Robot for dexterous operation on lunar surface

Abstract

The invention relates to a dexterous lunar surface operation robot, which belongs to the technical field of aerospace / the field of lunar exploration, and comprises a specially designed mobile lifting system, a mechanical arm operation system, a navigation control system, a communication system, an energy system and a thermal control system, the mode that a foldable suspension supports local lifting of the additional platform is preferably adopted, meanwhile, the scheme that a large mechanical arm and a small mechanical arm are matched for cooperation and a tail end tool can be replaced is preferably adopted, the task operation space is expanded, the task operation height requirement is met, energy is saved, and the problem that in the prior art, the size and the weight cannot be considered at the same time is solved. And the method can adapt to different task scenes so as to solve the problem that in the prior art, the quality and the operation freedom degree cannot be considered at the same time, the operation freedom degree is met, meanwhile, the task reliability is considered, and most tasks can still be completed under the single-arm fault condition.

Description

Technical Field

[0001] The invention relates to a lunar surface dexterous operation robot, belonging to the field of aerospace technology / lunar exploration. Background Art

[0002] With the rapid development of human aerospace technology, our ability to explore, develop and utilize the moon is becoming stronger and stronger. The missions will become more and more complex, and there is an urgent need for lunar robots to have complex operating capabilities.

[0003] In the early stage, the functions of various lunar rovers were relatively simple. They mainly performed patrol and detection tasks. The single mission scenario was single and the operation was simple. They had the ability to operate in situ or move slowly within a certain range. The control ability was limited, including single-arm grabbing and drilling, etc., mainly remote teleoperation, local movement and autonomous control of actions, etc. The existing lunar probes and rovers are unable to complete a variety of complex tasks. In view of the problems of many types of tasks, fine operation requirements, strong quality and space constraints, etc., it is necessary to operate multiple arms in coordination, one arm has multiple functions, high precision and high reliability, and be compatible with different mission profiles to adapt to the space environment.

[0004] In view of the characteristics of the lunar environment, it is necessary to efficiently integrate the information from the inertial measurement unit, navigation camera, and wheel odometer to estimate the position and posture under the computing power limit of the lunar robot hardware system, and solve the problems of navigation map establishment and environmental perception under complex lighting. Considering the reliability and safety of autonomous movement on the lunar surface, the robot movement follows the results of the global path planning on the operation scene map, and locally autonomously avoids obstacles to ensure the safe movement of the robot. It is necessary to use the brain + cerebellum to coordinate movement and operation to improve the efficiency of operation execution.

[0005] For small and highly mobile lunar robots, the energy system traditionally uses a "lithium battery + solar panel" solution, but it is difficult to meet the problem of insufficient incident energy due to the low solar illumination angle in the lunar South Pole operation area. Wireless charging is needed to regularly replenish energy for lunar operation robots.

[0006] Invention patent CN 112847363 B (ZL202110013534.8) provides a lunar extravehicular auxiliary operation robot and its control method, and invention patent CN 108639380 A (201810273519.5) provides a lunar exploration robot. Both have the problem of being unable to meet complex operation tasks, the end tools cannot be replaced, and it is difficult to meet the adaptability of various operation tasks. It does not involve the problem of coordinated operation of the motion system and the operation system, and both use solar panels to power them. Summary of the invention

[0007] The technical problem solved by the present invention is to overcome the above-mentioned deficiencies of the prior art and propose a dexterous lunar operating robot, which not only expands the task operation space and meets the task operation height requirements, but also saves energy, so as to solve the problem that size and weight cannot be taken into account in the prior art.

[0008] The present invention adopts the following technical solution:

[0009] A lunar surface dexterous operation robot, comprising:

[0010] The mobile lifting system, as the main structural support, is used to install the manipulator operating system, navigation control system, communication system, energy system and thermal control system. It receives the coordinated motion sequence sent by the navigation control system to achieve movement on the lunar surface, and raises or lowers the large manipulator arm of the manipulator operating system and rotates the navigation camera of the navigation control system.

