An electrical system for a space intelligent flying robot in a microgravity-normal air environment

Abstract

The present invention provides an electrical system for a space intelligent flying robot in a microgravity-normal air environment, belonging to the field of robot electrical systems. It aims to address the problem that traditional electrical systems are difficult to adapt to the integration requirements of a small space inside a robot, and that natural convection is absent in a microgravity environment, leading to a lack of additional heat dissipation. The present invention includes a power module, a perception and navigation module, a central control module, a power module, and a multi-function display module. The power module distributes power to the entire machine; the perception and navigation module provides hardware support for autonomous positioning, mapping, and navigation; the central control module implements underlying control functions; the power module is used to drive motors and cooling fans; and the multi-function display module provides human-computer interaction functions. A circuit unit design with high reliability, high safety, high efficiency, low power consumption, and light weight suitable for a microgravity environment is achieved, thereby ensuring that the space intelligent flying robot can efficiently and safely perform tasks in a small and complex working environment.

Description

Technical Field

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

[0002] With the advancement of space science research, the diversity and complexity of experimental missions in microgravity environments have increased significantly. To overcome the efficiency bottlenecks of traditional manual operations and reduce operational risks for astronauts, autonomous space-based intelligent flying robots have become critical supporting equipment. These robots must independently monitor, operate, maintain, and respond to emergencies in the confined and confined environment of a space station, placing stringent demands on the reliability, safety, energy efficiency, and environmental adaptability of their electrical systems.

[0003] Different from terrestrial application scenarios, the complexity of space intelligent flying robot missions and the particularity of the microgravity environment place higher demands on circuit units. Existing circuit unit designs often fail to meet the requirements of space intelligent flying robots for high reliability, high safety, low power consumption, and lightweight characteristics. For example, traditional circuit units are susceptible to non-contact vibration and thermal stress gradient factors in microgravity conditions, resulting in component displacement and solder joint fatigue failure modes. Existing designs generally lack mechanical adaptability designs for microgravity environments. Secondly, due to the limited space in the working environment, the size and weight of traditional electrical systems are difficult to meet the integration requirements of robot systems. In addition, natural convection is absent in a microgravity environment, and heat transfer mainly relies on conduction and radiation. This places additional heat dissipation requirements on circuit components and wiring, and existing designs often fail to fully consider this.

[0004] Therefore, how to design the electrical system of a space intelligent flying robot in a microgravity-normal air environment has become a technical problem that needs to be solved urgently. In addition to basic electrical performance, in order to ensure the efficient completion of related tasks, the circuit unit should be modularly designed to facilitate the construction and deployment of high-performance applications. In addition, protection modules and heat dissipation module components should be introduced to ensure the safety, reliability and lightweight of the system. Based on the above needs, the present invention innovatively proposes a design scheme for the electrical system of a space intelligent flying robot in a microgravity-normal air environment, aiming to overcome the shortcomings of existing technologies and provide strong technical support for future space exploration and research. Summary of the Invention

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

[0006] In order to solve the thermal management problems, component displacement risks, and communication reliability problems in electromagnetically sensitive environments caused by the lack of natural convection in traditional electrical systems in microgravity environments.

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

[0008] The present invention provides an electrical system for a space intelligent flying robot in a microgravity-normal air environment, comprising a power supply module, a perception and navigation module, a central control module, a power module and a multi-function display module.

[0009] The power module distributes power to the perception and navigation module, central control module, power module, and multi-function display module, and manages battery charge and discharge.

