A space intelligent flying robot in microgravity-normal air environment

Abstract

The present invention provides a space intelligent flying robot in a microgravity-normal air environment, belonging to the field of flying robots. To achieve the goal of enabling the space intelligent flying robot in a microgravity environment to have independent control over position, posture, output force, and torque. The robot comprises a carrier main frame, an outer shell, a computing system disposed within the carrier main frame, a visual navigation system disposed in front of and behind the carrier main frame, a laser ranging module embedded in the outer shell, a power supply system disposed on the left and right sides of the carrier main frame, a power system embedded in the outer shell and within the carrier main frame, a gripping system disposed below the carrier main frame, and an interactive system disposed in front of and above the main frame. While realizing basic functions, the present invention also makes innovative designs in the robot architecture, optimizing the robot's performance in manipulation, control, perception, and real-time performance, and has high engineering application value and good engineering application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of flying robots, and in particular to a space intelligent flying robot in a microgravity-normal air environment. Background Art

[0002] The Chinese space station was fully completed at the end of 2022 and officially entered its operational phase. During its operations, the station will conduct numerous long-term scientific experiments across multiple disciplines, including space life sciences and biotechnology, basic microgravity physics and fluid physics, Earth sciences, space astronomy, space materials science, and new aerospace technologies. During daily operations, the station requires extensive equipment inspection and maintenance to ensure its long-term safe flight. These tasks place a heavy burden on the station's operation and management. While astronauts are in orbit, repetitive on-orbit operations, such as operating instrument buttons and switches, installing experimental equipment modules, cleaning cabin walls of hair and dust, counting and handling cargo, and inspecting cabin lighting and taking photos, can be automated using robotics. This reduces astronaut workload and improves efficiency. It will also expand space-ground connectivity and provide ground personnel with a better understanding of the station's interior.

[0003] Furthermore, the design and initial verification of control algorithms for manned spacecraft, satellites, and other spacecraft currently rely solely on numerical simulation or ground-based simulators. These limitations limit the fidelity of these simulations and are costly. A more realistic, convenient, and economical simulation verification method is needed. As a long-term microgravity space experiment environment, the space station is an ideal location for algorithm verification and research on tasks such as spacecraft rendezvous and docking, satellite capture and dragging, satellite cluster control, and spacecraft attitude control. This can be facilitated by developing a highly scalable motion experiment platform and deploying relevant experimental procedures and hardware to assist in spacecraft algorithm verification.

[0004] Intelligent space flying robots in microgravity environments are one of the ideal technological solutions for addressing these needs. Their precise position and attitude control, autonomous navigation, and flight capabilities in microgravity are essential for other in-cabin functions, such as simple instrument operation, experimental equipment installation, bulkhead cleaning and maintenance, and cargo inventory and handling. Furthermore, to ensure operational safety, intelligent space flying robots in microgravity environments must independently control their position, attitude, output force, and torque. These capabilities place high demands on the overall design of the intelligent space flying robot system in microgravity. Summary of the Invention

[0005] The technical problems to be solved by the present invention are:

[0006] In order to solve the problem that space intelligent flying robots in microgravity environments need to have the ability to independently control position, posture, output force and torque.

[0007] The present invention is to solve the above technical problems using the following technical solutions:

[0008] The present invention provides a space intelligent flying robot in a microgravity-normal air environment, comprising a carrier main frame, a shell, a computing system, a visual navigation system, a laser ranging module, a power system and a grasping system.

