Path planning method, device, equipment and medium for multi-arm spacecraft mobile mission

Abstract

An embodiment of the present invention discloses a path planning method, device, equipment and medium for a multi-arm spacecraft mobile mission; the path planning method includes: determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft; using a hierarchical planning method to divide the mobile mission parameters into multiple levels according to a global to local logical relationship; and according to the divided levels, performing path planning for the mobile mission parameters in each level.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of space control technology, and in particular to a path planning method, device, equipment, and medium for a multi-arm spacecraft mobile mission. Background Art

[0002] The analysis and planning of space missions is the process of defining and optimizing the numerous objectives and constraints within a space system to ensure safety, efficiency, and cost-effectiveness. It is a crucial step in the early stages of space mission planning. Currently, space missions are planned hierarchically. See Table 1, which shows the existing hierarchical division of space missions, which consists of eleven steps. However, current hierarchical planning for space missions focuses on analyzing and parameterizing mission requirements and planning and designing each component of those requirements. The planning for each mission level is relatively independent, and the logical and constraint relationships between the levels are not clearly defined. Therefore, analyzing the specificity of the path planning requirements for multi-arm spacecraft mobile missions and clarifying the constraints before conducting path planning is a primary task.

[0003] Table 1 Steps of hierarchical planning for space missions

[0004] Summary of the Invention

[0005] In view of this, the embodiments of the present invention hope to provide a path planning method, device, equipment and medium for multi-arm spacecraft mobile tasks; it is capable of performing hierarchical path planning for multi-arm spacecraft mobile tasks, solving the current difficulties in mobile task path planning with many parameters and complex problem dimensions.

[0006] The technical solution of the embodiment of the present invention is achieved as follows:

[0007] In a first aspect, an embodiment of the present invention provides a path planning method for a multi-arm spacecraft mobile mission, the path planning method comprising:

[0008] Determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft;

[0009] Using a hierarchical planning method, the mobile task parameters are divided into multiple levels according to the logical relationship from global to local;

[0010] According to the divided levels, path planning is performed for the movement task parameters in each level.

[0011] In a second aspect, an embodiment of the present invention provides a path planning device for a multi-arm spacecraft mobile task, the path planning device comprising: a determination part, a division part, and a planning part; wherein,

[0012] The determining part is configured to determine the movement mission parameters of the multi-arm spacecraft based on the movement mission form and requirements of the multi-arm spacecraft;

[0013] The division part is configured to adopt a hierarchical planning method to divide the movement task parameters into multiple levels according to a global to local logical relationship;

[0014] The planning part is configured to perform path planning for the movement task parameters in each level according to the divided levels.

[0015] In a third aspect, an embodiment of the present invention provides a path planning device for a multi-arm spacecraft mobile mission, the path planning device comprising: a communication interface, a memory, and a processor; the various components are coupled together via a bus system; wherein,

[0016] The communication interface is used to receive and send signals when sending and receiving information with other external network elements;

[0017] The memory is used to store a computer program that can be run on the processor;

[0018] The processor is used to execute the steps of the path planning method for the multi-arm spacecraft movement mission described in the first aspect when running the computer program.

[0019] In a fourth aspect, an embodiment of the present invention provides a medium storing a path planning program for a multi-arm spacecraft mobile mission, wherein the path planning program for a multi-arm spacecraft mobile mission, when executed by at least one processor, implements the steps of the path planning method for a multi-arm spacecraft mobile mission described in the first aspect.

[0020] The embodiments of the present invention provide a path planning method, apparatus, equipment, and medium for a multi-arm spacecraft mobile mission. The multi-arm spacecraft mobile mission parameters are obtained based on the form and requirements of the multi-arm spacecraft mobile mission. A hierarchical planning method is used to hierarchically divide the mobile mission parameters according to a global to local logical relationship. Path planning is then performed for the mobile mission parameters in each layer according to the divided levels. The hierarchical path planning method provided by the embodiments of the present invention can address the current difficulties in multi-arm spacecraft path planning, which involves numerous parameters and complex problem dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of a multi-arm spacecraft provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the mission environment of a multi-arm spacecraft provided in an embodiment of the present invention;

[0023] Figure 3 A schematic flow chart of a path planning method for a multi-arm spacecraft mobile mission provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of hierarchical planning results provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the global centroid path planning results provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of gait planning results provided by an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of changes in joint angles of a robotic arm 1 according to an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of the joint angle changes of the robotic arm 2 provided in an embodiment of the present invention;