[0011] The robotic arm operation system receives the coordinated motion sequence sent by the navigation control system and completes the lunar surface operation tasks driven by the mobile lifting system;

[0012] The navigation control system acquires long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system, completes navigation positioning, arranges instructions according to the navigation positioning information and the task requirements sent by the communication system, generates a planned trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the mobile lifting system, the robotic arm operation system and the communication system; and sends the acquired long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system to the communication system;

[0013] The communication system communicates with the lunar network, receives the mission requirements of the lander and sends them to the navigation control system, and sends the long-range and short-range images of the lunar surface obtained from the navigation control system, as well as the position, speed, attitude information and moving mileage information of the mobile lifting system to the lunar network;

[0014] The energy system has wireless charging, power supply and distribution functions, and is responsible for supplying power and distributing power to the mobile lifting system, robotic arm operation system, navigation control system, communication system and thermal control system;

[0015] The thermal control system ensures that the temperature of the mobile lifting system, robotic arm operation system, navigation control system, communication system and energy system meets the equipment working conditions during the lunar day, and the temperature meets the equipment storage conditions during the lunar night.

[0016] In the above-mentioned dexterous lunar operating robot, the mobile lifting system includes a wheel-footed mobile device, a lifting platform, a carrying plate and a first motion controller, wherein the wheel-footed mobile device is installed on the lower surface of the carrying plate to realize movement on the lunar surface; the lifting platform is installed on the upper surface of the carrying plate, connected to the large robotic arm of the robotic arm operating system, driving the large robotic arm to lift or lower, and rotating the navigation camera of the navigation control system; the first motion controller receives the coordinated motion sequence sent by the navigation control system, and controls the actions of the wheel-footed mobile device and the lifting platform.

[0017] In the above-mentioned lunar surface dexterous operating robot, the communication system and energy system are installed on the lower surface of the carrying plate, and the robotic arm operating system, navigation control system and thermal control system are installed on the upper surface of the carrying plate.

[0018] In the above-mentioned dexterous lunar working robot, the wheel-footed mobile device can be switched to a wheeled mobile mode or a footed mobile mode; the wheel-footed mobile device includes a wheel encoder, which transmits the movement mileage information of the wheel-footed mobile device to the central control and image processor of the navigation control system.

[0019] In the above-mentioned lunar surface dexterous working robot, the movement of the mobile lifting system on the lunar surface includes moving, overcoming obstacles, climbing, escaping from traps or turning on the spot on the lunar surface.

[0020] In the above-mentioned dexterous lunar surface working robot, the robotic arm working system includes a large robotic arm, a small robotic arm, an end tool box, an end tool and a second motion controller. The end tool is installed in the end tool box. The large robotic arm is connected to the lifting platform of the mobile lifting system, including an end quick-change device. The end quick-change device is used to connect with the end tool to complete the lunar surface working tasks. The small robotic arm is installed on the supporting plate of the mobile lifting system to cooperate with the large robotic arm to complete the lunar surface working tasks. The second motion controller receives the coordinated motion sequence sent by the navigation control system to control the actions of the large robotic arm and the small robotic arm.

[0021] In the above-mentioned lunar surface dexterous operation robot, the navigation control system includes a navigation camera, an obstacle avoidance camera, an inertial measurement unit and a central control and image processor, wherein:

[0022] Navigation camera, used to acquire long-distance images and transmit them to the central control and image processor;

[0023] Obstacle avoidance camera, used to acquire close-range images and transmit them to the central control and image processor;

[0024] Inertial measurement unit, used to measure the position, velocity and attitude information of the mobile lifting system and transmit it to the central control and image processor;

[0025] The central control and image processor extracts image features and performs three-dimensional reconstruction based on the long-range image and the short-range image, completes navigation and positioning in combination with the position, speed and posture information of the mobile lifting system and the moving mileage information, arranges instructions according to the navigation and positioning information and the task requirements sent by the communication system, generates a planning trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which are sent to the first motion controller of the mobile lifting system and the second motion controller of the robotic arm operation system respectively; at the same time, the long-range image and the short-range image, the position, speed and posture information of the mobile lifting system, the moving mileage information and the coordinated motion sequence are sent to the communication system.

[0026] In the above-mentioned dexterous lunar operating robot, the communication system includes a transceiver antenna and a mobile communication terminal, wherein the transceiver antenna communicates with the lunar network, receives the mission requirements of the lander and sends them to the central control and image processor of the navigation control system through the mobile communication terminal; the mobile communication terminal sends the long-distance and close-range images of the lunar surface obtained from the navigation control system, as well as the position, speed, attitude information and moving mileage information of the mobile lifting system to the lunar network through the transceiver antenna.

