Multi-mode space robot for on-orbit assembly and path planning method thereof

Abstract

The invention discloses a multi-mode space robot for in-orbit assembly and a path planning method thereof, and relates to the technical field of robots, the robot comprises a main control system, an attitude control system, a double-mechanical-arm system, a communication system, a propulsion system, a docking system, a navigation system and a power supply system; the working modes of the multi-mode space robot can be switched, the working modes comprise a free flight mode, a crawling mode and a fixed base mode, and a switching scheme of the working modes is provided. The invention further provides a path planning method, support is provided for the space movement scheme of the multi-mode space robot, and meanwhile reference is provided for improving the time efficiency of the space robot in the on-orbit assembly process and reducing the cost in the on-orbit assembly process.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a multi-mode space robot for on-orbit assembly and a path planning method thereof. Background Art

[0002] As a typical intelligent operating system, the application of space robots is gradually changing the traditional modes of space transportation, on-orbit construction, on-orbit maintenance, and deep space exploration. They are one of the important enabling means for future unmanned and manned space missions. As humanity continues to deepen its space exploration, the complexity of space manipulation tasks such as on-orbit capture, on-orbit service and maintenance, on-orbit assembly, and deep space exploration, as well as the emergence of new on-orbit mission requirements, have posed new technical challenges to the development and application of space robots. Among them, on-orbit assembly of space structures is a far-reaching and extremely challenging cutting-edge technology. Using space robots, basic units such as structural modules, components, or small spacecraft launched into orbit once or multiple times can be autonomously assembled into large or ultra-large spacecraft in sequence, offering advantages such as low construction, operation, and maintenance costs and strong scalability.

[0003] Currently, space robots are primarily categorized into three types: 1) Fixed-base robots, typically deployed on extremely large spacecraft, are characterized by large manipulator arms. 2) Crawling robots, typically mounted on large truss structures, space station structures, or rails, have a working end and a mobile end. The working end performs assembly functions, while the mobile end connects to the structure and moves. 3) Free-flying robots, free from the constraints of the spacecraft or rails, can fly freely in space and perform long-distance missions. However, each of these three types of space robots has its own limitations. Fixed-base robots are limited by their size and workspace, making it difficult to assemble spatial structures exceeding their own size. Crawling robots move slowly, inevitably contacting and colliding with spatial structures as they move over them, and are prone to coupling effects with the flexible vibrations of large flexible structures. Free-flying robots, while faster, suffer from high fuel consumption and high costs. Furthermore, in microgravity, free-flying robots have low capture accuracy, making docking two free-floating structures challenging. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a multi-mode space robot and a path planning method thereof for on-orbit assembly, so as to improve the efficiency of the space robot.

[0005] To achieve the above objectives, one aspect of an embodiment of the present application provides a multi-mode space robot for on-orbit assembly, the multi-mode space robot comprising: a main control system, a posture control system, a dual-manipulator system, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system;

[0006] The multi-mode space robot can switch working modes, including free flight mode, crawling mode and fixed base mode;

[0007] In the free flight mode, the multi-mode space robot can perform space flight and posture adjustment;

[0008] In the crawling mode, the multi-mode space robot can crawl on the aerospace structure;

[0009] In the fixed base mode, the multi-mode space robot is arranged at a working point on the aerospace structure and is fixedly connected to the aerospace structure as a whole.

[0010] In some embodiments, the main control system is used to control the multi-mode space robot to switch the working mode;

[0011] The step of controlling the multi-mode space robot to switch the working mode comprises the following steps:

[0012] Setting the initial state of the multimodal space robot to the free flight mode; starting the multimodal space robot to start working, determining its own spatial position, then switching to the free flight mode, determining the mission objective of the multimodal space robot and controlling the multimodal space robot to fly to a landing point of the space structure to be assembled; wherein the landing point is the landing position of the multimodal space robot on the aerospace structure when switching from the free flight mode to the crawling mode;

[0013] Controlling the multimodal space robot to switch to the crawling mode through the dual manipulator system; in the crawling mode, controlling the multimodal space robot to crawl along the spatial structure to be assembled until it moves to a working point; wherein the working point is a position that the multimodal space robot needs to reach when performing an assembly function;

[0014] The multimodal space robot is controlled to switch to the fixed base mode through the docking system; in the fixed base mode, the multimodal space robot is controlled to be fixedly connected to the space structure to be assembled as a whole, and then the multimodal space robot is controlled to perform the assembly docking task.

