phase difference of π / 2, thereby coupling out two traveling waves with the same direction, generating the same micro-elliptical motion at the inner ring particles of the first and second driving rings, and driving the first wheel and the second wheel to rotate in the same direction respectively through friction, thereby moving the patch-type traveling wave piezoelectric driven wheeled mobile robot; If it is necessary to make the patch-type traveling wave piezoelectric drive wheeled mobile robot move in the opposite direction, the first phase drive voltage and the second phase drive voltage are adjusted so that their phase difference is -π / 2; The wheels on both sides of the carrier vehicle driving the two actuators rotate at differential speeds, thereby enabling the carrier vehicle to turn.

4. The working method of the piezoelectric driven lunar exploration system based on the cluster intelligent control according to claim 1 is characterized in that: The following steps are involved: Step 1), the satellite sends the detection area location information to the master control vehicle; Step 2), the master control vehicle compares the received position information with the satellite scanned terrain map, and obtains the target point set T to be explored by analyzing the singular points of the terrain map c =[T1,T2,...,T Nc ],N c N is the number of targets to be detected. c ≥0; Step 3), the main control module of the master vehicle takes the shortest total distance as the optimization goal according to the location information of the individuals in the exploration vehicle cluster and the location information of the target set, and takes single coordination as the constraint, that is, the exploration vehicle cluster only performs one exploration on the same target. j=1,2,...,N c ,N t In order to explore the number of vehicles in the cluster, the Dubins shortest path model is used to solve the exploration path. After the solution is completed, the master control vehicle uses the communication equipment to send the path planning information to each exploration vehicle. Step 4), each exploration vehicle in the exploration vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, travels along the path to the target point to be explored, performs detection on the target, and sends the detected target information and its own position information to the master control vehicle through the communication device; Step 5), the master vehicle selects a valuable target set T to be mined based on the target information fed back by the exploration vehicle cluster. w =[T1,T2,...,T Nw ],N w is the target number of operations to be performed, N w ≤N c ; Plan the path of the operating vehicle using the same optimization method as step 3) according to the position information of the individuals in the operating vehicle cluster and the target position information in the target set to be mined; Step 6), each working vehicle in the working vehicle cluster applies a corresponding simple harmonic voltage signal to its actuator, moves along the path to the target point to be mined, performs excavation operations on the target, and after the operation is completed, sends the current information of the target and its own position information to the main control vehicle through the communication device; Step 7), the main control vehicle receives the mining information fed back by the working vehicle, and sends the collection and exploration information to the satellite, waits for the satellite to transmit new exploration requirements, and jumps to step 1).

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