[0009] The operation system includes an upper controller and a bottom controller;

[0010] The visual navigation system is used to collect image information, and the laser ranging system is used to collect distance information. The collected image information and distance information are transmitted to the upper-level controller. The computing system in the upper-level controller realizes three-dimensional mapping and motion planning of the cabin environment, and sends the planning information to the lower-level controller. The lower-level control system is used to control the power system and grasping system to realize flight control and grasping of the space intelligent flying robot;

[0011] The power system includes a flywheel power module and an aerodynamic module symmetrically arranged on both sides of the carrier main frame. The flywheel power module includes three flywheel motors, and the aerodynamic module includes six ducted fans. The jet outlet of each ducted fan is opened on the outer shell on the corresponding side. Through the two symmetrical aerodynamic modules, the space intelligent flying robot includes two jet outlets in the x-axis, y-axis and z-axis directions. The combined thrust vector formed by the two jet outlets in each direction passes through the center of mass of the robot; the combination of jet outlets in the same direction realizes translational motion control, and the combination of jet outlets in different directions realizes robot posture rotation motion control.

[0012] Furthermore, the carrier main frame is a frame structure, and a shell is provided on the outside of the carrier main frame for fixing the laser ranging module and protecting internal components.

[0013] Furthermore, each aerodynamic module includes two upper and lower aerodynamic units, and each aerodynamic unit includes ducted fans respectively arranged on the x-axis, y-axis and z-axis, and the jet outlets of the two ducted fans located on the same axial direction of the upper and lower aerodynamic units in the same aerodynamic module face opposite directions, and the jet outlets of the two ducted fans located at corresponding positions on the same axial direction on the two aerodynamic modules face opposite directions.

[0014] Furthermore, the upper controller and the bottom controller are respectively arranged on the upper and lower sides of the carrier main frame.

[0015] Furthermore, the visual navigation system includes a depth camera arranged on the front side of the carrier main frame and a binocular camera on the rear side of the carrier main frame, and the cameras of the depth camera and the binocular camera both pass through the outer shell on the corresponding side to realize image acquisition; the laser ranging module includes multiple laser ranging sensors arranged on the surface of the outer shell. The visual navigation system and the laser ranging module, assisted by the three-axis gyroscope and three-axis accelerometer built into the depth camera, construct a three-dimensional map of the microgravity environment through the SLAM algorithm, and realize autonomous positioning and attitude determination in the complex environment inside the cabin.

[0016] Furthermore, the grasping system is a two-finger servo manipulator, comprising two flexible adaptive fingers, a hard aluminum alloy transmission assembly and a metal servo. The metal servo is connected to the two flexible adaptive fingers through the hard aluminum alloy transmission assembly to achieve grasping action.

[0017] Furthermore, it also includes an interactive system, which includes a microphone array, a speaker, a touch screen and a camera arranged on the shell 1-10. The space intelligent flying robot obtains the astronaut's voice, command and gesture information through the microphone array, touch screen and camera. After calculation by the calculation system, the status and content feedback is provided through the touch screen and the speaker, thereby realizing visual, tactile and auditory multi-dimensional interaction between the space intelligent flying robot and the astronaut.

[0018] Furthermore, concave support structures are provided on both sides of the carrier main frame for placing the power supply system.

[0019] Furthermore, the power supply system comprises a battery pack and a power distribution module, the battery pack is a rechargeable battery, and the power distribution module is used to manage the charge and discharge of the rechargeable battery.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The computing system of the present invention adopts an upper-bottom layered structure design. The peripheral system and the computing system realize information feedback and instruction acquisition through information interaction, ensuring the real-time performance when completing human-computer interaction, visual navigation, trajectory planning, target tracking, and motion control tasks.

[0022] The navigation system of this invention uses a multi-dimensional sensing method using LiDAR and binocular depth cameras, which improves the sensing range and accuracy. It enables the robot to obtain high-frame-rate depth information and semantic information about the environment, reduces ambient light requirements, and achieves comprehensive mapping and omnidirectional obstacle avoidance.

[0023] The power system of this invention uses a flywheel in addition to a culvert fan. This reduces the complexity of the robot's control system, optimizes the robot's attitude and position control performance, and allows the fan to unload torque when the flywheel is saturated. The use of a flywheel effectively reduces noise during robot attitude adjustments, making it more astronaut-friendly.