[0015] In some embodiments, the main control system includes a first control unit, and the first control unit is used to execute the step of setting the initial state of the multi-mode space robot to the free flight mode;

[0016] The step of setting the initial state of the multi-mode space robot to the free flight mode comprises the following steps:

[0017] Controlling the multi-mode space robot to start up, controlling the power supply system to operate, and using the navigation system to determine its own spatial position;

[0018] Utilizing the communication system to receive host computer instructions, determine the task objectives, and then perform gait planning to determine the landing point and the working point;

[0019] The attitude control system and the propulsion system are used to drive the multimodal space robot to fly to the landing point, so that the position deviation between the actual landing position and the landing point is within a preset range, and the speed and angular velocity of the multimodal space robot are controlled to drop to 0 when landing.

[0020] In some embodiments, the main control system includes a second control unit, and the second control unit is used to perform the step of controlling the multi-mode space robot to switch to the crawling mode through the dual manipulator system;

[0021] The step of controlling the multi-mode space robot to switch to the crawling mode through the dual robotic arm system comprises the following steps:

[0022] Controlling the multi-mode space robot to adjust its posture and maintain stability, and controlling the dual-manipulator system to work and deploy through coordination of various systems, thereby respectively clamping two adjacent clamped points at the landing point to complete the landing;

[0023] The robot arm is driven to alternately clamp the clamped structure on the aerospace structure at a target frequency, crawl, and move to the working point.

[0024] In some embodiments, the main control system includes a third control unit, and the third control unit is used to perform the step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system;

[0025] The step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system comprises the following steps:

[0026] The multi-mode space robot is controlled to adjust its posture and maintain stability, and the docking system is used to dock the robot at the working point through coordination among various systems.

[0027] Determine the mission objective of the multimodal space robot; when the mission objective is to transport and then dock with a target aerospace structure, control the multimodal space robot to switch to the free flight mode, thereby driving the target aerospace structure to move in space; when the mission objective is to grasp and then dock with the target aerospace structure, control the robotic arms of the dual robotic arm system to grasp the target aerospace structure and complete the docking.

[0028] In some embodiments, the main control system includes an alternating switching unit and a path planning unit;

[0029] The alternating switching unit is used to control the multi-mode space robot to adopt a multi-stage flying and crawling alternating movement mode to perform maneuverable displacement on a single or multiple aerospace structures;

[0030] The path planning unit is used to perform path planning according to the working mode in a preset task environment or when executing a multi-node task.

[0031] To achieve the above objectives, another aspect of an embodiment of the present application provides a path planning method, which is applied to a multimodal space robot for on-orbit assembly as described in the present application, and the method includes the following steps:

[0032] Mathematically modeling the space mission scenario and analyzing the time consumption and total cost of the multi-modal space robot during movement; wherein the total cost includes maintenance cost, energy consumption cost, and safety cost;

[0033] Constructing a task objective function using the time consumption and the total cost, and setting weight parameters;

[0034] Calculate the corresponding objective function value of the entire path according to the time consumption, the total cost and the weight parameter and using the task objective function;

[0035] The path with the smallest objective function value is selected as the moving path of the multimodal space robot.