[0010] The perception and navigation module obtains information about the surrounding environment of the aircraft through the sensor data fed back by the depth camera and the central control module, combines it with the stored environmental point cloud map, and calculates the motion posture control instructions through the AI ​​computing platform in the perception and navigation module, and sends them to the central control module to achieve autonomous positioning, mapping and navigation; the sensor data fed back by the central control module includes sensor data obtained from the TOF time of flight sensor component, the IMU inertial measurement unit component and the optical flow sensor component;

[0011] The central control module, after receiving the motion posture control instruction sent by the perception and navigation module, performs a calculation through a real-time control algorithm to obtain the expected value of the motor speed, and sends it to the power module, thereby realizing the underlying motion control function of the body through the power module; after receiving the temperature sensor data connected to the external communication interface, the central control module performs a calculation through a real-time control algorithm to obtain the expected value of the cooling fan speed, and sends it to the power module, thereby realizing real-time regulation of the cooling fan speed and active air circulation in the body through the power module;

[0012] The power module, after receiving the expected value of the motor speed from the central control module, drives the brushless motor speed control module to generate an output signal with driving capability to complete the required action; after receiving the expected value of the cooling fan speed from the central control module, drives the cooling fan to complete the heat dissipation;

[0013] The multifunctional display module interacts bidirectionally with the perception navigation module to realize the human-computer interaction function.

[0014] Furthermore, the power module includes a 3S lithium battery cell and a power management submodule. The power management submodule includes a charging management component, a full-function protection component, a load switch, a fast charging protocol component and a status indication component. The fast charging protocol component is connected to the charging management component through the Type-C charging port. The charging management component passes through the full-function protection component and the load switch in turn to reach the power supply port of the whole machine. The full-function protection component is used to protect the 3S lithium battery cell. The charging management component is connected to the load switch through the status indication component; at the same time, the charging management component charges the multi-function display module through the display module charging port after being transformed by the all-in-one expansion dock submodule.

[0015] Furthermore, the full-function battery protection component includes a battery pack protection unit and a balancing charging unit, which are used for fault protection and voltage maintenance respectively; the fast charging protocol component is used to negotiate with the charger to obtain a charging voltage of 20V; the status indication component is used to display the current working status of the power management submodule, and has a voltage sampling function, which realizes the recording of charging and discharging curves through online connection.

[0016] Furthermore, during the discharge process, the output of the 3S lithium battery cell is protected by a full-function protection component and supplies power to the perception and navigation module, central control module, power module and multi-function display module through a load switch; in the perception and navigation module, the 3S lithium battery cell outputs a 5V step-down power supply to power the AI ​​computing power platform, depth camera, onboard large-capacity and high-speed solid-state drive and all-in-one expansion dock sub-module; in the central control module, a 5V step-down power supply is output through a three-way switching regulated power supply to power the TOF time of flight sensor component, status indication component, IMU inertial measurement unit component and optical flow sensor component respectively; in the power module, it supplies power to the brushless motor speed regulation module.

[0017] Furthermore, when the AI ​​computing platform in the perception and navigation module is connected to the all-in-one expansion dock sub-module, Ethernet communication, USB interface expansion, and multi-function display module power supply and charging functions are realized. The all-in-one expansion dock sub-module includes an NX USB interface component, an OTG power receiving component, a 5V step-down power supply, a USB HUB component, and a USB Ethernet card.

[0018] The NX USB interface component is used to connect to external components of the AI ​​computing platform;

[0019] The OTG power receiving component supplies power to the multi-function display module through the Type-C charging port and is connected to the USB HUB component. The USB HUB component is sequentially connected to the USB Ethernet card, the network transformer, and the NX network port, or is connected to the spare USB interface or the external USB interface through the USB HUB component, thereby realizing OTG and 5V power supply / charging functions simultaneously.

[0020] The 5V step-down power supply uses an external charger to power and charge the multi-function display module;

[0021] The USB HUB unit converts a single interface into two USB A female sockets and a USB Ethernet card interface;

[0022] The USB Ethernet card converts the USB signal led out of the multi-function display module via the USB HUB component into an Ethernet signal, thereby realizing wired Ethernet communication between the multi-function display module and the AI ​​computing power platform.