[0024] The grasping system of the present invention expands the use scenarios of robots, enabling them to assist astronauts in grasping and other operations; human-computer interaction simplifies the difficulty for astronauts to control space intelligent flying robots in a microgravity environment, making the space intelligent flying robots' assistance work for astronauts more efficient and convenient.

[0025] The chamfered design of the shell of the present invention improves safety and protects astronauts and equipment in the cabin. The hollow design increases the heat dissipation capacity. The culvert fan in the power module can not only provide power but also dissipate heat to the inside of the robot through airflow.

[0026] The software architecture of this invention utilizes a layered design consisting of underlying hardware, hardware layer, operating system layer, and application layer. At the application layer, the software is modularized according to perception, planning and control algorithms, and human-computer interaction functions. This reduces the coupling between different functional software modules and enables rapid algorithm development and efficient combination.

[0027] In summary, the present invention not only realizes basic functions but also makes innovative designs in the robot architecture, optimizes the robot's performance in manipulation, control, perception and real-time performance, and has high engineering application value and good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is an exploded view of a space intelligent flying robot in a microgravity-normal air environment according to an embodiment of the present invention;

[0029] Figure 2 Six views of the space intelligent flying robot in an embodiment of the present invention, wherein (a) is a front view of the space intelligent flying robot, (b) is a rear view of the space intelligent flying robot, (c) is a left view of the space intelligent flying robot, (d) is a right view of the space intelligent flying robot, (e) is a bottom view of the space intelligent flying robot, and (f) is a top view of the space intelligent flying robot;

[0030] Figure 3 1 is a distribution diagram of the flywheel motor in the power system of the space intelligent flying robot in an embodiment of the present invention, wherein (a) is the distribution diagram in the left direction of the flywheel motor, and (b) is the distribution diagram in the right direction of the flywheel motor;

[0031] Figure 4 This is a hardware architecture connection diagram of the space intelligent flying robot in an embodiment of the present invention;

[0032] Figure 5 This is a structural diagram of a space intelligent flying robot grasping system according to an embodiment of the present invention;

[0033] Figure 6 This is a software architecture diagram of the space intelligent flying robot in an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1-1. Main switch; 1-2. Ducted fan; 1-3. Carrier main frame; 1-5. Speaker; 1-6. Depth camera; 1-7. Touch screen; 1-8. Camera; 1-9. Microphone array; 1-10. Housing; 1-11. Upper controller; 1-12. Flywheel motor; 1-13. Binocular camera; 1-14. Battery pack; 1-15. Laser ranging sensor; 1-16. Lower controller; 1-17. Grasping system; 5-1. Flexible adaptive fingers; 5-2. Hard aluminum alloy transmission assembly; 5-3. Metal servo. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0037] Specific implementation plan 1: Combined Figures 1 to 6 As shown, the present invention provides a space intelligent flying robot in a microgravity-normal air environment, including a carrier main frame 1-3, a shell 1-10, a computing system, a visual navigation system, a laser ranging module, a power system, a power system, a grasping system 1-17 and an interactive system;

[0038] The carrier main frame 1-3 is a rectangular or cube frame structure, manufactured using nylon 3D printing, with dimensions of 210mm×160mm×165mm. The carrier main frame 1-3 is used to provide a reasonable installation location for other components of the space intelligent flying robot, configure the center of mass position of the space intelligent flying robot, optimize the layout of the flywheel motor 1-12 actuators, and protect the internal computing system, power system and power system of the space intelligent flying robot through an anti-collision design, while increasing the structural strength and load-bearing capacity of the space intelligent flying robot.