[0029] Figure 9 A schematic diagram of the change in joint angles of the robotic arm 3 provided in an embodiment of the present invention;

[0030] Figure 10 A schematic diagram of the change in joint angles of the robotic arm 4 provided in an embodiment of the present invention;

[0031] Figure 11 A schematic diagram of changes in joint angular velocity of the robotic arm 1 provided in an embodiment of the present invention;

[0032] Figure 12 A schematic diagram of the change in joint angular velocity of the robotic arm 2 provided in an embodiment of the present invention;

[0033] Figure 13 A schematic diagram of the change in angular velocity of the joints of the robotic arm 3 provided in an embodiment of the present invention;

[0034] Figure 14 A schematic diagram of the change in angular velocity of the four joints of the robotic arm provided by an embodiment of the present invention;

[0035] Figure 15 A schematic diagram of the composition of a path planning device for a multi-arm spacecraft mobile mission provided by an embodiment of the present invention;

[0036] Figure 16 A schematic diagram of the specific hardware structure of a path planning device for an arm spacecraft movement mission provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0038] See also Figure 1 , which shows a schematic structural diagram of a multi-arm spacecraft 1 capable of implementing the technical solution of the embodiment of the present invention, wherein, Figure 1 As shown, the Figure 1 The multi-arm spacecraft 1 shown includes a base 11 and a robotic arm 12. It should be noted that each robotic arm 12 is composed of 7 rotational joints. Figure 1 The structure of the multi-arm robot 1 is not specifically limited, and other components are omitted in order to clearly illustrate the technical solution of the embodiment of the present invention. Figure 1 The multi-arm spacecraft 1 is shown as an example to include four robotic arms 12 , but in a specific implementation process, the technical solution of the embodiment of the present invention is not limited to the number of the robotic arms 12 being four.

[0039] See also Figure 2 , which shows the mission environment of the multi-arm spacecraft 1, specifically, the deployment of the multi-arm spacecraft 1 in its mobile mission on the International Space Station.

[0040] See also Figure 3 , which shows a path planning method for a multi-arm spacecraft mobile mission provided by an embodiment of the present invention, the path planning method comprising:

[0041] S301, determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft;

[0042] S302, using a hierarchical planning method to divide the movement task parameters into multiple levels according to a global to local logical relationship;

[0043] S303: Perform path planning for the movement task parameters in each layer according to the divided layers.

[0044] for Figure 3 The technical solution shown in the figure obtains the parameters of the multi-arm spacecraft's mobile mission through the form and requirements of the multi-arm spacecraft's mobile mission. It then uses a hierarchical planning method to divide the mobile mission parameters into hierarchical levels according to the logical relationship from global to local. According to the divided levels, the path planning is performed for the mobile mission parameters in each level. The hierarchical path planning method provided by the embodiment of the present invention can solve the current difficulties of multi-arm spacecraft path planning, which has many parameters and complex problem dimensions.

[0045] for Figure 3 In some possible implementations of the technical solution shown, determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft includes:

[0046] In the mission scenario corresponding to the mobile mission, based on the mission objectives, mission requirements and mission constraints corresponding to the mobile mission, mobile mission parameters directly related to the mobile mission are obtained; wherein the mobile mission parameters include: the relative position P of the multi-arm spacecraft; B , the posture A of the multi-arm spacecraft B , the end position P of each robot arm Ei And the end posture A of each robot arm Ei ; Where i represents the i-th robotic arm.

[0047] Understandably, in Figure 2 In the mission scenario shown, the goal of the multi-arm spacecraft movement mission is to move the multi-arm spacecraft between any two points on the space station. At the same time, the timeliness, energy efficiency, stability, and continuity of the movement must be guaranteed. The movement mission must be performed with the shortest possible path and the fastest possible speed, avoiding unnecessary energy consumption. The movement path must be coherent and stable, and overloads and sudden changes must be avoided. Furthermore, to ensure the safety of the movement mission, the end of at least one of the multi-arm spacecraft's robotic arms must be in constant contact with the space station surface, and collisions between objects must be avoided during the execution of the above-mentioned movement mission.

