In-cabin robot motion control system based on bladeless fan

Abstract

According to the in-cabin robot motion control system based on the bladeless fan, a robot body is of a spherical structure and comprises a camera, an interaction screen, interaction keys, the bladeless fan, an air inlet grid plate, a coaxial reverse paddle impeller, an air inlet channel and a robot body; the camera, the interaction screen and the interaction key are installed on the front face of the robot trunk and are sequentially arranged from top to bottom. The arched bladeless fans are mounted in the upper, lower, left and right directions of the robot trunk; an air inlet grid plate, a set of coaxial reverse paddle impellers and four air inlet channels are installed in the center of the back face of the robot trunk, and the two ends of each air inlet channel are connected with the coaxial reverse paddle impeller in the center and one bladeless fan at the corresponding position respectively. According to the in-cabin robot motion control system, gas in a space station cabin can be fully utilized as a propelling medium, and the in-cabin robot motion control system which is highly safe, reliable, flexible and efficient is designed for the in-cabin robot. In addition, energy in the space station is very valuable, and the design can improve efficiency and reduce power consumption to a certain extent.

Description

Technical Field

[0001] The present invention relates to an in-cabin robot motion control system based on a bladeless fan, belonging to the field of robot control. Background Art

[0002] At the end of 2022, the Chinese space station was fully completed and entered a new stage of long-term in-orbit operation and large-scale space applications. There is an urgent need to develop in-cabin intelligent autonomous robots that can assist astronauts in living and working in orbit. In the International Space Station, multiple countries such as the United States and Japan have developed free-flying in-cabin robots with unique functions.

[0003] AERCam(Autonomous Extravehicular Robotic Camera)Sprint [1] The "pod camera" aircraft was tested in orbit during the STS-87 mission in December 1997. It can be used inside and outside the space station cabin and is the earliest prototype of an in-cabin robot, mainly used for assisting in mission shooting. AERCam Sprint adopts a spherical structure, weighs about 16 kg, has a diameter of about 36 cm, and is equipped with two cameras. It uses a storage tank to store compressed gas and jets gas from 12 nozzles arranged around its body to provide thrust, achieving 6-degree-of-freedom control.

[0004] SPHERES(Synchronized Position Hold,Engage,Reorient,ExperimentalSatellites) [2,3] It is a small spherical robot group developed by MIT. The 3 small robots it contains were launched onto the International Space Station in 2006. Its basic structure is a 26-sided polyhedron frame made of aluminum alloy, with a diameter of 25 cm and a weight of about 4 kg. In terms of the propulsion and control system, SPHERES uses solenoid valves to control 12 nozzles and jets CO2 in the propulsion tank to provide power, thereby achieving 6-degree-of-freedom motion control. Consumables such as batteries and CO2 can be replaced at any time.

[0005] Int-ball(Internal Ball Camera) [4] Developed by the Japan Aerospace Exploration Agency (JAXA). It has a diameter of about 15 cm and a weight of about 1 kg, and is currently the smallest in-cabin robot. Twelve small fans are configured around the Int-ball to provide thrust and achieve 6-degree-of-freedom control. For the safety of the crew, the fans are built-in. In addition, a 3-axis momentum wheel is used to achieve precise attitude control to ensure the stability of the captured images.

[0006] CIMON(Crew Interactive Mobile Companion) [5]Jointly developed by Airbus and the German Aerospace Center (DLR), it was sent to the International Space Station in June 2018. It has an approximately spherical shape, with a diameter of about 32 cm and a weight of about 5 kg. It is equipped with artificial intelligence provided by IBM Watson. It uses an air intake and ejection device to achieve six-degree-of-freedom control and can move autonomously or be remotely controlled by the ground center to move.

