Wind and electric field combined-driven miniature spider-imitating Mars flight detection robot

Abstract

A miniature spider-imitating Mars flight detection robot jointly driven by wind and electric fields can carry different types of sensors to land on the Mars along with large devices such as a Mars rover without extra driving energy, and parameter detection is achieved. Relates to the technical field of micro-robots. The detector main body is of a spider bionic foot structure and plays a role in supporting and posture control; the fiber electrification system enables the plurality of fiber filaments to be electrified, so that after the plurality of fiber filaments are electrified, due to the fact that the same charges are mutually repelled and dispersed and act with different charges in the atmosphere of the Mars, the fiber filaments can be erected, the resistance area is increased, and preparation is made for taking off by virtue of a wind field; the attitude control system applies electric quantity to the bionic feet to enable the bionic feet to bend and stretch, the asymmetric bending and stretching of the six bionic feet enable the wind resistance to be changed so as to cause the stress to be changed, and the flight direction is adjusted. The miniature spider-imitating detector is suitable for detecting stars and other stars with thin atmospheric environment and electric field environment.

Description

Technical Field

[0001] The invention relates to the technical field of micro-robots, and in particular to a micro-spider-like Mars flying exploration robot driven by wind and electric fields. Background Art

[0002] With the development of science and technology, deep space exploration is one of the most cutting-edge scientific and innovative tasks in the aerospace field. Deep space exploration can not only enhance human understanding of the unknown areas of space and the origin of life, but also promote the development of space science and technology and promote the development and utilization of space resources. Mars, as a neighboring planet of the Earth, has always been one of the most attractive targets for deep space exploration.

[0003] The atmospheric environment of Mars is significantly different from that of the Earth. Its atmospheric density is only 1% of that of the Earth, and frequent global dust storms can lead to extreme conditions such as a sudden increase in suspended particle concentration and a sudden drop in light intensity. These characteristics make in-situ measurements of physical quantities in the Martian atmosphere (such as wind speed, air pressure, dust storm particle distribution, and electrostatic field intensity) of great significance for studying the climate evolution of Mars, risk assessment of manned exploration, and equipment protection design. However, existing technical solutions face the following key bottlenecks:

[0004] 1. Adaptability defects of traditional flying probes: Rotor-type aircraft (such as NASA's Ingenuity helicopter) rely on high-speed rotors to generate lift, but they consume extremely high energy to maintain their flight posture in the thin atmosphere of Mars, and the dust storm environment easily causes wear of mechanical parts and electrostatic adsorption of sand and dust. Although the flapping wing design can improve aerodynamic efficiency, its complex transmission mechanism has significantly reduced reliability under the low temperature (-60℃ to 20℃) and sand and dust erosion of Mars.

[0005] 2. The gap in passive flight technology: The current mobility of Mars probes is limited to wheeled patrols or short-range jumps, and lacks the ability to dynamically monitor wide-area atmospheric parameters. Known passive flight schemes in the Earth environment (such as the spread of dandelion seeds by wind) fail due to the extremely low density of the Martian atmosphere and cannot cope with the strong turbulence disturbances in dust storms.

[0006] 3. Potential value of spider bionics: Spiders achieve wingless passive flight by releasing charged spider silk. The principle involves the synergy of electrostatic force and airflow: the repulsive effect between the surface charge of spider silk and the negative charge of the Martian surface can enhance lift, while the fractal filament structure can effectively reduce the impact damage of dust storm particles. This mechanism has not yet been applied to deep space exploration, especially in the extreme atmospheric conditions of Mars, where the technology transformation path is still unclear.

[0007] Based on this, it is urgent to develop a new type of Mars atmosphere detection device, which can break through the environmental adaptability limitations of traditional aircraft by imitating the passive flight principle of bionic spiders, and achieve high survivability and wide-area detection capabilities in dust storm environments.

[0008] Traditional probes are limited in size and terrain adaptability, and cannot cover medium-sized complex areas (such as lava tubes and vertical rock walls), which are areas that need to be explored. In addition, most traditional probes are powered by solar energy, and their performance will be reduced when there is a Martian dust storm or insufficient light in winter, making traditional probes susceptible to the influence of driving energy, resulting in limited mission scope.