[0023] Furthermore, the central control module is based on a microprocessor, and is respectively connected to a power module, a remote control receiving component, a computing platform interface, an onboard large-capacity and high-speed solid-state hard drive, an IMU inertial measurement unit component, an external communication interface, an electric control output interface, a colored light output interface, and a TOF time-of-flight sensor component;

[0024] The power supply module provides power to the microprocessor;

[0025] The remote control receiving component is connected to the remote control receiver through a remote control receiver interface with selectable positive and negative logic to transmit commands to the robot;

[0026] The onboard large-capacity, high-speed solid-state hard drive stores the received measurement data and the expected value of the machine speed and the output value of the light signal obtained after the solution, as well as the point cloud map;

[0027] The IMU inertial measurement unit component is a single-chip sensor that receives real-time measurement data of the robot's motion state and transmits it to the microprocessor for subsequent calculation;

[0028] The external communication interface uses a USB or UART interface to connect the microprocessor to an external device. The external device is a temperature sensor, which is used to monitor the temperature inside the machine in real time and send it to the microprocessor. The algorithm in the microprocessor determines whether to turn on the cooling fan and calculates the cooling fan speed, and sends it to the cooling fan control component, and then sends it to the power module to adjust the cooling fan speed in real time to achieve active air circulation;

[0029] The electronic control output interface is used to connect the brushless motor speed control module and the microprocessor. After the microprocessor calculates the expected value of the motor, it is sent to the power module, and the brushless motor speed control module performs real-time motor speed control to achieve posture control;

[0030] The colored light output interface is used to connect the optical flow sensor component and the microprocessor to achieve two-way communication, and cooperate with the IMU inertial measurement unit component to achieve precise positioning;

[0031] The TOF time-of-flight sensor component receives the robot's laser sensor data on the external environment in real time, and transmits it to the microprocessor for subsequent calculation in combination with the data obtained by the optical flow sensor component.

[0032] Furthermore, a logic isolation design is adopted for the output interfaces of all peripheral devices.

[0033] Furthermore, the power module includes two groups of four PWM outputs each to drive the brushless motor speed control module to adjust the speed, and at the same time provides a bus interface of one channel per group for the connection of the TOF time of flight sensor component, providing an electric control current feedback input signal through the bus interface, and using a resistor voltage divider to convert the electric control feedback input signal into an electrical signal within the ADC measurement range, thereby enabling the microcontroller to perceive the working status of the electric control.

[0034] Furthermore, the multifunctional display module is connected to the all-in-one expansion dock submodule in the perception and navigation module to achieve two-way interaction between the multifunctional display module and the perception and navigation module.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] ① The electrical system adopts a modular design scheme, which is decomposed into a power module, a perception and navigation module, a central control module, a power module, and a multi-function display module. It is combined with an all-in-one expansion dock sub-module to achieve interaction. The system-level design scheme ensures the efficient completion of complex tasks of the space intelligent flying robot.

[0037] ② The use of full-function safety protection components and logic isolation component design effectively avoids electromagnetic interference, thereby improving the reliability and safety of the circuit.

[0038] ③ The electrical system adopts an active heat dissipation design to achieve active air circulation, helping the system to dissipate heat reliably to adapt to special environments without heat convection.

[0039] ④ The present invention obtains a 20V power supply by negotiating with the charger to increase charging power and shorten charging time, while adopting a switching charging mode to improve charging efficiency. In terms of device selection, the size and power consumption are minimized as much as possible while ensuring functionality.

[0040] In summary, the present invention realizes a high-reliability, high-safety, high-efficiency, low-power, and lightweight circuit design suitable for microgravity-normal air environments, thereby ensuring that space intelligent flying robots can perform tasks efficiently and safely in confined and complex working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a general framework diagram of an electrical system of a space intelligent flying robot in a microgravity-normal air environment according to an embodiment of the present invention;

[0042] Figure 2 This is a structural diagram of a power module in an embodiment of the present invention;

[0043] Figure 3 This is a structural diagram of the all-in-one expansion dock submodule in an embodiment of the present invention;

[0044] Figure 4 This is a structural diagram of the central control module in an embodiment of the present invention;

[0045] Figure 5 This is a structural diagram of a power module in an embodiment of the present invention;

[0046] Figure 6 2 is a structural diagram of a multifunctional display module in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] 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.