[0007] Astrobee [6] Developed by NASA, it includes three small robots, Honey, Bumble, and Queen, which were sent to the International Space Station in April 2019 and July 2019. It is in the shape of a cube with a side length of 32 cm and a weight of about 7 kg. To ensure safety, the eight corners of the cube are wrapped with rubber sleeves, and the movement speed of the robot is restricted to less than 0.5 m / s. Astrobee uses a pair of fans with opposite rotation directions to inhale air and eject the gas from 12 controllable nozzles to achieve six-degree-of-freedom control.

[0008] Several theoretical studies and simulation experiments on in-cabin robots have been carried out in China. Liu Jinguo et al. designed a spherical in-cabin auxiliary robot (AAR) [7] , and the AAR2 in-cabin robot with a polyhedral shape [8] , which uses 12 groups of propellers to achieve position and attitude control.

[0009] Existing in-cabin robots on the space station have all achieved six-degree-of-freedom full drive control, but their thrust mechanisms are different. AERCamSprint and SPHERE use cold gas jets to generate power, but the ejected gas, as a consumable, needs to be replenished regularly, and long-term use may affect the gas environment in the cabin. Int-ball and AAR use 12 small fans arranged around the body to provide thrust, but the built-in fans lead to reduced aerodynamic efficiency, and the external fans pose a safety hazard. Astrobee uses a central fan in combination with 12 distributed nozzles to provide thrust, but there is a noise problem during operation [9] . In addition, the above robots use a full drive control method, and all 12 air outlets are controlled by servos, resulting in redundant structure and high power consumption.

[0010] References:

[0011] [1]Williams T,Tanygin S.On-orbit engineering tests of the AERCamSprint robotic camera vehicle[J].

[0012] Spaceflight mechanics,1998,1001-1020.

[0013] [2] Otero A S, Chen A, Miller D W, et al. SPHERES: Development of an ISS Laboratory for Formation Flight and Docking Research [A]. Aerospace Conference Proceedings [C]. Big Sky, MT, USA: IEEE, 2002: 1-1.

[0014] [3] Otero A S, Katz J, Mwijuka A T. The Zero Robotics SPHERES Challenge 2010 [J]. IEEE Aerospace &

[0015] Electronic Systems Magazine, 2011, 26(7): 4-17.

[0016] [4] Mitani S, Goto M, Konomura R, et al. Int-ball: Crew-supportive autonomous mobile camera robot on

[0017] ISS / JEM [C] / / 2019 IEEE Aerospace Conference. IEEE, 2019: 1-15.

[0018] [5] DLR, CIMON-2 on the International Space Station [EB / OL],

[0019] https: / / www.dlr.de / en / images / 2020 / 2 / cimon-2-on-the-iss, 2024-03-02.

[0020] [6] Bualat M, Barlow J, Fong T, et al. Astrobee: Developing a Free-flying Robot for the International Space Station [A]. AIAA SPACE 2015 conference and exposition [C]. Pasadena, CA, USA: AIAA, 2015: 4643.

[0021] [7]Liu, J., Gao, Q., Liu, Z. et al. Attitude Control for Astronaut Assisted Robot in the Space Station[J]. Control Autom, 2016, Syst. 14, 1082 - 1095.

[0022] [8]Gao Q, Liu J, Tian T, et al. Free - flying Dynamics and Control of an Astronaut Assistant Robot Based on Fuzzy Sliding Mode Algorithm[J]. The Fifth International Conference on Tethers in Space, 2017, 138:462

[0023] –474.

[0024] [9]Bualat M G, Smith T, Smith E E, et al. Astrobee: A new tool for ISS Operations[A]. 2018 SpaceOps

[0025] Conference[C]. Marseille, France: AIAA, 2018:2517.

[0026]

[10] Zhang Wei. Discussion on the Principle, Application and Industrial Prospect of the Bladeless Fan[J]. Guide to Business, 2012, (4):285.

[0027]

[11] Jean Thilmany. The Bladeless Fan[J]. Mechanical Engineering. 2011, 133(12):16.