[0009] Since the radiation intensity on the surface of Mars is 700 times that of the Earth, dust storm particles can easily erode precision parts. For example, the mechanical joints of the Mars rover are prone to wear in a high dust environment, causing the moving parts to fail. Therefore, minimizing the number of precision mechanical parts while ensuring the completion of the exploration mission has become a problem that needs to be solved urgently. Summary of the invention

[0010] The purpose of the present invention is to provide a miniature passive flying detection robot that relies on wind and electric field forces as power, so that it does not require additional driving energy, is light in weight, can carry different types of sensors, and land on Mars together with large devices such as Mars rovers, and then detect various parameters in the Martian atmosphere.

[0011] To achieve the above object, the present invention provides the following solutions:

[0012] The present invention provides a wind-electric field-co-driven miniature spider-like Mars flying exploration robot, the Mars flying exploration robot comprising a probe body, a fiber system, a power supply system and a posture control system;

[0013] The main body of the detector is a spider-like bionic foot structure with six bionic feet for support and posture control.

[0014] The fiber system includes a fiber charging system and a plurality of fiber filaments, and the plurality of fiber filaments are fixed on the detector body;

[0015] The fiber charging system is used to charge multiple fiber filaments, so that after being charged, the multiple fiber filaments repel and disperse each other due to the same charges, and interact with the opposite charges in the Martian atmosphere, so that the fiber filaments can stand upright, increase the resistance area, and prepare for takeoff by relying on the wind field;

[0016] The attitude control system is used to apply electricity to the bionic foot so that the bionic foot can be flexed and extended. The asymmetric flexion and extension of the six bionic feet changes the wind resistance and thus causes the force to change, thereby adjusting the flight direction.

[0017] The power supply system is used to provide working power for the bionic foot and fiber filaments.

[0018] Furthermore, in a preferred embodiment, the fiber filaments are fibers having physical properties that allow them to be stably charged.

[0019] Furthermore, in a preferred embodiment, the amount of charge on the fiber filaments is variable to affect the degree of dispersion between the fiber filaments, thereby affecting the wind resistance coefficient, thereby achieving the purpose of controlling the flight altitude of the probe.

[0020] Furthermore, in a preferred embodiment, the Mars flight exploration robot further includes a power supply control system;

[0021] The power control system optimizes the auxiliary effect of the electric field force on the flight of the probe by adjusting the charged state of the fiber filaments, thereby ensuring that the probe can fly stably in a complex electric field environment.

[0022] Furthermore, in a preferred embodiment, the Mars flight exploration robot further includes a sensor system and a detection data processing system;

[0023] The sensor system is used to detect various physical quantities, radiation intensity and chemical composition in the Martian atmosphere and send them to the detection data processing system for data processing.

[0024] Furthermore, in a preferred embodiment, the sensor system includes a plurality of physical quantity sensors, radiation-related sensors and chemical composition analysis sensors.

[0025] Furthermore, in a preferred embodiment, the fiber filaments are 50 cm in length, 50 to 100 in number, and 1 mm in diameter.

[0026] Furthermore, in another preferred embodiment, the volume of the detector body is 2×2×2cm 3 .

[0027] Furthermore, in a preferred embodiment, the detection robot weighs 1g.

[0028] Furthermore, there is a preferred embodiment in which the above-mentioned exploration robot is used to implement an in-situ exploration mission of the atmosphere on Mars.

[0029] The beneficial effects of the present invention are:

[0030] The present invention designs a miniature passive flying detection robot that relies on wind and electric field forces as power. In the preparation for takeoff, the fiber filaments on the detection body have the same charges that repel and disperse each other, forming a clustered geometric structure to increase the area of ​​wind resistance, and achieve passive flight through the ultra-high-speed wind on Mars. At the same time, the heterogeneous charges in the Martian atmosphere are used to enable the fiber filaments to stand upright, increase the resistance area, and prepare for takeoff with the help of the wind field.

[0031] Furthermore, when the wind in the Martian atmosphere is strong enough, the lift generated by the wind on the fibers overcomes the probe's own gravity and other resistances, pushing the probe into flight. During the flight, the probe can continuously adjust the charge of the fibers and control the dispersion between the fibers, thereby affecting the magnitude of the resistance generated and the magnitude of the electric field force it is subjected to.

[0032] Furthermore, the shape of the detector body imitates a spider. The imitated spider has six legs, each of which is about 2 cm long and is made of electro-sensitive materials. When powered on, it can achieve a certain degree of deformation (bending), thereby imitating the spider to adjust its flight posture in the air by flexing and extending its legs, thereby controlling the direction of flight.