[0027] In the above-mentioned lunar dexterous operating robot, the energy system includes a wireless charging receiving end, a wireless charging electronic device, an equipment power supply and an intelligent power distribution module, wherein the wireless charging electronic device charges the equipment power supply through the wireless charging receiving end, and the intelligent power distribution module is connected to the equipment power supply to distribute power and supply power to the mobile lifting system, robotic arm operating system, navigation control system, communication system and thermal control system.

[0028] In the above-mentioned dexterous lunar operating robot, the wireless charging receiving end is installed on the side of the lifting platform of the mobile lifting system, and can be raised or lowered together with the large robotic arm of the robotic arm operating system; the wireless charging electronic device is installed on the supporting plate of the mobile lifting system; the power supply of the equipment is a graphene high-energy-density battery.

[0029] In the above-mentioned dexterous lunar working robot, the thermal control system includes a gravity-driven fluid circuit, a retractable radiator, an electric heater, an isotope heat source, a thermal control module, a thermal control coating and a multi-layer thermal insulation material, wherein the gravity-driven fluid circuit is used for heat conduction and energy transfer; the retractable radiator is used to radiate heat during the lunar day and prevent heat radiation during the lunar night; the electric heater is used to heat various equipment during the lunar night; the isotope heat source is used to provide heat during the lunar night; the thermal control module is used to control the heating to provide heat to various equipment; the thermal control coating and the multi-layer thermal insulation material are used to provide heat insulation for various equipment.

[0030] In the above-mentioned dexterous lunar operating robot, the gravity-driven fluid circuit is installed on the mobile lifting system, the retractable radiator is connected to the mobile lifting system, the electric heater is installed on the surface of each device, the isotope heat source is installed on the lower surface of the supporting plate of the mobile lifting system, the thermal control module is located in the central control and image processor of the navigation control system, and the thermal control coating and multi-layer thermal insulation material are arranged on the surface of each device.

[0031] In the above-mentioned lunar surface dexterous operating robot, the first motion controller and the second motion controller adopt the same hardware computing and information processing architecture, both of which are DSP+FPGA+intelligent chip, and back up each other.

[0032] A method for implementing a lunar surface dexterous operation robot, comprising:

[0033] The mobile lifting system receives the coordinated motion sequence sent by the navigation control system, realizes movement on the lunar surface, and raises or lowers the large robotic arm of the robotic arm operation system and rotates the navigation camera of the navigation control system;

[0034] The manipulator operation system receives the coordinated motion sequence sent by the navigation control system and completes the lunar surface operation task driven by the mobile lifting system;

[0035] The navigation control system acquires long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system, completes navigation positioning, arranges instructions according to the navigation positioning information and the task requirements sent by the communication system, generates a planned trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the mobile lifting system, the robotic arm operation system and the communication system; and sends the acquired long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system to the communication system;

[0036] The communication system communicates with the lunar network, receives the mission requirements of the lander and sends them to the navigation control system, and sends the long-range and short-range images of the lunar surface obtained from the navigation control system, as well as the position, speed, attitude information and moving mileage information of the mobile lifting system to the lunar network;

[0037] The energy system is responsible for supplying and distributing power to the mobile lifting system, robotic arm operation system, navigation control system, communication system and thermal control system;

[0038] The thermal control system ensures that the temperature of the mobile lifting system, robotic arm operation system, navigation control system, communication system and energy system meets the equipment working conditions during the lunar day, and the temperature meets the equipment storage conditions during the lunar night.

[0039] Compared with the prior art, the present invention has at least the following beneficial effects:

[0040] (1) The lunar surface dexterous operation robot of the present invention includes a specially designed mobile lifting system, a robotic arm operation system, a navigation control system, a communication system, an energy system and a thermal control system, which not only expands the task operation space and meets the task operation height requirements, but also saves energy and solves the problem that the size and weight cannot be taken into account in the prior art; at the same time, it satisfies the operational freedom and takes into account the task reliability.

[0041] (2) The embodiment of the present invention proposes a method of partially lifting the additional platform supported by a foldable suspension, which not only expands the task operation space and meets the task operation height requirement, but also saves energy, thereby solving the problem of the inability to balance size and weight in the prior art.

[0042] (3) In the embodiment of the present invention, the dual-arm coordination of large and small robotic arms and the replaceable end tool are preferably adopted, which can adapt to different task scenarios to solve the problem that quality and operation freedom cannot be taken into account in the prior art. It not only satisfies the operation freedom, but also takes into account the task reliability. In the event of a single-arm failure, most tasks can still be completed.