[0048] It can be understood that in addition to the environmental map information and the structural parameters of the spacecraft itself, the parameters directly related to the mobile mission include: the relative position P of the multi-arm spacecraft B 、The attitude of the multi-arm spacecraft A B , the end position P of each robot arm Ei And the end posture A of each robot arm Ei , the above posture information is all in the global coordinate system of the space station.

[0049] for Figure 3 In some possible implementations of the technical solution shown, after determining the movement task parameters, a time sequence S(t) of the movement task parameters is obtained:

[0050] S(t)={P B (t),A B (t),P Ei (t),A Ei (t)},(i=1,2,3,4,...) (1)

[0051] Wherein, S(t) represents the sequence of the mobile task parameters with respect to time.

[0052] In other words, the planning of the multi-arm spacecraft mobile mission is to plan all the mission parameter elements in S(t).

[0053] For the mission objectives and mission environment, it is necessary to establish a suitable environmental model and coordinate system to express the three-dimensional complex scene environment information and the movement path information between two coordinate points. To meet the requirements of timeliness and energy conservation, it is necessary to optimize the path length and energy consumption during the path planning process. In addition, the dynamics of the multi-arm spacecraft must be analyzed to meet its stability and continuity requirements. On the other hand, during the path planning process, it is necessary to parameterize the mission constraints and screen out the paths outside the constraints. For the end position of the robotic arm in the mission parameters, the coordinated relationship between its arms must also be considered.

[0054] Therefore, in the embodiment of the present invention, the above-mentioned mobile task analysis results are shown in Table 2 below.

[0055] Table 2 Analysis of mobile tasks

[0056]

[0057] for Figure 3 In some possible implementations of the technical solution shown, the hierarchical planning method adopted includes:

[0058] According to the logical relationship from global to local, the movement task parameters are divided into the following three levels:

[0059] As the first level of the mobile task path planning, the mobile task parameters are used to solve the "where" problem;

[0060] As the second level of the mobile task path planning, the mobile task parameters are used to solve the problem of "how to get there";

[0061] As the third level of the mobile task path planning, the mobile task parameters are used to solve the problem of "how to achieve and how to get there".

[0062] Specifically, the hierarchical division of path planning for multi-arm spacecraft mobile missions generally proceeds from high-level task planning and motion planning to low-level hand trajectory planning and joint trajectory planning, and finally to bottom-level control. The top-level task planning mainly completes the decomposition of the task into multiple subtasks. Then, further planning is carried out for each subtask. For example, taking the subtask of "moving to the truss" as an example, it can be further decomposed into a series of actions such as "identifying the position of the truss", "raising the robotic arm", and "rotating the robotic arm to the truss". Each action is then specifically planned, and only after planning can the motion be controlled.

[0063] In some examples of the above implementations, the hierarchical planning method is used to divide the movement task parameters into multiple levels according to a global to local logical relationship, including:

[0064] The relative position P of the multi-arm spacecraft B As the first level mobile task parameter of the mobile path planning, the relative position P of the multi-arm spacecraft in the global coordinate system of the space station is B Conduct planning;

[0065] The posture A of the multi-arm spacecraft B , the end position P of the robotic arm Ei And the end posture A of the robotic arm Ei As the second-level mobile task parameters of the mobile path planning, and the posture A of the multi-arm spacecraft in the body coordinate system of the multi-arm spacecraft B , the end position P of the robotic arm Ei And the end posture A of the robotic arm Ei Conduct planning;

[0066] Determine the mobile task parameters of the third level of the mobile task path planning.

[0067] Regarding the above possible implementation manner, in some examples, determining the third-level movement task parameters of the movement task path planning includes:

[0068] In the multi-arm spacecraft body coordinate system, the mobile task parameters of the third level of the mobile task path planning are determined based on the positive kinematic constraint relationship in the manipulator joint space shown in formula (2):

[0069]

[0070] Where J represents the Jacobian matrix of the robot arm; q k represents the joint angle corresponding to the kth joint in each robotic arm; P Ei represents the end position of the i-th robotic arm;

[0071] The joint angle q represents the third-level movement task parameter of the movement task path planning.

[0072] Specifically, the end position of the manipulator is linked to the joint space of the manipulator through the Jacobian matrix J, so the Jacobian matrix J needs to be solved.

[0073] When the kth joint is a translation joint, its Jacobian matrix formula is:

[0074]

[0075] Where z represents the joint translation direction vector.