[0048] Specific implementation plan 1: Combined Figures 1 to 6 As shown, the present invention provides an electrical system for a space intelligent flying robot in a microgravity-normal air environment, including a power module, a perception and navigation module, a central control module, a power module and a multi-function display module;

[0049] Combine Figure 1 As shown, the power module is used to realize the charge and discharge management of the lithium battery, and to distribute power to the entire machine including the perception and navigation module, central control module, power module and multi-function display module;

[0050] The perception and navigation module provides hardware support for autonomous positioning, mapping, and navigation; the central control module is used to implement the underlying control functions of the body; the power module is used to drive the brushless motor speed regulation module and the cooling fan; the multi-function display module is used to provide human-computer interaction functions;

[0051] Combine Figure 2 As shown, the power module includes a 3S lithium battery cell and a power management submodule. The power management submodule includes a charging management component, a full-function protection component, a load switch, a fast charging protocol component and a status indication component. The fast charging protocol component is connected to the charging management component through the Type-C charging port, and the charging management component passes through the full-function protection component and the load switch in turn to reach the power supply port of the whole machine. The full-function protection component is used to protect the 3S lithium battery cell, and the charging management component is connected to the load switch through the status indication component; at the same time, the charging management component charges the multi-function display module after being transformed through the display module charging port by the all-in-one expansion dock submodule; the fast charging protocol component is used to negotiate with the charger to obtain a 20V charging voltage to increase the charging power and shorten the charging time; the QC2.0, PD3.0 / 2.0, and BC1.2 multi-protocol compatible design can maximize the guarantee of the successful triggering of the 20V power supply and improve the availability of the charging part of the power management submodule; the status indication component is used to display the current working status of the power management submodule, and has a voltage sampling function, which can realize the recording of the charge and discharge curve online;

[0052] The 3S lithium-ion battery cell uses Samsung Electronics' high-power lithium-ion battery cell, with three cells connected in series to form a 3S1P structure. To ensure the safety of the 3S lithium-ion battery cell and maximize its performance, the 3S lithium-ion battery cell needs to be used with a full-function protection component. The full-function protection component includes a battery pack protection unit and a balancing charging unit. The battery pack protection unit uses the CM1033 series three-string rechargeable lithium-ion battery protection chip produced by Shenzhen Chuangxin Microelectronics Co., Ltd. (iCM) to implement battery overcharge, overdischarge, discharge overcurrent, short circuit, and charge overcurrent protection. The balancing charging unit uses the HY2213-BB3A chip from HYCON Technology (HYCON) in conjunction with MOS tubes and peripheral components to ensure that the voltage of each battery cell is maintained at a charge cut-off voltage of 4.20V.

[0053] The charging management component uses a load switch charging mode to improve charging efficiency. The charging process includes three steps: low-voltage activation, constant-current charging, and constant-voltage trickle charging, ensuring that the 3S lithium battery cells can be activated and fully charged. The PWM mode three-series lithium battery charging management chip CN3763 from Shanghai Ruyun Electronics (CONSONANCE) is used to manage the charging of the three lithium batteries.

[0054] The status indicator component uses the STC8G1K08A single-chip microcontroller as its core. It uses the on-chip ADC to detect the voltage of the 3S lithium battery cell and a program written in C language to display the battery power and charge and discharge status. Specifically, during the battery discharge process, as the battery power decreases, the number of lighted power indicator lights gradually decreases. When the power is less than 20%, the lowest power indicator light flashes quickly, prompting the user to prepare to replace the battery. During the battery charging process, the highest power indicator light flashes slowly. As the battery power increases, the number of lighted indicators increases. When the battery is fully charged, all indicators are always on.