[0039] The outer surface of the carrier main frame 1-3 is wrapped with a shell 1-10 for fixing the laser ranging module and protecting the internal components; the shell 1-10 is provided with a plurality of heat dissipation holes to facilitate heat dissipation of the computing system, laser ranging module and power supply system inside the space intelligent flying robot; the corners of the shell 1-10 are chamfered to improve safety and protect astronauts and equipment inside the cabin;

[0040] The computing system includes an upper controller 1-11 and a lower controller 1-16, which are respectively arranged on the upper and lower sides of the carrier main frame 1-3; the peripheral system (other systems or modules of the space intelligent flying robot) and the computing system realize information feedback and command acquisition through information interaction, while ensuring that the robot can perform complex perception and decision-making operations while ensuring the real-time performance of the robot's motion control tasks; so that the space intelligent flying robot can complete the tasks of human-computer interaction, visual navigation, trajectory planning, target tracking and motion control through the development of relevant algorithms;

[0041] The visual navigation system includes a depth camera 1-6 arranged on the front side of the carrier main frame 1-3 and a binocular camera 1-13 on the rear side of the carrier main frame 1-3, and the cameras of the depth camera 1-6 and the binocular camera 1-13 both pass through the housing 1-10 on the corresponding side to realize image acquisition;

[0042] The laser ranging module includes multiple laser ranging sensors 1-15 arranged on the surface of the housing 1-10. The visual navigation system and the laser ranging module, supplemented by the three-axis gyroscope and three-axis accelerometer built into the depth camera 1-6, construct a three-dimensional map of the microgravity environment through the SLAM algorithm, achieving autonomous positioning and attitude determination in the complex environment inside the cabin for comprehensive mapping and omnidirectional obstacle avoidance;

[0043] Both sides of the carrier main frame 1-3 are provided with concave support structures for accommodating the power system; the power system comprises a battery pack 1-14 and a power distribution module. The battery pack 1-14 is a rechargeable battery used to power the computing system, visual navigation system, laser ranging module, power system, gripping system 1-17 and interactive system within the space intelligent flying robot; the power distribution module is used to manage the charge and discharge of the rechargeable battery, thereby extending the service life of the rechargeable battery and ensuring its safe use;

[0044] The power system includes a flywheel power module and an air power module symmetrically arranged on both sides of the carrier main frame 1-3. The flywheel power module includes three flywheel motors 1-12 all arranged inside the carrier main frame 1-3. The installation of the flywheel power system is based on the rotation center of the flywheel fixed in the flywheel motor 1-12. The distance relative to the center of mass is as follows: Figure 3 As shown, the distances between the three flywheel motors 1-12 and their respective centers of mass in the X direction are 105mm, 32mm, and 15mm respectively; the distances between the flywheel motors 1-12 and their respective centers of mass in the Z direction are 15mm, 23mm, and 15mm respectively; since two of the flywheel motors 1-12 are fixed on the center plane, the distances between the three flywheel motors 1-12 and their respective centers of mass in the Y direction are 0mm, 0mm, and 27mm respectively; combined Figure 2As shown, each aerodynamic module includes six ducted fans 1-2, and the air jets of each ducted fan 1-2 are opened on the shell 1-10 on the corresponding side. Through two symmetrical aerodynamic modules, the space intelligent flying robot includes two air jets in the x-axis, y-axis and z-axis directions, and the combined thrust vector formed by the two air jets in each direction passes through the center of mass of the robot; the combination of air jets in the same direction realizes translational motion control, and the combination of air jets in different directions realizes robot posture rotation motion control; through the above-mentioned aerodynamic module layout design, it can be ensured that when the flywheel motor 1-12 fails, the aerodynamic module can replace the flywheel power module to perform the attitude control task; that is, the attitude stabilization control of the space intelligent flying robot is mainly based on the flywheel power module, supplemented by the aerodynamic module, and the aerodynamic module also has the momentum unloading function of the flywheel motor 1-12; in addition, the six-degree-of-freedom control of the space intelligent flying robot during translation is mainly based on the aerodynamic module, so as to ensure the flexibility and accuracy of the power system;