[0076] When the kth joint is a rotational joint, its Jacobian matrix formula is:

[0077]

[0078] Among them, R represents the posture transformation matrix; p represents the vector from the origin to the end of the joint coordinate system; and n represents the number of joints.

[0079] Based on the above explanation, the Jacobian matrix J of the robotic arm can be obtained as:

[0080] J=[J1J2…J n ] (5).

[0081] It is understandable that after S(t) is obtained through planning, it is necessary to further i (t) Plan. At this point, the path planning of the entire mobile task is completed, and the hierarchical planning results are as follows: Figure 4 Specifically, according to the mission objectives and current status of the multi-arm spacecraft, first, at the first level of path planning, the relative position P of the multi-arm spacecraft is calculated. B Carry out path planning, specifically planning the global centroid path, defining and parameterizing the map environment information through space environment perception technology; combining the configuration characteristics of the multi-arm spacecraft with the control redundancy, establish a three-dimensional rigid sphere model of the multi-arm spacecraft; considering the task constraints of gait planning and the safety constraints of the task as a whole, pre-process the three-dimensional map model; optimize and extend the search path using the geometric characteristics of the environment model to adjust the search step size and obtain the optimal or approximately optimal path that meets the task constraints based on the extended neighborhood search ant colony algorithm. Secondly, at the second level of path planning, the posture A of the multi-arm spacecraft is calculated. B (t), the end position P of the robot arm E (t) and the end posture A of the robot arm E (t) Planning, specifically planning the gait of a multi-arm spacecraft's spatial movement, develops gait movement rules based on the multi-arm spacecraft's configuration and grid map, and integrates the multi-arm spacecraft's posture and the changes in the manipulator's end-of-arm movements into two basic action sets. A parameterized representation of these action sets is provided, and gait decision rules are determined based on grasping and attachment requirements. An evaluation system for gait planning is designed and analyzed, taking into account the principle of optimal energy consumption. Finally, at the third level of path planning, the manipulator's joint motion trajectories are planned. Specifically, multi-arm collision detection technology is employed during the planning process, and the gradient projection method, combined with the manipulator's inverse kinematics, is used to solve the manipulator's joint spatial trajectory. This results in obtaining the joint trajectory for a given multi-arm spacecraft's center of mass position and posture and the multi-arm end-of-arm path. As can be understood, once all movement task parameters are planned, the multi-arm spacecraft's current state can be updated based on the planning results to proceed with the next step of movement path planning.

[0082] It can be understood that for any robotic arm, the number of its arms is consistent with the number of its joints.

[0083] Based on the above explanation, Figure 3 In some possible implementations of the technical solution shown, the time sequence of all mission parameters for multi-arm spacecraft mobile mission planning can be expressed as:

[0084] S(t)={P B (t),A B (t),P Ei (t),A Ei (t),q(t)},(i=1,2,3,4,...) (6).

[0085] It should be noted that task constraints permeate the entire task process, so each level of planning must be considered during the design process. Furthermore, the logical relationships between each level must be considered, and the results obtained within each level must be analyzed for rationality at other levels. If not, the overall task requirements must be considered and improved according to design principles.

[0086] The embodiments of the present invention are described in detail below through specific simulation analysis and results.

[0087] In order to verify the Figure 4 The effectiveness of the three-level hierarchical path planning, namely global centroid path planning, gait action set sequence planning, and joint space planning, is shown in the figure. The whole process of hierarchical path planning is simulated, and the simulation results are shown in the figure. Figure 5 and Figure 6 As shown, Figure 5 It represents the global centroid path planning result. Figure 6 It represents the gait planning result.

[0088] In the planning process, when the action set sequence planning result π(Rotation, Translation) is: R(4,-90°,0), R(3,-90°,0), R(4,180°,1), the gradient projection optimization method with K=0.1 is used to solve the corresponding joint angles and joint angular velocities of each manipulator. Figures 7 to 14 As shown in the simulation results, it can be seen that the planning between each level can be carried out smoothly in sequence, and all the task elements S(t) in the path planning task are obtained.