[0036] In some embodiments, mathematical modeling of the space mission scenario comprises the following steps:

[0037] Conduct mathematical modeling of mission scenarios based on mission requirements;

[0038] Determine the starting and ending points of the task;

[0039] Analyzing the crawling points and the flying points in space on the space cooperation target in the mission scenario;

[0040] Determining a switching path between a fixed base mode and a crawling mode according to the crawling point and the flying point;

[0041] Determine a space flight path according to the flight points; determine a crawling path according to the crawling points;

[0042] The analyzing of the time consumption and total cost during the movement of the multimodal space robot comprises the following steps:

[0043] Based on the permutations and combinations of all crawling paths, mode switching paths, and flight paths, and taking the mission start point and mission end point as constraints, the time consumption and the total cost of the process from the mission start point to the mission end point are analyzed.

[0044] In some embodiments, constructing a task objective function using the time consumption and the total cost includes the following steps:

[0045] The task objective function is constructed using the time consumption and the total cost as follows:

[0046]

[0047] Where W is the task objective function, p i is the path, t f is the total time taken for the path, C is the total cost, t max is the longest time among all paths, C max is the highest total cost among all paths, and λ is the time weight.

[0048] In some embodiments, the step of calculating the corresponding objective function value of the entire path based on the time consumption, the total cost, and the weight parameter and using the task objective function includes the following steps:

[0049] Taking the minimum objective function value of the task objective function as the goal, taking the time consumption as a constraint, setting the time weight to 1, and then using the task objective function to calculate the corresponding objective function value of the entire path;

[0050] Taking the minimum objective function value of the task objective function as the goal, taking the total cost as a constraint, setting the time weight to 0, and then using the task objective function to calculate the corresponding objective function value of the entire path;

[0051] With the minimum objective function value of the task objective function as the goal, the time consumption and the total cost are used as constraints, the value range of the time weight is set to 0<λ<1, and then the corresponding objective function value of the entire path is calculated using the task objective function.

[0052] The embodiments of the present application include at least the following beneficial effects:

[0053] The present application provides a multi-mode space robot for on-orbit assembly. The working modes of the multi-mode space robot include free flight mode, crawling mode and fixed base mode, and provides a working mode switching scheme; the present application also provides a path planning method to support the spatial movement scheme of the multi-mode space robot, and at the same time provide a reference for improving the time efficiency of the space robot during the on-orbit assembly process and reducing the cost of the on-orbit assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0055] Figure 1 Multiple views of a multi-mode space robot for on-orbit assembly provided exemplarily in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of a flow chart of a path planning method provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of working mode switching within the mobile solution provided in an embodiment of the present application;

[0058] Figure 4 A schematic diagram of an optional movement path provided in an embodiment of the present application;

[0059] Figure 5 Schematic diagram of the relationship between path and time, and path and cost for the numerical simulation provided in the embodiment of the present application;

[0060] Figure 6 Schematic diagram of the path and objective function of the numerical simulation under different time weights provided in the embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0062] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0063] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0065] Reference Figure 1 , an embodiment of the present application provides a multi-mode space robot for on-orbit assembly, the multi-mode space robot comprising: a main control system, a posture control system, a dual-manipulator system, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system;

[0066] The multi-mode space robot can switch working modes, including free flight mode, crawling mode and fixed base mode;

[0067] In the free flight mode, the multi-mode space robot can perform space flight and posture adjustment;

[0068] In the crawling mode, the multi-mode space robot can crawl on the aerospace structure;

[0069] In the fixed base mode, the multi-mode space robot is arranged at a working point on the aerospace structure and is fixedly connected to the aerospace structure as a whole.