[0055] The overall power supply solution is as follows: during the charging process, the 20V power output by the PD65 charger is first charged through the charging management component; during the discharge process, the output of the 3S lithium battery is protected by the full-function protection component and supplies power to the perception and navigation module, central control module, power module and multi-function display module through the load switch; in the perception and navigation module, it can output a 5V step-down power supply to power the AI ​​computing power platform, D435i depth camera and all-in-one expansion dock sub-module; in the central control module, a 5V step-down power supply is output through a three-way switching regulated power supply to power the TOF time of flight sensor component, status indication component, IMU inertial measurement unit component and optical flow sensor component respectively; in the power module, the brushless motor speed regulation module is designed with a wide voltage and can directly use the voltage output by the power module to work;

[0056] Combine Figure 3 As shown, the perception and navigation module is composed of the AI ​​computing power platform launched by NVIDIA and the supporting customized sensors and interfaces. It obtains the surrounding environment information of the body through the sensor data fed back by the D435i depth camera and the central control module, and combines the stored environmental point cloud map to obtain the motion posture control instructions after calculation through the AI ​​computing power platform in the perception and navigation module, and sends them to the central control module to provide hardware support for autonomous positioning, mapping and navigation; the AI ​​computing power platform is the Orin NX core board, which is used to realize Ethernet communication, USB interface expansion, multi-function display module power supply and charging functions when connected to the all-in-one expansion dock sub-module. The all-in-one expansion dock sub-module includes an NX USB interface component, an OTG (OTG Power Receiving Module) power receiving component, a 5V step-down power supply, a USB HUB component, and a USB Ethernet card; wherein, the NX USB interface component is connected from the SH1.0-4P interface led out from the Orin NX core board to a standard USB2.0 A-type female socket (i.e. Figure 3 The external USB interface in the USB port is convenient for inserting USB flash drives, keyboard and mouse devices for debugging, which plays the role of transferring external components of the AI ​​computing platform. The OTG power receiving component adopts the LDR6028 USB PD communication chip produced by Shenzhen Legendary Technology Co., Ltd., which is powered by the Type-C charging port and the multi-function display module, and is connected to the USB HUB component. It is connected to the USB Ethernet card, network transformer and NX network port in sequence through the USB HUB component, or connected to the spare USB interface or external USB interface through the USB HUB component. In addition, the OTG power receiving component is also connected to a 5V step-down power supply; the 5V step-down power supply adopts the PW2335 synchronous step-down switching power supply chip produced by Wuxi Pingxin Micro Semiconductor Technology Co., Ltd. (PWChip), which adopts the form of switching power supply to achieve maximum efficiency, so that the external charger can power and charge the multi-function display module.

[0057] The USB HUB component uses the USB2.0 high-speed four-port HUB chip SL2.1A produced by Shenzhen CoreChips Technology Co., Ltd. to convert a single TYPE-C interface into two USB A female sockets and a USB Ethernet card interface. The USB Ethernet card uses the ultra-low-power USB2.0 to 10 / 100M Fast Ethernet control chip SR9900A produced by Shenzhen CoreChips Technology Co., Ltd., and uses the ultra-thin pulse transformer B1603S as an Ethernet coupling device to convert the USB signal led out of the multi-function interactive module via the USB HUB component into an Ethernet signal, enabling wired Ethernet communication between the multi-function display module and the AI ​​computing power platform.