[0043] (4) In the embodiment of the present invention, the "big brain and small brain" dual brain cooperation (central control and image processor as the brain + motion controller as the cerebellum, the first motion controller and the second motion controller back up each other) is preferred. According to the working scene and perception information, monitoring diagnosis and capability evaluation, task decision-making, behavior decision-making and action planning are carried out, and action instructions are generated. The inertial measurement unit, navigation camera, and wheel odometer information are further used to cooperate for mapping and positioning, and the establishment of the lunar map is realized through multi-source information fusion positioning.

[0044] (5) In the embodiment of the present invention, wireless charging is preferably used to regularly charge the lunar surface operation robot. The transmission distance can be adapted to the millimeter level to the meter level, and the transmission power can reach the range of tens of watts to kilowatts. It is suitable for near-field wireless energy transmission in space, enriches the energy supply means, and reduces the additional mass brought by solar panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a layout diagram (side view) of the lunar surface dexterous working robot in an expanded state in an embodiment of the present invention;

[0046] Figure 2 This is a layout diagram (bottom view) of the lunar surface dexterous working robot in an unfolded state in an embodiment of the present invention;

[0047] Figure 3 This is a layout diagram of the lunar surface dexterous working robot in an unfolded state (top view) according to an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the folded state of the dexterous lunar surface working robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0050] like Figure 1 to Figure 3 The side view, bottom view and top view of the unfolded layout of the lunar surface dexterous working robot in the embodiment of the present invention are respectively given. Figure 4 A schematic diagram of the folded state of the lunar surface dexterous operation robot in the embodiment is given. The total mass of the lunar surface dexterous operation robot in the embodiment of the present invention is 95kg, and the dimensions of the folded state are 1190mm×910mm×870mm. The lunar surface dexterous operation robot includes a mobile lifting system 10, which is used as a structural main body support to install a mechanical arm operation system 20, a navigation control system 30, a communication system 40, an energy system 50 and a thermal control system 60, wherein:

[0051] The mobile lifting system 10, as the main structural support, is used to install the robotic arm operation system 20, the navigation control system 30, the communication system 40, the energy system 50 and the thermal control system 60, and receives the coordinated motion sequence sent by the navigation control system 30 to realize the functions of moving, overcoming obstacles, climbing, getting out of trap or turning on the spot on the lunar surface. The mobile lifting system 10 includes a wheeled mobile device 11, a lifting platform 12, a carrier plate 18 and a first motion controller 13, wherein the communication system 40 and the energy system 50 are installed on the lower surface of the carrier plate 18, the robotic arm operation system 20, the navigation control system 30 and the thermal control system 60 are installed on the upper surface of the carrier plate 18, and the wheeled mobile device 11 is installed on the lower surface of the carrier plate 18 to achieve movement on the lunar surface; the lifting platform 12 is installed on the upper surface of the carrier plate 18, connected to the large robotic arm 21 of the robotic arm operation system 20, drives the large robotic arm 21 to lift or lower, and rotates the navigation camera 31 of the navigation control system 30; the first motion controller 13 receives the coordinated motion sequence sent by the navigation control system 30, and controls the actions of the wheeled mobile device 11 and the lifting platform 12.

[0052] The wheeled and footed mobile device 11 can be switched to a wheeled mobile mode or a footed mobile mode; the wheeled and footed mobile device 11 includes a wheel encoder 14 that transmits the movement mileage information of the wheeled and footed mobile device 11 to the central control and image processor 34 of the navigation control system 30 .

[0053] The manipulator operation system 20 receives the coordinated motion sequence sent by the navigation control system 30 and completes the lunar surface operation task under the drive of the mobile lifting system 10; specifically includes a large manipulator 21, a small manipulator 22, an end tool box 23, an end tool 25 and a second motion controller 19, wherein the end tool 25 is installed in the end tool box 23, the large manipulator 21 has five degrees of freedom and is connected to the lifting platform 12 of the mobile lifting system 10, including an end quick change device 24, the end quick change device 24 is used to connect with the end tool 25, complete various complex operation tasks such as the layout of lunar surface scientific instruments, the small manipulator 22 has five degrees of freedom and is installed on the bearing plate 18 of the mobile lifting system 10, and cooperates with the large manipulator 21 to complete various complex operation tasks such as the layout of lunar surface scientific instruments, and the second motion controller 19 receives the coordinated motion sequence sent by the navigation control system 30 and controls the actions of the large manipulator 21 and the small manipulator 22. In this embodiment, the end tool box 23 includes three replaceable lunar surface operation tools, which can be docked with the end quick change device 24 respectively.