[0070] Optionally, the main control system is used to control the multi-mode space robot to switch the working mode;

[0071] The step of controlling the multi-mode space robot to switch the working mode comprises the following steps:

[0072] Setting the initial state of the multimodal space robot to the free flight mode; starting the multimodal space robot to start working, determining its own spatial position, then switching to the free flight mode, determining the mission objective of the multimodal space robot and controlling the multimodal space robot to fly to a landing point of the space structure to be assembled; wherein the landing point is the landing position of the multimodal space robot on the aerospace structure when switching from the free flight mode to the crawling mode;

[0073] Controlling the multimodal space robot to switch to the crawling mode through the dual manipulator system; in the crawling mode, controlling the multimodal space robot to crawl along the spatial structure to be assembled until it moves to a working point; wherein the working point is a position that the multimodal space robot needs to reach when performing an assembly function;

[0074] The multimodal space robot is controlled to switch to the fixed base mode through the docking system; in the fixed base mode, the multimodal space robot is controlled to be fixedly connected to the space structure to be assembled as a whole, and then the multimodal space robot is controlled to perform the assembly docking task.

[0075] Optionally, the main control system includes a first control unit, and the first control unit is used to execute the step of setting the initial state of the multi-mode space robot to the free flight mode;

[0076] The step of setting the initial state of the multi-mode space robot to the free flight mode comprises the following steps:

[0077] Controlling the multi-mode space robot to start up, controlling the power supply system to operate, and using the navigation system to determine its own spatial position;

[0078] Utilizing the communication system to receive host computer instructions, determine the task objectives, and then perform gait planning to determine the landing point and the working point;

[0079] The attitude control system and the propulsion system are used to drive the multimodal space robot to fly to the landing point, so that the position deviation between the actual landing position and the landing point is within a preset range, and the speed and angular velocity of the multimodal space robot are controlled to drop to 0 when landing.

[0080] Optionally, the main control system includes a second control unit, and the second control unit is used to execute the step of controlling the multi-mode space robot to switch to the crawling mode through the dual manipulator arm system;

[0081] The step of controlling the multi-mode space robot to switch to the crawling mode through the dual robotic arm system comprises the following steps:

[0082] Controlling the multi-mode space robot to adjust its posture and maintain stability, and controlling the dual-manipulator system to work and deploy through coordination of various systems, thereby respectively clamping two adjacent clamped points at the landing point to complete the landing;

[0083] The robot arm is driven to alternately clamp the clamped structure on the aerospace structure at a target frequency, crawl, and move to the working point.

[0084] Optionally, the main control system includes a third control unit, and the third control unit is used to execute the step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system;

[0085] The step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system comprises the following steps:

[0086] The multi-mode space robot is controlled to adjust its posture and maintain stability, and the docking system is used to dock the robot at the working point through coordination among various systems.

[0087] Determine the mission objective of the multimodal space robot; when the mission objective is to transport and then dock with a target aerospace structure, control the multimodal space robot to switch to the free flight mode, thereby driving the target aerospace structure to move in space; when the mission objective is to grasp and then dock with the target aerospace structure, control the robotic arms of the dual robotic arm system to grasp the target aerospace structure and complete the docking.

[0088] Optionally, the main control system includes an alternating switching unit and a path planning unit;

[0089] The alternating switching unit is used to control the multi-mode space robot to adopt a multi-stage flying and crawling alternating movement mode to perform maneuverable displacement on a single or multiple aerospace structures;

[0090] The path planning unit is used to perform path planning according to the working mode in a preset task environment or when executing a multi-node task.

[0091] Reference Figure 2 , an embodiment of the present application provides a path planning method, which is applied to a multi-mode space robot for on-orbit assembly in the present application, and the method includes the following steps S200 to S230:

[0092] S200: mathematically modeling a space mission scenario and analyzing the time consumption and total cost during the movement of the multi-modal space robot; wherein the total cost includes maintenance cost, energy consumption cost, and safety cost;

[0093] S210: constructing a task objective function using the time consumption and the total cost, and setting weight parameters;

[0094] S220: Calculating a corresponding objective function value of the entire path according to the time consumption, the total cost, and the weight parameter and using the task objective function;

[0095] S230: Selecting a path with the minimum objective function value as the moving path of the multimodal space robot.