[0089] Based on the same inventive concept as the above technical solution, see Figure 15, which shows a path planning device 150 for a multi-arm spacecraft mobile task provided by an embodiment of the present invention, the path planning device 150 includes: a determination part 1501, a division part 1502 and a planning part 1503; wherein,

[0090] The determining part 1501 is configured to determine the movement mission parameters of the multi-arm spacecraft based on the movement mission form and requirements of the multi-arm spacecraft;

[0091] The division part 1502 is configured to use a hierarchical planning method to divide the movement task parameters into multiple levels according to a global to local logical relationship;

[0092] The planning part 1503 is configured to perform path planning for the movement task parameters in each level according to the divided levels.

[0093] It should be noted that for the specific implementation methods or implementation examples of the functions configured by the above components, please refer to the corresponding steps, implementation methods and examples of the aforementioned technical solutions, and the embodiments of the present invention will not be described in detail here.

[0094] It can be understood that in this embodiment, "part" can be part of a circuit, part of a processor, part of a program or software, etc., and of course it can also be a unit, a module, or a non-modular one.

[0095] In addition, the components in this embodiment may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional modules.

[0096] If the integrated unit is implemented as a software functional module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment, or the portion that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0097] Therefore, this embodiment provides a computer storage medium, which stores a program for path planning of a multi-arm spacecraft mobile mission. When the program for path planning of a multi-arm spacecraft mobile mission is executed by at least one processor, the path planning method steps of the multi-arm spacecraft mobile mission described in the above technical solution are implemented.

[0098] According to the path planning device 150 and computer storage medium for the multi-arm spacecraft mobile mission, see Figure 16 , which shows the specific hardware structure of a computing device 160 of a path planning device 150 capable of implementing the above-mentioned multi-arm spacecraft mobile mission provided by an embodiment of the present invention. The computing device 160 can be a wireless device, a mobile or cellular phone (including a so-called smart phone), a personal digital assistant (PDA), a video game console (including a video display, a mobile video game device, a mobile video conferencing unit), a laptop computer, a desktop computer, a TV set-top box, a tablet computing device, an e-book reader, a fixed or mobile media player, etc. The computing device 160 includes: a communication interface 1601, a memory 1602 and a processor 1603; the various components are coupled together through a bus system 1604. It can be understood that the bus system 1604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1604 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 16 In FIG, various buses are labeled as bus system 1604. Among them,

[0099] The communication interface 1601 is used to receive and send signals during the process of sending and receiving information between other external network elements;

[0100] The memory 1602 is used to store computer programs that can be run on the processor 1603;

[0101] The processor 1603 is configured to perform the following steps when running the computer program:

[0102] Determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft;

[0103] Using a hierarchical planning method, the mobile task parameters are divided into multiple levels according to the logical relationship from global to local;

[0104] According to the divided levels, path planning is performed for the movement task parameters in each level.

[0105] It is understood that the memory 1602 in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 1602 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0106] Processor 1603 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be performed by hardware integrated logic circuits or software instructions within processor 1603. The processor 1603 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium is located in the memory 1602 , and the processor 1603 reads the information in the memory 1602 and completes the steps of the above method in combination with its hardware.

[0107] It is understood that the embodiments described herein may be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or a combination thereof.

[0108] For software implementation, the techniques described herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0109] Specifically, the processor 1603 is also configured to execute the path planning method steps of the multi-arm spacecraft movement mission described in the aforementioned technical solution when running the computer program, which will not be repeated here.

[0110] It should be noted that the technical solutions described in the embodiments of the present invention can be arbitrarily combined without conflict.

[0111] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A path planning method for a multi-arm spacecraft mobile mission, characterized in that: The path planning method comprises: Based on the mobile mission form and requirements of the multi-arm spacecraft, the mobile mission parameters of the multi-arm spacecraft are determined; the mobile mission parameters are all in the global coordinate system of the space station, and the mobile mission parameters include: the relative position P of the multi-arm spacecraft B , the posture A of the multi-arm spacecraft B , the end position P of each robot arm Ei And the end posture A of each robot arm Ei ; Where i represents the i-th robotic arm; The method of hierarchical planning is adopted to divide the mobile task parameters into multiple levels according to the logical relationship from global to local; the multiple levels include the first level, the second level and the third level; the first level is used to calculate the relative position P in the global coordinate system of the space station. B Perform path planning; the second level is used to calculate the posture A in the body coordinate system of the multi-arm spacecraft B , the end position P Ei And the terminal posture A Ei The third level is used to plan the path of the joint angle q of the robot arm in the body coordinate system; the joint angle q is based on the end position P Ei Sure; According to the divided levels, path planning is performed for the movement task parameters in each level.