[0058] Combine Figure 4As shown, the central control module is based on the STM32F407 microprocessor and realizes all the logical functions of the central control module through programming in combination with peripheral devices. The STM32F407 microprocessor adopts the STM32F407VGT6 high-performance 32-bit ARM The Cortex-M4 microprocessor implements all logical functions of the central control module through programming. The central control module is connected to the power module, remote control receiver component, computing platform interface, onboard high-capacity and high-speed solid-state drive, IMU inertial measurement unit component, external communication interface, electronic speed controller output interface, colored light output interface, and TOF time-of-flight sensor component. The power module provides power for the STM32F407 microprocessor and uses a combination of switching power supply and linear power supply to achieve a balance between efficiency and ripple characteristics. The switching power supply uses the XL1509-5.0 constant-voltage Buck switching power supply chip produced by Shanghai Xinlong Semiconductor, which provides high-efficiency, high-voltage resistance, and high-reliability voltage conversion. The linear power supply uses the RT9013-33GB precision low-dropout linear voltage regulator chip from Richtek to reduce ripple in the switching power supply output and convert the 5V output voltage of the switching power supply into a high-quality 3.3V voltage; the remote control receiving component adopts a remote control receiver interface design with optional positive and negative logic to meet the perfect adaptation of different models of remote control receivers and realize the transmission of commands to the robot; the computing power platform interface is used to connect the STM32F407 microprocessor with the AI ​​computing power platform; the onboard large-capacity and high-speed solid-state hard drive adopts Winbond Electronics' W25Q128 series (128M bit) serial flash memory chip, which can realize large-capacity, non-volatile data storage function; the IMU inertial measurement unit component is implemented using the BMI088 single-chip sensor of Bosch, Germany. The chip can support correct operation under free fall conditions and can adapt to the microgravity requirements of the working environment of space intelligent flying robots. It uses the I2C bus to communicate with the BMI088, which takes up little space, has low interconnection cost, high reliability, and low power consumption. Depending on the working mode, its maximum transmission rate can reach 400kbps or above; the external communication interface adopts USB or UAR The STM32F407 microprocessor is connected to the peripherals in the form of a T interface. The peripherals also include a temperature sensor for real-time monitoring of the internal temperature of the machine and sending it to the STM32F407 microprocessor. The algorithm in the STM32F407 microprocessor determines whether to turn on the cooling fan and calculates the cooling fan speed, and sends it to the cooling fan control component. The speed control of the cooling fan in the power module realizes real-time regulation of the cooling fan speed and active air circulation to help the machine dissipate heat reliably. The 74LVC245 chip is used to adopt a logical isolation design for all external communication interfaces to avoid interconnection lines. The spike level on the STM32F407 microprocessor core is damaged, thereby improving the reliability of the system; the electronic control output interface is used to connect the brushless motor speed control module and the STM32F407 microprocessor to realize their two-way communication, and the AO3400 series small-size MOS tube produced by Alpha and Omega Semiconductor (AOS) is used as the PWM power switch. After the STM32F407 microprocessor calculates the expected value of the motor, it is sent to the power module, and the motor is adjusted in real time through the brushless motor speed control module to realize posture control; the colored light output interface is used to connect the optical flow sensor component and the STM3 The STM32F407 microprocessor enables bidirectional communication, using the domestically produced Youxiang Optical Flow T1-001-Plus in conjunction with the IMU (Inertial Measurement Unit) for precise positioning. The TOF sensor utilizes the Texas Instruments (TI) SN65HVD230 chip, enabling bidirectional communication between the STM32F407 microprocessor and the TOF sensor, resulting in simple wiring, high communication speeds, and reliable stability. A power switching circuit is also designed to dynamically turn the TOF sensor on and off, reducing its power consumption.

[0059] Combine Figure 5As shown, the power module includes two groups of four-channel PWM inputs to the brushless motor speed control module, which are transmitted to the motor through the brushless fan interface to realize motor control. At the same time, a CAN bus interface of one channel per group is provided for the connection of the TOF time of flight sensor component. In order to obtain the working current state of the electronic speed controller, a drive current feedback input signal line is provided in the CAN bus interface. The drive current feedback signal is converted into an electrical signal within the ADC measurement range in the form of a resistor divider, thereby enabling the STM32F407 microprocessor to perceive the working state of the electronic speed controller, facilitating the optimization control of the control algorithm. Among them, the brushless motor speed control module adopts HAKRC BL32 40Amini and the motor adopts Happymodel EX1102 2-3S brushless motor, which can meet the requirements of this system for agile control and thrust size. The power module also includes a cooling fan for dissipating heat in the body according to the cooling fan speed instruction of the cooling fan control component.

[0060] Combine Figure 6 As shown, the multi-function display module is implemented using Huawei Mate50 Pro with dedicated intelligent interaction APP software. It is connected to the all-in-one expansion dock sub-module in the perception and navigation module via a Type-C cable to achieve on-board wired Ethernet communication, USB interface expansion and system charging. At the same time, it receives voice commands and gives feedback through bone conduction headphones, realizing two-way interaction between the multi-function display module and the perception and navigation module.