[0028]

[12] Zhang Guangxing. Research on the Air Supply Performance and Flow Field Characteristics of the Bladeless Fan[D]. Hangzhou: Zhejiang Sci - Tech University, 2013. Summary of the Invention

[0029] In view of the characteristics of the enclosed, narrow and complex space environment inside the space station cabin, where precious and vulnerable equipment is everywhere and the ventilation interference inside the cabin is large, the present invention can make full use of the gas inside the space station cabin as the propulsion medium to design a highly safe, reliable, flexible and efficient in - cabin robot motion control system for the in - cabin robot. In addition, energy is extremely precious in the space station, and this design can improve efficiency and reduce power consumption to a certain extent.

[0030] The present invention proposes an in-cabin robot motion control system based on a bladeless fan. Among them, the front view of the overall layout of the robot is as shown in Figure 1 and the top view is as shown in Figure 2 and the rear axonometric view is as shown in Figure 3a and Figure 3b respectively. The robot body adopts a spherical structure with a diameter of 300 mm. The main components of the system include 1. camera, 2. interaction screen, 3. interaction buttons, 4. bladeless fan, 5. air intake grille, 6. coaxial contra-rotating impellers, 7. air intake channel, and 8. robot torso. The camera, interaction screen, and interaction buttons are installed on the front of the robot torso, arranged in sequence from top to bottom. The bow-shaped bladeless fans are installed in the four directions of up, down, left, and right of the robot torso. One air intake grille, one set of coaxial contra-rotating impellers, and four air intake channels are installed in the center of the back of the robot torso. Both ends of each air intake channel are respectively connected to the coaxial contra-rotating impellers in the center and one bladeless fan at the corresponding position. Now, each component will be further introduced.

[0031] A set of coaxial contra-rotating impellers is designed in the center of the rear of the robot. This design can cancel out the reaction torque and gyroscopic torque generated by the rotation of the impellers, improving the stability of the robot. The two impellers rotate in opposite directions to press the gas into the air intake channel of the bladeless fan, and then the air flow is ejected from the bladeless fan to provide power support for the robot.

[0032] One bladeless fan is equipped in each of the four directions of up, down, left, and right of the robot. The fan can rotate around its own axis by 1 degree of freedom, and the angle range is 360°. The thrusts of the four fans are the same. By adjusting the rotational speed of the coaxial contra-rotating impellers, the thrust magnitude is changed to adjust the moving speed of the robot, and by changing the thrust directions of each fan, the attitude and position control are achieved. The following analysis process introduces the relationship between the exhaust volume of the coaxial contra-rotating impellers and the fan thrust. The basic analysis idea is: First, a parametric thrust model is established with a standard bladeless fan sold in the market as the object to obtain the relationship between thrust and flow rate and geometric dimensions; then, the relevant parameters are changed to the parameters of the thrust mechanism used by the robot to estimate the thrust of the in-cabin robot.

[0033] Considering the process of a certain air flow starting from rest and flowing through the Conda surface from infinity, according to Bernoulli's equation, we have:

[0034]

[0035] Among them, p μ is the head loss due to viscous resistance, ρ = 1.225 kg / m 3 is the air density at normal temperature, and v is the average velocity flowing through the Conda surface. Taking a certain market sales model as an example, its air intake volume is 30 L / s, the slit width is about 1.17 mm, and the maximum outlet velocity is 35 km / h

[10] According to the flow conservation calculation, the velocity at the slit outlet is 31.88 m / s, and the average velocity v = 20.8 m / s is taken. k μ is the head loss coefficient, and the pressure difference is taken as 12P a , and k can be calculated μ = 0.05.