[0045] Combine Figure 5 As shown, the grasping system 1-17 includes a two-finger servo manipulator produced by Lunqu Technology, which is equipped with two FAE2-66 flexible adaptive fingers 5-1, a hard aluminum alloy transmission component 5-2, and an SCS2--36-T metal servo 5-3. The metal servo 5-3 is connected to the two flexible adaptive fingers 5-1 through the hard aluminum alloy transmission component 5-2 to achieve a grasping action, which is used to ensure the lightweight design of the space intelligent flying robot grasping system 1-17 while achieving a larger grasping force;

[0046] The interactive system includes a microphone array 1-9, a speaker 1-5, a touch screen 1-7 and a camera 1-8 arranged on the shell 1-10. The space intelligent flying robot obtains the astronaut's voice, command and gesture information through the microphone array 1-9, the touch screen 1-7 and the camera 1-8, and provides status and content feedback through the touch screen 1-7 and the speaker 1-5, thereby realizing visual, tactile and auditory multi-dimensional interaction between the space intelligent flying robot and the astronaut.

[0047] Preferably, the carrier main frame 1-3 is screwed to the front, rear, upper and lower shells 1-10 and the aerodynamic modules on both sides respectively. The aerodynamic modules on both sides are box-shaped sealing structures. The structure is made of nylon 3D printing, and the internal threaded holes are lined with wire screw sleeves; the overall size of the space intelligent flying robot is 266×235×170mm, and the weight is 4.5kg.

[0048] Preferably, a main switch 1-1 is provided on the upper shell 1-10, and the main switch 1-1 is set at the front edge of the upper side of the space intelligent flying robot to facilitate startup or emergency power-off.

[0049] Preferably, the thrust of a single ducted fan 1-2 is greater than 0.8N, two symmetrical aerodynamic modules are installed on both sides of the carrier main frame 1-3, and the internal space of the space intelligent flying robot is interconnected to achieve pressure balance of the power modules on both sides, combined with Figure 2 As shown, each aerodynamic module includes two upper and lower aerodynamic units, each of which includes ducted fans 1-2 respectively arranged on the x-axis, y-axis, and z-axis. The jet nozzles of the two ducted fans 1-2 located on the same axis of the upper and lower aerodynamic units in the same aerodynamic module face opposite directions, and the jet nozzles of the two ducted fans 1-2 located at corresponding positions on the same axis of the two aerodynamic modules face opposite directions. As can be seen from the front and rear views, the ducted fans 1-2 that provide the space intelligent flying robot with forward and backward thrust have a horizontal spacing of 212mm and a vertical spacing of 1-2mm; as can be seen from the top and bottom views, the ducted fans 1-2 that provide the space intelligent flying robot with ascent and descent thrust have a horizontal spacing of 212mm and a front-to-back spacing of 152mm; as can be seen from the left and right views, the ducted fans 1-2 that provide the space intelligent flying robot with ascent and descent thrust have a vertical spacing of 11mm and a front-to-back spacing of 66mm.

[0050] Preferably, the depth camera 1-6 is a D435i depth camera, and the binocular camera 1-13 is a T265 binocular camera. The multi-dimensional perception mode of the laser ranging sensor 1-15 and the binocular depth camera 1-6 is adopted to improve the perception range and accuracy; so that the space intelligent flying robot can obtain high-frame rate depth information and semantic information in the environment, reduce the requirements for ambient light, and realize comprehensive mapping and omnidirectional obstacle avoidance.

[0051] Preferably, the touch screen 1-7 is an IPS high-definition touch screen with a resolution of 1026×600. The ultra-wide-angle technology in the IPS high-definition touch screen can achieve 178° anti-glare, increase the astronauts' observation range, and improve the convenience of human-computer interaction; the camera 1-8, combined with the microphone array 1-9 and the speaker 1-5 embedded in the upper shell 1-10, completes the human-computer interaction function based on voice, gestures, images, and commands.