[0054] The navigation control system 30 includes a navigation camera 31, an obstacle avoidance camera 32, an inertial measurement unit 33 and a central control and image processor 34, wherein the navigation camera 31 is used to obtain long-distance images and transmit them to the central control and image processor 34; the obstacle avoidance camera 32 is used to obtain close-range images and transmit them to the central control and image processor 34; the inertial measurement unit 33 is used to measure the position, speed and posture information of the mobile lifting system 10 and transmit them to the central control and image processor 34; the central control and image processor 34 is the "brain" of the lunar surface dexterous operation robot, which receives the image information of the navigation camera 31 and the obstacle avoidance camera 32 for processing. Image feature extraction and three-dimensional reconstruction are combined with the position, speed and posture information of the mobile lifting system 10 and the mileage information sent by the wheel encoder 14 to complete navigation and positioning. Instructions are arranged according to the navigation and positioning information and the task requirements sent by the communication system 40 to generate a planned trajectory that takes obstacle avoidance into account, and a coordinated motion sequence is formed, which are sent to the first motion controller 13 of the mobile lifting system 10 and the second motion controller 19 of the robotic arm operation system 20 respectively; at the same time, the long-distance image and the close-range image, the position, speed and posture information of the mobile lifting system 10, the mileage information and the coordinated motion sequence are sent to the communication system 40.

[0055] In the embodiment of the present invention, the solution of "big brain and small brain" dual brain cooperation (central control and image processor as brain + motion controller as cerebellum, first motion controller and second motion controller as backup for each other) is preferred. The first motion controller 13 and the second motion controller 19 are the "cerebellum" of the lunar surface dexterous operation robot, using the same hardware computing and information processing architecture, both of which are DSP+FPGA+intelligent chip, and the backup function can be realized by re-installing the software in an emergency state.

[0056] The communication system 40 includes a transceiver antenna 41 and a mobile communication terminal 42, wherein the transceiver antenna 41 communicates with the lunar network, receives the mission requirements of the lander and sends them to the central control and image processor 34 of the navigation control system 30 through the mobile communication terminal 42, and the mobile communication terminal 42 sends the status information of the lunar dexterous working robot, including the long-distance and close-range images of the lunar surface obtained from the navigation control system 30, as well as the position, speed, attitude information and moving mileage information of the mobile lifting system 10 to the lunar network through the transceiver antenna 41.

[0057] The energy system 50 has wireless charging, power supply and power distribution functions, and is responsible for supplying power to the mobile lifting system 10, the robot arm operation system 20, the navigation control system 30, the communication system 40 and the thermal control system 60. Specifically, the energy system 50 includes a wireless charging receiving terminal 51, a wireless charging electronic device 52, an equipment power supply 53 and an intelligent power distribution module 54, wherein the wireless charging receiving terminal 51 is installed on the side of the lifting platform 12 of the mobile lifting system 10, and can be raised or lowered together with the large robot arm 21 of the robot arm operation system 20; the wireless charging electronic device 52 is installed on the carrier plate 18 of the mobile lifting system 10, and charges the equipment power supply 53 through the wireless charging receiving terminal 51. The equipment power supply 53 is preferably a graphene high-energy-density battery. The intelligent power distribution module 54 is connected to the equipment power supply 53 to distribute power to the mobile lifting system 10, the robot arm operation system 20, the navigation control system 30, the communication system 40 and the thermal control system 60.

[0058] The thermal control system 60 includes a gravity-driven fluid circuit 61, a retractable radiator 62, an electric heater 63, an isotope heat source 64, a thermal control module 65, and a thermal control coating and a multi-layer thermal insulation material 66, wherein the gravity-driven fluid circuit 61 is installed on the upper and lower surfaces of the bearing plate 18 of the mobile lifting system 10, and is used for heat conduction and energy transfer of the thermal control system. The retractable radiator 62 is connected to the mobile lifting system 10, and is used to radiate heat during the lunar day and prevent heat radiation during the lunar night. The electric heater 63 is installed on the surface of each device (including the motion controller 13, the central control and image processor 34, and the mobile communication terminal 42 device surface), and is used to heat the device during the lunar night. The isotope heat source 64 is installed on the lower surface of the bearing plate 18 of the mobile lifting system 10, and is used to provide heat during the lunar night. The thermal control module 65 is located in the central control and image processor 34, and is used to control the heating and then provide heat to each device. The thermal control coating and the multi-layer thermal insulation material 66 are installed on the surface of the device for heat insulation.