[0061] Considering the functions of the space intelligent flying robot, the information chain of the electrical system is as follows: the perception and navigation module obtains information about the surrounding environment through sensor data fed back by the D435i depth camera and the central control module. Combined with the environmental point cloud map stored on the onboard large-capacity, high-speed solid-state drive, the module calculates motion pose instructions using NVIDIA's AI computing platform and sends them to the central control module. After receiving the motion pose instructions, the central control module solves them using a real-time control algorithm to obtain the expected motor speed value and sends it to the power module to implement the low-level control functions of the robot. The power module drives the brushless motor speed regulation module. After receiving the instructions from the central control module, it generates an output signal with sufficient drive capability to drive the motor to complete the required movement. After the central control module receives the internal temperature data monitored by the temperature sensor through the external communication interface, the STM32F407 microprocessor solves the speed command and sends it to the power module via the cooling fan control component. After receiving the speed command, the power module controls the cooling fan to operate according to the corresponding instruction to achieve heat dissipation within the robot. The multi-function display module interacts bidirectionally with the perception and navigation module to implement human-computer interaction functions and display the system's operating status.

[0062] 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. An electrical system for a space intelligent flying robot operating in a microgravity-normal air environment, characterized by: Including power module, perception and navigation module, central control module, power module and multi-function display module, The power module distributes power to the perception and navigation module, central control module, power module, and multi-function display module, and manages battery charge and discharge; The power module includes a 3S lithium battery cell and a power management submodule. The power management submodule includes a charging management component, a full-function protection component, a load switch, a fast charging protocol component, and a status indication component. The fast charging protocol component is connected to the charging management component through the Type-C charging port. The charging management component passes through the full-function protection component and the load switch in sequence to reach the whole machine power supply port. The full-function protection component is used to protect the 3S lithium battery cell. The charging management component is connected to the load switch through the status indication component. At the same time, the charging management component charges the multi-function display module through the display module charging port after being converted by the all-in-one expansion dock submodule; The full-function battery protection component includes a battery pack protection unit and a balance charging unit, which are used for fault protection and voltage maintenance respectively; the fast charging protocol component is used to negotiate with the charger to obtain a charging voltage of 20V; the status indicator component is used to display the current working status of the power management submodule and has a voltage sampling function to record the charge and discharge curves online; The perception and navigation module obtains information about the surrounding environment of the aircraft through the sensor data fed back by the depth camera and the central control module, combines it with the stored environmental point cloud map, and calculates the motion posture control instructions through the AI ​​computing platform in the perception and navigation module, and sends them to the central control module to achieve autonomous positioning, mapping and navigation; the sensor data fed back by the central control module includes sensor data obtained from the TOF time of flight sensor component, the IMU inertial measurement unit component and the optical flow sensor component; The AI ​​computing platform in the perception and navigation module realizes Ethernet communication, USB interface expansion, and power supply and charging functions of the multi-function display module when connected to the all-in-one expansion dock submodule. The all-in-one expansion dock submodule includes an NX USB interface component, an OTG power receiving component, a 5V step-down power supply, a USB HUB component, and a USB Ethernet card. The NX USB interface component is used to connect to external components of the AI ​​computing platform; The OTG power receiving component supplies power to the multi-function display module through the Type-C charging port and is connected to the USB HUB component. The USB HUB component is sequentially connected to the USB Ethernet card, the network transformer, and the NX network port, or is connected to the spare USB interface or the external USB interface through the USB HUB component, thereby realizing OTG and 5V power supply / charging functions simultaneously. The 5V step-down power supply uses an external charger to power and charge the multi-function display module; The USB HUB unit converts a single interface into two USB A female sockets and a USB Ethernet card interface; The USB Ethernet card converts the USB signal from the multi-function display module via the USB HUB component into an Ethernet signal, enabling wired Ethernet communication between the multi-function display module and the AI ​​computing platform; The central control module, after receiving the motion posture control instruction sent by the perception and navigation module, performs a calculation through a real-time control algorithm to obtain the expected value of the motor speed, and sends it to the power module, thereby realizing the underlying motion control function of the body through the power module; after receiving the temperature sensor data connected to the external communication interface, the central control module performs a calculation through a real-time control algorithm to obtain the expected value of the cooling fan speed, and sends it to the power module, thereby realizing real-time regulation of the cooling fan speed and active air circulation in the body through the power module; The power module, after receiving the expected value of the motor speed from the central control module, drives the brushless motor speed control module to generate an output signal with driving capability to complete the required action; after receiving the expected value of the cooling fan speed from the central control module, drives the cooling fan to complete the heat dissipation; The power module includes two groups of four PWM outputs each to drive the brushless motor speed control module for speed regulation. At the same time, it provides a bus interface of one channel per group for connecting the TOF time-of-flight sensor component. The bus interface provides the ESC current feedback input signal, and uses a resistor voltage divider to convert the ESC feedback input signal into an electrical signal within the ADC measurement range, thereby enabling the microcontroller to perceive the ESC's operating status. The multifunctional display module interacts bidirectionally with the perception navigation module to realize the human-computer interaction function.