[0052] Preferably, in the actuator part, the twelve ducted fans 1-2 and the corresponding motor speed regulators (ESRs) are connected to one of the three bottom-level controllers 1-16 through the ESC interface, and the bottom-level controller 1-16 drives the ducted fans 1-2 through PWM (Pulse Width Modulation); the three flywheel motors 1-12 are connected to another bottom-level controller 1-16, and the bottom-level controller 1-16 drives the flywheel motors 1-12 through PWM; the manipulator of the grasping system 1-17 is connected to the last bottom-level controller 1-16, and is also driven by PWM; in terms of sensors, the five laser ranging sensors 1-15 (i.e., attached Figure 4 The upper, lower, left, right, and rear laser obstacle avoidance sensors (in the image) are connected to the bottom-level controller 1-16 via a serial bus. The IMU is connected to the bottom-level controller 1-16 via IIC communication. The D435i depth camera, T265 binocular camera (T265 navigation camera), microphone array 1-9 (iFlytek voice MIC array), and camera 1-8 (IMX219 monocular camera) are connected to the upper-level controller 1-11 (Jetson Xavier NX) via USB. Furthermore, the upper-level controller 1-11 is connected to the 7-inch touch screen 1-7 via the CIS interface, and the bottom-level controller 1-16 is connected to the remote control receiver. All three bottom-level controllers 1-16 are powered and controlled by the electronic control board, which is connected to the upper-level controller 1-11 via USB-to-TTL serial communication. The 24V power supply provides 19V, 5V, and 24V voltages to the upper-level controller 1-11, the electronic control board, and the motors, respectively, through the power management board.

[0053] Preferably, it also includes a layered software framework of the algorithm software built into the upper controller 1-11 and the bottom controller 1-16, including the bottom hardware, hardware layer, operating system layer and application layer; the bottom hardware refers to Figure 4The hardware layer refers to the underlying drivers of the voice module, 7-inch screen, D435i depth camera, T265 binocular camera, and upper-layer controllers 1-11, including hardware drivers such as memory and interfaces. The operating system layer software refers to the Linux operating system that the application layer software relies on, as well as the drivers of related devices connected to the computer under the Linux system. The application layer software includes ROS application software, application software libraries, and functional software. The ROS application software is divided into the middle layer and the application layer. The middle layer includes TCP based on TCP / UDP encapsulation. ROS / UDPROS communication system, Nodelet for inter-process communication, provides support function package software for real-time data transmission; robot development implementation library ClientLibrary, such as data type, coordinate transformation, motion control, ROS application software refers to ROS function package, used to implement perception and navigation functions; application software library refers to dependent software required for specific functions, such as image processing algorithm library OpenCV, deep learning related software, such as Cuda, Tensorflow; functional software refers to functional software for special applications, such as human-computer intelligent interaction software based on artificial intelligence technology, used for scientific research and scientific application software.

[0054] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art of the present invention may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A space intelligent flying robot in a microgravity-normal air environment, characterized by: It includes a carrier main frame (1-3), a shell (1-10), an operation system, a visual navigation system, a laser ranging module, a power system and a grasping system (1-17). The operation system includes an upper controller (1-11) and a lower controller (1-16); The visual navigation system is used to collect image information, and the laser ranging system is used to collect distance information. The collected image information and distance information are transmitted to the upper controller (1-11). The computing system in the upper controller (1-11) realizes three-dimensional mapping and motion planning of the cabin environment, and sends the planning information to the bottom controller (1-16). The bottom control system (1-16) is used to control the power system and the grasping system (1-17) to realize flight control and grasping of the space intelligent flying robot. The power system comprises a flywheel power module and an aerodynamic module symmetrically arranged on both sides of a carrier main frame (1-3), wherein the flywheel power module comprises three flywheel motors (1-2), and the aerodynamic module comprises six ducted fans (1-2), wherein the jet outlet of each ducted fan (1-2) is provided on a housing (1-10) on the corresponding side. The two symmetrical aerodynamic modules enable the space intelligent flying robot to include two jet outlets in the x-axis, y-axis and z-axis directions, and the resultant thrust vector formed by the two jet outlets in each direction passes through the center of mass of the robot; a combination of jet outlets in the same direction realizes translational motion control, and a combination of jet outlets in different directions realizes rotational motion control of the robot.