[0059] The embodiment of the present invention also provides a method for implementing a lunar surface dexterous operation robot, comprising the following steps:

[0060] The mobile lifting system 10 receives the coordinated motion sequence sent by the navigation control system 30, realizes the movement on the lunar surface, and raises or lowers the large robotic arm 21 of the robotic arm operation system 20, and rotates the navigation camera 31 of the navigation control system 30;

[0061] The manipulator operation system 20 receives the coordinated motion sequence sent by the navigation control system 30 and completes the lunar surface operation task driven by the mobile lifting system 10;

[0062] The navigation control system 30 acquires long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system 10, completes navigation positioning, arranges instructions according to the navigation positioning information and the task requirements sent by the communication system 40, generates a planned trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the mobile lifting system 10, the manipulator operation system 20 and the communication system 40; and the acquired long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system 10 are sent to the communication system 40;

[0063] The communication system 40 communicates with the lunar network, receives the mission requirements of the lander and sends them to the navigation control system 30, and sends the long-range and short-range images of the lunar surface obtained from the navigation control system 30, as well as the position, speed, attitude information and moving mileage information of the mobile lifting system 10 to the lunar network;

[0064] The energy system 50 is responsible for supplying and distributing power to the mobile lifting system 10, the robotic arm operation system 20, the navigation control system 30, the communication system 40 and the thermal control system 60;

[0065] The thermal control system 60 maintains the temperature of the mobile lifting system 10, the robotic arm operation system 20, the navigation control system 30, the communication system 40 and the energy system 50 to meet the equipment working conditions during the lunar day and the temperature to meet the equipment storage conditions during the lunar night.

[0066] In this embodiment, for various complex tasks such as the deployment of scientific instruments on the lunar surface, a dual-arm coordination scheme with large and small arms is proposed. The end tool can be replaced and can adapt to different task scenarios to solve the problem that the total mass and the degree of freedom of operation in the prior art cannot be taken into account at the same time. It not only satisfies the degree of freedom of operation, but also takes into account the reliability of the task. Most tasks can still be completed in the case of a single arm failure. A scheme of "big and small brain" dual brain coordination is proposed. According to the operation scene and perception information, monitoring diagnosis and capability evaluation, task decision-making, behavior decision-making and action planning are carried out, and action instructions are generated. Inertial measurement unit, navigation camera, and wheel odometer information are used to build maps and locate. Through multi-source information fusion positioning, multi-constraint planning methods are used to realize lunar path planning and obstacle avoidance. Electromagnetic induction wireless charging is used to charge the lunar operation robot regularly. The transmission distance can be adapted to the millimeter level to the meter level, and the transmission power can reach the range of tens of watts to kilowatts. It is suitable for near-field wireless energy transmission in space, enriching the means of energy supply and reducing the additional mass brought by solar panels.

[0067] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0068] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A lunar surface dexterous operation robot, characterized in that: include: The mobile lifting system (10) is used as a structural main body support for installing a manipulator operating system (20), a navigation control system (30), a communication system (40), an energy system (50) and a thermal control system (60), receives a coordinated motion sequence sent by the navigation control system (30), realizes motion on the lunar surface, and lifts or lowers a large manipulator arm (21) of the manipulator operating system (20), and rotates a navigation camera (31) of the navigation control system (30); The manipulator operation system (20) receives the coordinated motion sequence sent by the navigation control system (30) and completes the lunar surface operation task under the drive of the mobile lifting system (10); A navigation control system (30) acquires long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system (10), completes navigation positioning, arranges instructions according to the navigation positioning information and the task requirements sent by the communication system (40), generates a planned trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the mobile lifting system (10), the robot arm operation system (20) and the communication system (40); and sends the acquired long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system (10) to the communication system (40); The communication system (40) communicates with the lunar surface network, receives the mission requirements of the lander and sends them to the navigation control system (30), and sends the long-range image and short-range image of the lunar surface acquired from the navigation control system (30), as well as the position, speed, attitude information and moving mileage information of the mobile lifting system (10) to the lunar surface network; The energy system (50) has wireless charging, power supply and power distribution functions and is responsible for supplying and distributing power to the mobile lifting system (10), the robotic arm operation system (20), the navigation control system (30), the communication system (40) and the thermal control system (60); The thermal control system (60) ensures that the temperature of the mobile lifting system (10), the mechanical arm operation system (20), the navigation control system (30), the communication system (40) and the energy system (50) meets the working conditions of the equipment during the lunar day, and the temperature meets the storage conditions of the equipment during the lunar night.