[0036] Assume the slit area is S, then the magnitude of the jet momentum is dP / dt = ρSv 2 , and the direction is along the positive direction of the jet. The magnitude of the thrust can be calculated as follows:

[0037]

[0038] Among them, θ is the inner contraction angle of the fan frame, as Figure 4 shown. The value of θ directly affects the effective action area of the pressure difference thrust. In this paper, θ = 15° is taken. S b is the side surface area of the fan outer frame. The width of the slit outlet is 1.17 mm, and the radius is 128 mm

[11] , and it can be known that S = 9.41×10 -4 mm 2 .

[0039] Combining the flow calculation formula

[0040] Q = Sv (3)

[0041] We can get:

[0042]

[0043] In formula (4), the relationship between the thrust F of the bladeless fan and the intake flow rate Q, the outlet slit area S, and the side surface area S of the fan outer frame is given b . For a household bladeless fan with Q = 30 L / s and θ = 15°, the magnitude of its thrust is 1.64 N.

[0044] The width of the outlet slit of the designed robot bladeless fan is 1.17 mm, and the geometric parameters of the fan are as Figure 1 shown. According to the above derivation, it can be calculated that for a robot with an intake volume of 20 L / s, the magnitude of the thrust of a single fan is 99.1 mN, and the total thrust is 396.4 mN.

[0045] In order to fit the spherical appearance of the robot, the shape of the outlet of the bladeless fan is deformed from a circle to a bow shape, as shown in Figure 5 shown. Although it increases the gas kinetic energy loss to a certain extent, it improves the overall safety and prevents hooking to a certain extent.

[0046] The intake grid is set at the intake port, and its main function is to prevent particulate matter from entering the system, protect the internal structure of the robot, and make the airflow stable.

[0047] Functional devices are installed on the front of the robot torso, including a camera, an interactive screen, and interactive buttons, which are arranged in sequence from top to bottom. An installation space for the robotic arm is reserved below the interactive buttons. These devices can provide the robot with visual perception and user interaction functions, thus achieving more intelligent control and applications and enhancing the overall performance of the robot.

[0048] Both the robot torso and the bladeless fan are made of polyphenylene sulfide material. Polyphenylene sulfide (PPS) is a new type of high-performance thermoplastic resin with advantages such as high mechanical strength, high temperature resistance, chemical resistance, flame retardancy, and good thermal stability. The robot inside the space station cabin has extremely high safety requirements. PPS has a small density and good flame retardancy, and has a low fire hazard in actual applications, which is a suitable material selection scheme.

[0049] The advantages and beneficial effects of the present invention are as follows:

[0050] 1. The high-speed jet blown out from the slit of the bladeless fan flows along the inner wall Conda surface.

[12] On the one hand, the reaction force generated by the high-speed jet is utilized; on the other hand, the wall surface design similar to an airplane wing can generate a pressure difference before and after the fan. Designing the contraction angle θ of the bladeless fan can generate a pressure difference thrust, and its principle is schematically shown in Figure 4 The expression of the thrust is:

[0051]

[0052] where F is the thrust generated by a single bladeless fan, P is the momentum of the slit jet, p0 is the external atmospheric pressure, p a is the static pressure inside the fan annular frame, and S a is the effective area of the pressure difference acting in the thrust direction.

[0053] Compared with ordinary fans that only generate reaction thrust by pushing air flow, the bladeless fan utilizes the Conda effect and Bernoulli principle to additionally generate pressure difference thrust, which improves the aerodynamic efficiency to a certain extent.

[0054] 2. Foreign robots such as Astrobee turn by weakening the thrust on one side to generate an asymmetric torque. The device described in this article only changes the thrust direction without weakening the thrust magnitude, thus improving the mobility and turning efficiency of the robot.

[0055] 3. Compared with robots such as Astrobee that use 12 jet nozzles, this design only needs to control the rotation angles of four bladeless fans, reducing the required number of servos from 12 to 4, saving energy and reducing power consumption.