2. The space intelligent flying robot in a microgravity-normal air environment according to claim 1, characterized in that: The carrier main frame (1-3) is a frame structure, and a shell (1-10) is provided on the outside of the carrier main frame (1-3) for fixing the laser ranging module and protecting internal components.

3. The space intelligent flying robot in a microgravity-normal air environment according to claim 2, characterized in that: Each aerodynamic module includes two upper and lower aerodynamic units, each aerodynamic unit includes ducted fans (1-2) respectively arranged on the x-axis, y-axis and z-axis, and the jet outlets of the two ducted fans (1-2) located on the same axial direction of the upper and lower aerodynamic units in the same aerodynamic module face opposite directions, and the jet outlets of the two ducted fans (1-2) located at corresponding positions on the same axial direction on the two aerodynamic modules face opposite directions.

4. The space intelligent flying robot in a microgravity-normal air environment according to claim 3, characterized in that: The upper controller (1-11) and the bottom controller (1-16) are respectively arranged on the upper and lower sides of the carrier main frame (1-3).

5. The space intelligent flying robot in a microgravity-normal air environment according to claim 4, characterized in that: The visual navigation system comprises a depth camera (1-6) arranged on the front side of the carrier main frame (1-3) and a binocular camera (1-13) arranged on the rear side of the carrier main frame (1-3), and the cameras of the depth camera (1-6) and the binocular camera (1-13) both penetrate the housing (1-10) on the corresponding side to achieve image acquisition; the laser ranging module comprises a plurality of laser ranging sensors (1-15) arranged on the surface of the housing (1-10), and the visual navigation system and the laser ranging module, supplemented by a three-axis gyroscope and a three-axis accelerometer built into the depth camera (1-6), construct a three-dimensional map of the microgravity environment through a SLAM algorithm, thereby achieving autonomous positioning and attitude determination in the complex environment inside the cabin.

6. The space intelligent flying robot in a microgravity-normal air environment according to claim 5, characterized in that: The grasping system (1-17) is a two-finger servo manipulator, comprising two flexible adaptive fingers (5-1), a hard aluminum alloy transmission component (5-2), and a metal servo (5-3). The metal servo (5-3) is connected to the two flexible adaptive fingers (5-1) via the hard aluminum alloy transmission component (5-2) to achieve a grasping action.

7. The space intelligent flying robot in a microgravity-normal air environment according to claim 6, characterized in that: The invention also includes an interactive system, which includes a microphone array (1-9), a speaker (1-5), a touch screen (1-7) and a camera (1-8) arranged on the shell 1-10. The space intelligent flying robot obtains the voice, command and gesture information of the astronaut through the microphone array (1-9), the touch screen (1-7) and the camera (1-8). After the operation is performed by the operation system, the state and content are fed back through the touch screen (1-7) and the speaker (1-5), thereby realizing visual, tactile and auditory multi-dimensional interaction between the space intelligent flying robot and the astronaut.

8. The space intelligent flying robot in a microgravity-normal air environment according to claim 7, characterized in that: Concave support structures are provided on both sides of the carrier main frame (1-3) for accommodating the power supply system.

9. The space intelligent flying robot in a microgravity-normal air environment according to claim 8, characterized in that: The power supply system comprises a battery pack (1-14) and a power distribution module. The battery pack (1-14) is a rechargeable battery, and the power distribution module is used for managing the charge and discharge of the rechargeable battery.

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