2. The lunar surface dexterous working robot according to claim 1, characterized in that: The mobile lifting system (10) comprises a wheeled mobile device (11), a lifting platform (12), a carrying plate (18) and a first motion controller (13), wherein the wheeled mobile device (11) is installed on the lower surface of the carrying plate (18) to achieve movement on the lunar surface; the lifting platform (12) is installed on the upper surface of the carrying plate (18) and connected to a large mechanical arm (21) of a mechanical arm operation system (20) to drive the large mechanical arm (21) to be raised or lowered, and to rotate a navigation camera (31) of a navigation control system (30); and the first motion controller (13) receives a coordinated motion sequence sent by the navigation control system (30) to control the movements of the wheeled mobile device (11) and the lifting platform (12).

3. The lunar surface dexterous working robot according to claim 2, characterized in that: The communication system (40) and the energy system (50) are installed on the lower surface of the carrier plate (18), and the robot arm operation system (20), the navigation control system (30) and the thermal control system (60) are installed on the upper surface of the carrier plate (18).

4. The lunar surface dexterous operation robot according to claim 2, characterized in that: The wheel-foot mobile device (11) can be switched to a wheeled mobile mode or a footed mobile mode; the wheel-foot mobile device (11) comprises a wheel encoder (14) for transmitting the movement mileage information of the wheel-foot mobile device (11) to a central control and image processor (34) of a navigation control system (30).

5. The lunar surface dexterous working robot according to claim 1, characterized in that: The movement of the mobile lifting system (10) on the lunar surface includes moving, overcoming obstacles, climbing, getting out of the trap or turning on the spot on the lunar surface.

6. The lunar surface dexterous working robot according to claim 1, characterized in that: The robot arm operation system (20) comprises a large robot arm (21), a small robot arm (22), an end tool box (23), an end tool (25) and a second motion controller (19). The end tool (25) is installed in the end tool box (23). The large robot arm (21) is connected to the lifting platform (12) of the mobile lifting system (10) and comprises an end quick change device (24). The end quick change device (24) is used to connect with the end tool (25) to complete the lunar surface operation task. The small robot arm (22) is installed on the supporting plate (18) of the mobile lifting system (10) to cooperate with the large robot arm (21) to complete the lunar surface operation task. The second motion controller (19) receives the coordinated motion sequence sent by the navigation control system (30) to control the actions of the large robot arm (21) and the small robot arm (22).

7. The lunar surface dexterous working robot according to claim 1, characterized in that: The navigation control system (30) comprises a navigation camera (31), an obstacle avoidance camera (32), an inertial measurement unit (33) and a central control and image processor (34), wherein: A navigation camera (31) for acquiring long-distance images and transmitting them to a central control and image processor (34); an obstacle avoidance camera (32) for acquiring close-range images and transmitting them to a central control and image processor (34); An inertial measurement unit (33) for measuring the position, velocity and attitude information of the mobile lifting system (10) and transmitting the information to a central control and image processor (34); The central control and image processor (34) extracts image features and performs three-dimensional reconstruction based on the long-range image and the short-range image, completes navigation positioning in combination with the position, speed and posture information of the mobile lifting system (10) and the moving mileage information, arranges instructions based on the navigation positioning information and the task requirements sent by the communication system (40), generates a planning trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the first motion controller (13) of the mobile lifting system (10) and the second motion controller (19) of the robot arm operation system (20), respectively; and simultaneously sends the long-range image and the short-range image, the position, speed and posture information of the mobile lifting system (10), the moving mileage information and the coordinated motion sequence to the communication system (40).

8. The lunar surface dexterous working robot according to claim 1, characterized in that: The communication system (40) comprises a transceiver antenna (41) and a mobile communication terminal (42), wherein the transceiver antenna (41) communicates with the lunar surface network, receives the mission requirements of the lander and sends them to the central control and image processor (34) of the navigation control system (30) through the mobile communication terminal (42); the mobile communication terminal (42) sends the long-range image and short-range image of the lunar surface obtained from the navigation control system (30), as well as the position, speed, attitude information and moving mileage information of the mobile lifting system (10) to the lunar surface network through the transceiver antenna (41).