[0056] 4. The bladeless fan hides the fan blades inside the robot, greatly enhancing the safety during use while ensuring the pneumatic efficiency, enabling the robot to coexist safely with astronauts in a limited space. Description of the Drawings

[0057] Figure 1 The front view of the in-space-station cabin robot designed based on the bladeless fan.

[0058] Figure 2 The top view of the in-space-station cabin robot designed based on the bladeless fan.

[0059] Figure 3a The rear axonometric view of the in-space-station cabin robot designed based on the bladeless fan with the intake grille installed.

[0060] Figure 3b The rear axonometric view of the in-space-station cabin robot designed based on the bladeless fan with the intake grille removed.

[0061] Figure 4 The schematic diagram of the air multiplication and thrust generation principle of the bladeless fan.

[0062] Figure 5 The process of the bladeless fan evolving from a circular shape to an arcuate shape.

[0063] Figure 6 The number of the bladeless fan.

[0064] Figure 7 The momentum wheel attitude control module.

[0065] Figure 8a - Figure 8f The robot position and attitude control mode based on the bladeless fan actuator.

[0066] The descriptions of the reference numerals in the figures are as follows:

[0067] 1. Camera, 2. Interaction screen, 3. Interaction button, 4. Bladeless fan, 5. Intake grille, 6. Coaxial contra-rotating impeller, 7. Intake channel, 8. Robot torso, 9, 10, 11. Three-axis momentum wheel, 12. Modular mounting bracket. Detailed Implementation Manner

[0068] The present invention designs a motion control system for an in-cabin robot based on a bladeless fan. To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the following will further elaborate on the present invention in conjunction with the accompanying drawings. The described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0069] The diameter of the in-cabin robot is 300 mm. The offset of the centroid relative to the center of the robot sphere in the positive x direction is set to 50 mm. The bottom chord length of the bow-shaped bladeless fan is 209.2 mm. The inner contraction angle θ of the inner wall surface of the bladeless fan is 9.5°. The rotation angle range of each bladeless fan is 0 to 360°.

[0070] If the outlet of the bladeless fan is designed as a circle, the outward extension of the fan may cause snagging. However, compared with the bow-shaped outlet, it can reduce the energy loss of the gas to a certain extent, and can also reduce power consumption and improve the pneumatic efficiency on the premise of ensuring safety. The scheme is as shown in the left figure of Figure 5 below.

[0071] In the present invention, the robot uses a bladeless fan to control the position and attitude of the robot. Among them, there is also an alternative solution in attitude control: precise attitude control is achieved by modularly installing a 3-axis momentum wheel. The momentum wheel module includes: 9, 10, 11, three-axis momentum wheels, 12, modular installation brackets, as shown in Figure 7 below. The momentum wheel is a device that adjusts the attitude of the robot by changing its own angular momentum. Each momentum wheel rotates along a specific axis. By adjusting the rotational speed of the momentum wheel, the angular momentum of the robot in the corresponding axis can be changed, thereby achieving precise control of the robot's attitude. To improve the scalability and flexibility of the robot, a modular design is adopted to install and integrate the momentum wheel attitude control module as an independent module. The module internally integrates a momentum wheel, a motor drive system, a control circuit, and necessary sensors. During installation, the momentum wheel attitude control module is installed on the bracket inside the robot cabin through mechanical fixing devices (such as bolts, buckles, etc.) and is connected to the main control system of the robot through a standardized electrical interface.

[0072] Position and attitude control action process

[0073] A rectangular coordinate system fixed to the robot body is established. The x-axis is along the front of the robot, the y-axis direction is as shown in Figure 2 , and the z-axis direction is determined according to the right-hand rule. Figure 2 The midpoint C is the projection of the robot's centroid on the xOy plane. For ease of description, as shown inFigure 6 The four fans of the robot are numbered a, b, c, and d respectively as shown in the figure.