[0033] The present invention is suitable for detecting a miniature spider-like detector on planets with a rarefied atmosphere and electric field environment, such as Mars. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is the electrical principle diagram of a wind-electric field-co-driven miniature spider-like Mars flying exploration robot proposed by the present invention;

[0036] Figure 2 is a schematic diagram of fiber charging according to the present invention;

[0037] Figure 3 It is a schematic diagram of the bionic foot posture control described in the present invention. DETAILED DESCRIPTION

[0038] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0039] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0040] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0041] Implementation method 1, see Figure 1 To describe this embodiment, the purpose of this embodiment is to provide a miniature passive flying detection robot that relies on wind and electric field forces as power, so that it does not require additional driving energy and is lightweight. It can carry different types of sensors and land on Mars together with large devices such as the Mars rover, and then detect various parameters in the Martian atmosphere.

[0042] The wind-electric field-co-driven miniature spider-like Mars flying exploration robot designed in this embodiment includes a probe body, a fiber system, a power supply system and a posture control system;

[0043] The main body of the detector is a spider-like bionic foot structure with six bionic feet for support and posture control.

[0044] The fiber system includes a fiber charging system and a plurality of fiber filaments, and the plurality of fiber filaments are fixed on the detector body;

[0045] The fiber charging system is used to charge multiple fiber filaments, so that after being charged, the multiple fiber filaments repel and disperse each other due to the same charges, and interact with the opposite charges in the Martian atmosphere, so that the fiber filaments can stand upright, increase the resistance area, and prepare for takeoff by relying on the wind field;

[0046] The attitude control system is used to apply electricity to the bionic foot so that the bionic foot can be flexed and extended. The asymmetric flexion and extension of the six bionic feet changes the wind resistance and thus causes the force to change, thereby adjusting the flight direction.

[0047] The power supply system is used to provide working power for the bionic foot and fiber filaments.

[0048] The Mars exploration flight detection robot designed in this embodiment uses artificial spider silk (fiber) structure and the electric field and wind field in the Martian atmosphere to achieve high-altitude long-distance passive flight, and realize the in-situ atmospheric detection mission on Mars. This detector has the ability to carry different types of scientific payloads (sensors). It can land on Mars together with large devices such as Mars rovers, and then be dropped on the ground or dropped in the air during the landing process, and then detect various parameters in the Martian atmosphere. These parameters cover a variety of physical quantities such as wind speed, electric field, humidity, temperature, radiation, etc., and its applicable detection range is very wide.

[0049] Furthermore, the shape of the detector body imitates a spider. The imitated spider has six legs, each of which is about 2 cm long and is made of electro-sensitive materials. When powered on, it can achieve a certain degree of deformation (bending), thereby imitating the spider to adjust its flight posture in the air by flexing and extending its legs, thereby controlling the direction of flight.

[0050] Embodiment 2: A wind-electric field-co-driven miniature spider-like Mars flying exploration robot designed in the above embodiment 1 also includes a power control system, a sensor system and a detection data processing system;

[0051] The power control system optimizes the auxiliary effect of the electric field force on the flight of the probe by adjusting the charged state of the fiber filaments, thereby ensuring that the probe can fly stably in a complex electric field environment.

[0052] The sensor system is used to detect various physical quantities, radiation intensity and chemical composition in the Martian atmosphere and send them to the detection data processing system for data processing.

[0053] In actual application of this embodiment, the sensor system includes various physical quantity sensors, radiation-related sensors and chemical composition analysis sensors.

[0054] Implementation method three, see Figures 1 to 3 This embodiment is described. This embodiment is a specific description of the wind and electric field-co-driven miniature spider-like Mars flying exploration robot described in the first embodiment.

[0055] like Figure 1 As shown, it specifically includes a detector body, a fiber system, a power system, an attitude control system, a sensor system and a detection data processing system;

[0056] The main part of the detector is designed as a spider bionic foot structure, that is, it imitates the spider with six bionic feet, which play a supporting role and a posture control role. The main function of the detector is to serve as a carrying platform, carrying sensors, fibers, power supply systems and other parts. The size of the detector body: volume 2×2×2cm3. The mass of the detector body: about 1g.

[0057] The fiber system includes a fiber charging system and a plurality of fiber filaments. The plurality of fiber filaments extend from the top of the main body and can provide lift for the detector with the help of the wind field. Figure 2 shown.