9. The lunar surface dexterous working robot according to claim 1, characterized in that: The energy system (50) comprises a wireless charging receiving end (51), a wireless charging electronic device (52), an equipment power supply (53) and an intelligent power distribution module (54), wherein the wireless charging electronic device (52) charges the equipment power supply (53) via the wireless charging receiving end (51), and the intelligent power distribution module (54) is connected to the equipment power supply (53) to distribute power and supply power to the mobile lifting system (10), the robot arm operation system (20), the navigation control system (30), the communication system (40) and the thermal control system (60).

10. The lunar surface dexterous working robot according to claim 9, characterized in that: The wireless charging receiving end (51) is installed on the side of the lifting platform (12) of the mobile lifting system (10) and can be raised or lowered together with the large mechanical arm (21) of the mechanical arm operation system (20); the wireless charging electronic device (52) is installed on the supporting plate (18) of the mobile lifting system (10); and the equipment power supply (53) is a graphene high-energy-density battery.

11. The lunar surface dexterous working robot according to claim 1, characterized in that: The thermal control system (60) includes a gravity-driven fluid circuit (61), a retractable radiator (62), an electric heater (63), an isotope heat source (64), a thermal control module (65), a thermal control coating and a multi-layer thermal insulation material (66), wherein the gravity-driven fluid circuit (61) is used for heat conduction and energy transfer; the retractable radiator (62) is used for radiating heat during the lunar day and preventing heat radiation during the lunar night; the electric heater (63) is used for heating various devices during the lunar night; the isotope heat source (64) is used for providing heat during the lunar night; the thermal control module (65) is used for controlling the heating to provide heat to various devices; and the thermal control coating and the multi-layer thermal insulation material (66) are used for providing thermal insulation for various devices.

12. The lunar surface dexterous working robot according to claim 11, characterized in that: The gravity-driven fluid circuit (61) is installed on the mobile lifting system (10), the retractable radiator (62) is connected to the mobile lifting system (10), the electric heater (63) is installed on the surface of each device, the isotope heat source (64) is installed on the lower surface of the carrier plate (18) of the mobile lifting system (10), the thermal control module (65) is located in the central control and image processor (34) of the navigation control system (30), and the thermal control coating and multi-layer thermal insulation material (66) are arranged on the surface of each device.

13. The lunar surface dexterous working robot according to claim 1, characterized in that: The first motion controller (13) and the second motion controller (19) use the same hardware computing and information processing architecture, both of which are DSP+FPGA+intelligent chip, and back up each other.

14. A method for implementing a lunar surface dexterous operation robot, characterized in that: include: The mobile lifting system (10) receives the coordinated motion sequence sent by the navigation control system (30), realizes movement on the lunar surface, and raises or lowers the large mechanical arm (21) of the mechanical arm operation system (20), and rotates the navigation camera (31) of the navigation control system (30); The manipulator operation system (20) receives the coordinated motion sequence sent by the navigation control system (30) and completes the lunar surface operation task under the drive of the mobile lifting system (10); The navigation control system (30) acquires long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system (10), completes navigation positioning, arranges instructions according to the navigation positioning information and the task requirements sent by the communication system (40), generates a planned trajectory that takes obstacle avoidance into consideration, and forms a coordinated motion sequence, which is sent to the mobile lifting system (10), the robot arm operation system (20) and the communication system (40); and sends the acquired long-range and short-range images of the lunar surface, as well as the position, speed, attitude information and mileage information of the mobile lifting system (10) to the communication system (40); The communication system (40) communicates with the lunar surface network, receives the mission requirements of the lander and sends them to the navigation control system (30), and sends the long-range and short-range images of the lunar surface acquired from the navigation control system (30), as well as the position, speed, attitude information and movement mileage information of the mobile lifting system (10) to the lunar surface network; The energy system (50) is responsible for supplying and distributing power to the mobile lifting system (10), the robotic arm operation system (20), the navigation control system (30), the communication system (40) and the thermal control system (60); The thermal control system (60) enables the mobile lifting system (10), the mechanical arm operation system (20), the navigation control system (30), the communication system (40) and the energy system (50) to maintain a temperature that meets equipment working conditions during the lunar day, and a temperature that meets equipment storage conditions during the lunar night.

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