[0074] In terms of position control, when the robot is in the rated state, turning, emergency braking, and hovering states respectively, different control strategies are adopted. In the rated state, the thrust directions of the four fans face backward, and the thrust of each fan is maintained at 80 mN. By adjusting the thrust along the positive x-axis, the stable propulsion of the robot is achieved, as Figure 8a shown in the figure. When turning, the attitude needs to be changed to change the direction. In the body coordinate system, the pitch and roll rotations around the y-axis control the robot's movement in the downward and upward directions respectively; the left and right deflections around the z-axis control the robot's movement in the left and right directions respectively. During emergency braking, the fans are rotated 180°, and the thrust is directed in the opposite direction of the motion direction, thereby changing the motion state of the robot, as Figure 8b shown in the figure. In the hovering state, by making the thrust of fans a and c point in the positive x-axis direction and the thrust of fans b and d point in the negative x-axis direction, the fans can yaw to adjust the attitude at this time. When not yawing, the resultant thrust is 0, thereby realizing the hovering state control of the robot, as Figure 8c shown in the figure.

[0075] It is required to configure the center of mass of the robot to deviate from the center of fan thrust in the x direction. The center of mass offset and the body coordinate system of the robot are as Figure 2 . The four fans have the same thrust and each has a rotational degree of freedom, totaling 5 control variables. The robot has 3 translational degrees of freedom and 3 rotational degrees of freedom, totaling 6 degrees of freedom. Using 5 control variables to control 6 degrees of freedom, so it is an underactuated control system.

[0076] For attitude control, different fan deflection modes are adopted for the control of pitch, yaw, and roll directions in sequence. The synchronous left and right rotations of fans a and c control the robot's right and left rotations respectively, realizing the yaw channel control, as Figure 8d shown in the figure. The synchronous upward and downward rotations of fans b and d control the robot's downward and upward rotations respectively, realizing the pitch channel control, as Figure 8e shown in the figure. The differential rotations of fans a and c and the differential rotations of fans b and d of the robot realize the roll control, as Figure 8f shown in the figure.

[0077] The following formula gives the relationship between the rotation angles of the four fans of the robot and the control force of the robot in this system. The resultant control force of the robot in this system is set as F b =[F xb ,F yb ,F zb T , Let the rotation angles of fans a and c of the robot be α1 and α2, counterclockwise around the z-axis is positive; the rotation angles of fans b and d are β1 and β2, clockwise around the y-axis is positive, then there are: ​

[0078]

[0079] Among them, F0 is the thrust generated by a single fan.

[0080] In this system, the attitude control moment M b The expression of is:

[0081]

[0082] Among them, l0 is the component of the distance from the thrust center of a single fan to the center of mass of the robot in the y-axis direction, and l c Is the component of the distance from the thrust center of a single fan to the center of mass in the x-axis direction.

[0083] Specific example

[0084] 1. In-cabin shooting mission on the space station

[0085] In the daily operation of the space station, in-cabin environment monitoring, equipment status recording, and shooting during experiments are one of the important tasks. These tasks usually require astronauts to operate the camera manually and transmit the shooting content back to the ground control center for analysis. However, the space station cabin is in a microgravity environment, and astronauts need to rely on handrails or other auxiliary equipment to move, which makes the shooting task complicated and time-consuming. In addition, the shooting task is often repetitive, taking up a large amount of valuable time and energy of astronauts and affecting the efficiency of their execution of other key tasks.

[0086] To solve the above problems, the in-cabin robot of the present invention is designed to autonomously complete the in-cabin shooting task. The robot realizes precise control of position and attitude through a bladeless fan system, can move flexibly in a microgravity environment without relying on external fixing devices or direct operation by astronauts; and at the same time ensures high safety. The robot is equipped with a high-definition camera and an automatic tracking system, and can perform autonomous shooting according to a preset trajectory or target. For example, the robot can track the movement of astronauts, record their operation process, or perform regular inspection shooting of in-cabin equipment according to the trajectory planned by the ground control center.