[0058] Among them, the fiber filaments are about 50cm long, the number is about 50 to 100, the diameter is 1mm, and they have the physical property of being stably charged. The fiber is charged through the fiber charging system. Multiple fiber filaments repel each other and disperse due to the same charge, forming a clustered geometric structure, thereby increasing the area of ​​wind resistance, and achieving passive flight through the ultra-high-speed wind on Mars. At the same time, due to the dry atmosphere of Mars, there are often charges, so the electric field force in the Martian atmosphere is also one of the power sources for the probe to fly. That is, due to the electric field in the Martian atmosphere, the charged wire with different charges from the electric field can be "erected". The purpose of increasing the resistance area is achieved through the above process, preparing for takeoff with the wind field. At the same time, when the probe is in the electric field of the Martian atmosphere, the attraction of the electric field on the charged fiber will produce an additional force on the probe. This force and the force generated by the wind act together on the probe to assist the probe to fly in the Martian atmosphere. During the flight, the probe can adjust the charged state of the fiber through the fiber charging system according to the change of the electric field strength, thereby optimizing the auxiliary effect of the electric field force on the flight and ensuring that the probe can fly stably in a complex electric field environment. Changes in the number of charges will also affect the degree of dispersion between fiber filaments, thereby affecting the wind resistance coefficient and achieving the purpose of controlling flight altitude.

[0059] The power system is used to provide the necessary power for the entire charging system to ensure the normal operation of the system. A small battery provides the power source, which mainly provides energy for the fiber charging and provides the most basic power required for the work of the detector payload.

[0060] The power control system controls the output voltage and thus the amount of charge output to the fiber filaments.

[0061] The main body of the probe can also carry a variety of physical quantity sensors, radiation-related sensors, chemical composition analysis sensors, etc., which are used to collect various parameters in the Martian atmosphere and send them to the detection data quantity system for data processing. These parameters cover a variety of physical quantities such as wind speed, electric field, humidity, temperature, radiation, etc., and the applicable detection range is very wide.

[0062] The attitude control system is used to apply electricity to the bionic foot to make it flex and extend. The asymmetric flexion and extension of the six bionic feet changes the wind resistance and thus causes the force to change, thus adjusting the flight direction. Figure 3 shown.

[0063] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0064] The above description is only the implementation mode of the present invention and is not limited to the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A wind-electric field-driven miniature spider-like Mars flying exploration robot, characterized in that: It includes the probe body, fiber system, power system and attitude control system; The main body of the detector is a spider-like bionic foot structure with six bionic feet for support and posture control. The fiber system includes a fiber charging system and a plurality of fiber filaments, and the plurality of fiber filaments are fixed on the detector body; The fiber charging system is used to charge multiple fiber filaments, so that after being charged, the multiple fiber filaments repel and disperse each other due to the same charges, and interact with the opposite charges in the Martian atmosphere, so that the fiber filaments can stand upright, increase the resistance area, and prepare for takeoff by relying on the wind field; The attitude control system is used to apply electricity to the bionic foot so that the bionic foot can be flexed and extended. The asymmetric flexion and extension of the six bionic feet changes the wind resistance and thus causes the force to change, thereby adjusting the flight direction. The power supply system is used to provide working power for the bionic foot and fiber filaments.

2. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: Fiber filaments are fibers that have the physical property to be stably charged.

3. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: The amount of charge on the fiber filaments can be varied to affect the dispersion between the fiber filaments, thereby affecting the wind resistance coefficient, thereby achieving the purpose of controlling the flight altitude of the probe.

4. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: Also included is a power control system; The power control system optimizes the auxiliary effect of the electric field force on the flight of the probe by adjusting the charged state of the fiber filaments, thereby ensuring that the probe can fly stably in a complex electric field environment.

5. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: It also includes a sensor system and a detection data processing system; The sensor system is used to detect various physical quantities, radiation intensity and chemical composition in the Martian atmosphere and send them to the detection data processing system for data processing.

6. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 4, characterized in that: The sensor system includes various physical quantity sensors, radiation related sensors and chemical composition analysis sensors.

7. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: The fiber filaments are 50 cm in length, 50 to 100 in number, and 1 mm in diameter.

8. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: The detector body volume is 2×2×2cm 3 .

9. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: The detection robot weighs 1g.

10. The wind-electric field-co-driven miniature spider-like Mars flying exploration robot according to claim 1, characterized in that: The exploration robot is used to carry out in-situ atmospheric exploration missions on Mars.

Images