2. The path planning method according to claim 1, wherein: Determining the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft includes: In a task scenario corresponding to the movement task, movement task parameters directly related to the movement task are obtained based on the task objectives, task requirements, and task constraints corresponding to the movement task.

3. The path planning method according to claim 2, wherein: After determining the movement task parameters, a time sequence S(t) of the movement task parameters is obtained: S(t)={P B (t) ,A B (t) ,P Ei (t) ,A Ei (t)} ,(i=1 ,2,3,4,) (1) Wherein, S(t) represents the sequence of the mobile task parameters with respect to time.

4. The path planning method according to claim 2, characterized in that: The hierarchical planning method adopted includes: According to the logical relationship from global to local, the movement task parameters are divided into the following three levels: As the first level of the mobile task path planning, the mobile task parameters are used to solve the "where" problem; As the second level of the mobile task path planning, the mobile task parameters are used to solve the problem of "how to get there"; As the third level of the mobile task path planning, the mobile task parameters are used to solve the problem of "how to achieve how to get there".

5. The path planning method according to claim 4, characterized in that: The hierarchical planning method is used to divide the mobile task parameters into multiple levels according to the global to local logical relationship, including: The relative position P of the multi-arm spacecraft B As the first level movement task parameters of the movement path planning; The posture A of the multi-arm spacecraft B , the end position P of the robotic arm Ei And the end posture A of the robotic arm Ei As the second level movement task parameters of the movement path planning; Determine the mobile task parameters of the third level of the mobile task path planning.

6. The method according to claim 5, characterized in that Determining the mobile task parameters of the third level of the mobile task path planning includes: In the multi-arm spacecraft body coordinate system, the mobile task parameters of the third level of the mobile task path planning are determined based on the positive kinematic constraint relationship in the manipulator joint space shown in formula (2): Where J represents the Jacobian matrix of the robot arm; q k represents the joint angle corresponding to the kth joint in each robotic arm; P Ei represents the end position of the i-th robotic arm; The joint angle q represents the third-level movement task parameter of the movement task path planning.

7. The method according to claim 6, characterized in that The time sequence of all the movement task parameters is: S(t)={P B (t) ,A B (t) ,P Ei (t) ,A Ei (t) ,q(t)} ,(i=1 ,2,3,4 ,) (3)。 8. A path planning device for a multi-arm spacecraft mobile mission, characterized in that: The path planning device includes: a determination part, a division part and a planning part; wherein, The determining part is configured to determine the mobile mission parameters of the multi-arm spacecraft based on the mobile mission form and requirements of the multi-arm spacecraft; the mobile mission parameters are all in the global coordinate system of the space station, and the mobile mission parameters include: the relative position P of the multi-arm spacecraft B , the posture A of the multi-arm spacecraft B , the end position P of each robot arm Ei And the end posture A of each robot arm Ei ; Where i represents the i-th robotic arm; The division part is configured to adopt a hierarchical planning method to divide the mobile task parameters into multiple levels according to the global to local logical relationship; the multiple levels include a first level, a second level and a third level; the first level is used to calculate the relative position P in the global coordinate system of the space station. B Perform path planning; the second level is used to calculate the posture A in the body coordinate system of the multi-arm spacecraft B , the end position P Ei And the terminal posture A Ei The third level is used to plan the path of the joint angle q of the robot arm in the body coordinate system; the joint angle q is based on the end position P Ei Sure; The planning part is configured to perform path planning for the movement task parameters in each level according to the divided levels.

9. A path planning device for a multi-arm spacecraft mobile mission, characterized in that: The path planning device includes: a communication interface, a memory and a processor; each component is coupled together through a bus system; wherein, The communication interface is used to receive and send signals when sending and receiving information with other external network elements; The memory is used to store a computer program that can be run on the processor; The processor is configured to execute the steps of the path planning method for a multi-arm spacecraft mobile mission as described in any one of claims 1 to 7 when running the computer program.

10. A medium, characterized in that The medium stores a program for path planning of a multi-arm spacecraft mobile mission, and when the program for path planning of a multi-arm spacecraft mobile mission is executed by at least one processor, the steps of the path planning method for a multi-arm spacecraft mobile mission described in any one of claims 1 to 7 are implemented.

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