[0087] The specific implementation steps are as follows:

[0088] (1) Task planning and instruction reception

[0089] The ground control center sends shooting task instructions to the in-cabin robot through the communication system according to the task requirements of the space station, including shooting targets, trajectory paths, and time arrangements, etc.

[0090] (2) Autonomous movement and attitude adjustment

[0091] After receiving the task instructions, the robot activates the bladeless fan system and realizes its movement and positioning in the microgravity environment by adjusting the thrust direction and magnitude of the fan. Meanwhile, the robot uses the momentum wheel attitude control module to adjust the orientation of the camera to ensure that the shooting target is always at the best viewing angle.

[0092] (3) Shooting and data transmission

[0093] The robot takes pictures according to the preset trajectory or target, stores the captured image and video data in the on-board memory, and transmits them back to the ground control center in real time through the communication system of the space station. The staff at the ground control center can conduct real-time analysis and processing of the shooting content, discover problems in a timely manner, and adjust the task plan.

[0094] (4) Task completion and return

[0095] After the shooting task is completed, the robot returns to the designated docking position according to the instructions, enters the standby state, and waits for the next task instructions.

[0096] Through the above autonomous shooting method, the robot can efficiently complete the in-cabin shooting task, significantly reduce the workload of astronauts, and improve the efficiency and safety of space station operation.

[0097] 2. Support for in-cabin maintenance tasks of the space station

[0098] When astronauts perform daily maintenance tasks in the space station cabin, they need to consult more than 70 electronic guides and technical manuals, covering various equipment operations, maintenance procedures, and safety specifications of the space station. In actual operation, astronauts need to operate tools while consulting the manuals, which is relatively inconvenient.

[0099] The in-cabin robot of the present invention can serve as a hands-free database for astronauts, providing real-time data query support, thereby further improving work efficiency. The robot realizes autonomous movement and attitude adjustment through the bladeless fan system and the momentum wheel attitude control module, and can adjust its position at any time according to the working position and needs of the astronauts to ensure that it is always within the range convenient for interaction.

[0100] The specific implementation steps are as follows:

[0101] (1) Task preparation and initialization

[0102] The astronaut activates the robot and summons it to the work area through voice commands or gesture control. After receiving the command, the robot moves to the designated position using the bladeless fan system and adjusts its attitude for interaction with the astronaut.

[0103] (2) Voice interaction and data query

[0104] The astronaut issues a query request to the robot via voice commands, such as: "Query the maintenance steps of device A" or "Display the content on page X of the operation manual". After receiving the command, the built-in voice recognition system of the robot retrieves the relevant content stored in the local database through the on-board computer and displays the result on the display screen equipped on the robot, or feeds back the information to the astronaut by means of voice broadcast.

[0105] (3) Real-time following and interaction support

[0106] During the process of the astronaut performing the maintenance task, the robot uses the sensor system to monitor the position and actions of the astronaut in real time, and uses the bladeless fan system and the momentum wheel attitude control module to move autonomously and adjust the attitude, always remaining within the field of vision of the astronaut and ready to respond to new query requests at any time.

[0107] (4) Task completion and data recording

[0108] After the maintenance task is completed, the robot records and organizes the data queried and used during this task and stores it in the local database for subsequent analysis and reference. At the same time, the robot returns to the docking position according to the command and waits for the next task.

[0109] In this way, the robot can provide efficient and convenient data query support for the astronaut, significantly improve the efficiency and accuracy of the maintenance task, and reduce the operation risk caused by distraction due to consulting the manual.

Claims

1. An in-cabin robot motion control system based on a bladeless fan, characterized in that: The robot body adopts a spherical structure, including a camera, an interactive screen, interactive buttons, a bladeless fan, an air intake grille, a coaxial counter-paddle impeller, an air intake channel, and a robot torso; the camera, interactive screen, and interactive buttons are installed on the front of the robot torso, arranged in sequence from top to bottom; the bow-shaped bladeless fan is installed in the four directions of the robot torso up, down, left and right; an air intake grille, a set of coaxial counter-paddle impellers and four air intake channels are installed in the center of the back of the robot torso, and the two ends of each air intake channel are respectively connected to the central coaxial counter-paddle impeller and a bladeless fan at the corresponding position.