2. The electrical system of a space intelligent flying robot in a microgravity-normal air environment according to claim 1, characterized in that: During the discharge process, the output of the 3S lithium battery cell is protected by a full-function protection component and supplies power to the perception and navigation module, central control module, power module and multi-function display module through a load switch; in the perception and navigation module, the 3S lithium battery cell outputs a 5V step-down power supply to power the AI ​​computing platform, depth camera, onboard large-capacity and high-speed solid-state drive and all-in-one expansion dock sub-module; in the central control module, a 5V step-down power supply is output through a three-way switching regulated power supply to power the TOF time of flight sensor component, status indication component, IMU inertial measurement unit component and optical flow sensor component respectively; in the power module, it supplies power to the brushless motor speed regulation module.

3. The electrical system of a space intelligent flying robot in a microgravity-normal air environment according to claim 2, characterized in that: The central control module is based on a microprocessor and is connected to the power module, remote control receiving component, computing platform interface, onboard large-capacity and high-speed solid-state hard drive, IMU inertial measurement unit component, external communication interface, electric control output interface, colored light output interface and TOF time of flight sensor component respectively; The power supply module provides power to the microprocessor; The remote control receiving component is connected to the remote control receiver through a remote control receiver interface with selectable positive and negative logic to transmit commands to the robot; The onboard large-capacity, high-speed solid-state hard drive stores the received measurement data and the expected value of the machine speed and the output value of the light signal obtained after the solution, as well as the point cloud map; The IMU inertial measurement unit component is a single-chip sensor that receives real-time measurement data of the robot's motion state and transmits it to the microprocessor for subsequent calculation; The external communication interface uses a USB or UART interface to connect the microprocessor to an external device. The external device is a temperature sensor, which is used to monitor the temperature inside the machine in real time and send it to the microprocessor. The algorithm in the microprocessor determines whether to turn on the cooling fan and calculates the cooling fan speed, and sends it to the cooling fan control component, and then sends it to the power module to adjust the cooling fan speed in real time to achieve active air circulation; The electronic control output interface is used to connect the brushless motor speed control module and the microprocessor. After the microprocessor calculates the expected value of the motor, it is sent to the power module, and the brushless motor speed control module performs real-time motor speed control to achieve posture control; The colored light output interface is used to connect the optical flow sensor component and the microprocessor to achieve two-way communication, and cooperate with the IMU inertial measurement unit component to achieve precise positioning; The TOF time-of-flight sensor component receives the robot's laser sensor data on the external environment in real time, and transmits it to the microprocessor for subsequent calculation in combination with the data obtained by the optical flow sensor component.

4. The electrical system for a space intelligent flying robot in a microgravity-normal air environment according to claim 3, characterized in that: The output interfaces of all peripheral devices are designed with logical isolation.

5. The electrical system of a space intelligent flying robot in a microgravity-normal air environment according to claim 4, characterized in that: The multifunctional display module is connected to the all-in-one expansion dock submodule in the perception and navigation module to achieve two-way interaction between the multifunctional display module and the perception and navigation module.

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