2. The in-cabin robot motion control system based on a bladeless fan according to claim 1, characterized in that: A set of coaxial counter-propellers is designed in the center of the rear of the robot, which can offset the reaction torque and gyroscopic torque generated by the rotation of the impellers and improve the stability of the robot; the two impellers rotate in opposite directions to press the gas into the air inlet channel of the bladeless fan, and then the air flow is ejected from the bladeless fan to provide power support for the robot.

3. The in-cabin robot motion control system based on a bladeless fan according to claim 1, wherein: The robot is equipped with a bladeless fan in each of the four directions: up, down, left and right. The fan can rotate with one degree of freedom around its own axis with an angle range of 360°. The four fans have the same thrust. By adjusting the speed of the coaxial counter-propeller impellers, the thrust size can be changed to adjust the robot's movement speed, and the thrust direction of each fan can be changed to achieve posture and position control.

4. A cabin robot motion control system based on a bladeless fan according to claim 1 or 2 or 3, characterized in that: The process of an airflow starting from rest and flowing through the Conda surface from infinity is given by Bernoulli's equation: where p μ is the head loss due to viscous resistance, ρ = 1.225 kg / m 3 is the air density at room temperature, and v is the average velocity flowing through the Conda surface.

5. The in-cabin robot motion control system based on a bladeless fan according to claim 4, wherein: Let the slit area be S, then the magnitude of the jet momentum is dP / dt = ρSv 2 , and the direction is along the positive direction of the jet. The magnitude of the calculated thrust is as follows: Where θ is the fan frame indentation angle.

6. The in-cabin robot motion control system based on a bladeless fan according to claim 5, characterized in that: Combined flow calculation formula: Q=Sv (3) get: In the formula, the relationship between the thrust F of the bladeless fan, the intake air flow rate Q, the outlet slit area S, and the outer surface area S of the fan frame is given. b is given.

7. The in-cabin robot motion control system based on a bladeless fan according to claim 1, characterized in that: The air intake grid is set at the air inlet to prevent particles from entering the system, protect the internal structure of the robot, and make the airflow smooth.

8. The in-cabin robot motion control system based on a bladeless fan according to claim 1, characterized in that: The robot's torso and bladeless fan are both made of polyphenylene sulfide.

9. The bladeless fan-based in-cabin robot motion control system according to claim 1, 2, 3, 7, or 8, characterized in that: The bladeless fan is designed to produce a pressure differential thrust at an inward retraction angle θ. The thrust expression is: Where F is the thrust generated by a single bladeless fan, P is the momentum of the slit jet, p0 is the external atmospheric pressure, and p a is the static pressure inside the fan's annular frame, and S a is the effective area where the pressure difference acts in the thrust direction.

10. A cabin robot motion control system based on a bladeless fan according to claim 1 or 2 or 3 or 7 or 8, characterized in that: The relationship between the rotation angles of the four fans of the robot and the control force of the robot in this system; the resultant control force of the robot in this system is set as F b =[F xb ,F yb ,F zb T , let the rotation angles of the a and c fans of the robot be α1 and α2, with counterclockwise around the z-axis being positive; the rotation angles of the b and d fans be β1 and β2, with clockwise around the y-axis being positive, then there is:​ Where F0 is the thrust generated by a single fan; In this system, the expression for calculating the attitude control torque M b is as follows: Among them, \(l_0\) is the component of the distance from the thrust center of a single fan to the center of mass of the robot in the y-axis direction, and \(l\) c is the component of the distance from the thrust center of a single fan to the center of mass in the x-axis direction.

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