[0096] Optionally, the mathematical modeling of the space mission scenario includes the following steps:

[0097] Conduct mathematical modeling of mission scenarios based on mission requirements;

[0098] Determine the starting and ending points of the task;

[0099] Analyzing the crawling points and the flying points in space on the space cooperation target in the mission scenario;

[0100] Determining a switching path between a fixed base mode and a crawling mode according to the crawling point and the flying point;

[0101] Determine a space flight path according to the flight points; determine a crawling path according to the crawling points;

[0102] The analyzing of the time consumption and total cost during the movement of the multimodal space robot comprises the following steps:

[0103] Based on the permutations and combinations of all crawling paths, mode switching paths, and flight paths, and taking the mission start point and mission end point as constraints, the time consumption and the total cost of the process from the mission start point to the mission end point are analyzed.

[0104] Optionally, constructing a task objective function using the time consumption and the total cost includes the following steps:

[0105] The task objective function is constructed using the time consumption and the total cost as follows:

[0106]

[0107] Where W is the task objective function, p i is the path, t f is the total time taken for the path, C is the total cost, t max is the longest time among all paths, C max is the highest total cost among all paths, and λ is the time weight.

[0108] Optionally, calculating the corresponding objective function value of the full path according to the time consumption, the total cost and the weight parameter and using the task objective function includes the following steps:

[0109] Taking the minimum objective function value of the task objective function as the goal, taking the time consumption as a constraint, setting the time weight to 1, and then using the task objective function to calculate the corresponding objective function value of the entire path;

[0110] Taking the minimum objective function value of the task objective function as the goal, taking the total cost as a constraint, setting the time weight to 0, and then using the task objective function to calculate the corresponding objective function value of the entire path;

[0111] With the minimum objective function value of the task objective function as the goal, the time consumption and the total cost are used as constraints, the value range of the time weight is set to 0<λ<1, and then the corresponding objective function value of the entire path is calculated using the task objective function.

[0112] Next, the solution of the embodiment of the present application will be introduced and explained in detail with reference to specific application examples.

[0113] This embodiment discloses a multimodal space robot for on-orbit assembly that integrates a fixed-base robot, a free-flying robot, and a crawling robot, and a path planning method for on-orbit assembly, providing a reference for improving the time efficiency of the space robot during the on-orbit assembly process and reducing the cost of the on-orbit assembly process.

[0114] To achieve the above objectives, this embodiment provides a multi-mode space robot for on-orbit assembly, and its technical solution is as follows:

[0115] A multi-mode space robot for on-orbit assembly includes a posture control system, a dual-manipulator system, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system.

[0116] The attitude control system includes a flywheel, a star sensor, and an onboard computer; the dual robotic arm system includes two robotic arms, an onboard computer, a clamping mechanism, and a depth vision camera; the communication system includes a communication antenna and an onboard computer; the propulsion system includes an onboard computer, a fuel tank, valves, and a nozzle; the docking system includes a docking male part and a docking female part; the navigation system includes a depth vision camera, a star sensor, and an onboard computer; and the power supply system includes a rechargeable battery pack.

[0117] The multi-mode space robot includes three operating modes: free flight mode, crawling mode, and fixed base mode. These three operating modes can be switched freely to meet different mission requirements.

[0118] A multimodal space robot has at least the following beneficial effects: high maneuverability, high flexibility, and a large workspace.

[0119] According to the free flight mode of the multi-mode space robot in this embodiment, the free flight mode mainly includes a communication system, a posture control system, a propulsion system, and a navigation system.

[0120] According to the three modes of the multi-mode space robot of this embodiment, the systems with the same name mentioned later are the same system, and they also perform the same function when not mentioned.

[0121] According to the free flight mode of the multi-mode space robot of this embodiment, the communication system is placed inside the robot to receive instructions from a remote host computer and to feed back relevant data of the current multi-mode space robot and its environment to the remote host computer.

[0122] According to the free flight mode of the multi-mode space robot of this embodiment, the attitude control system is placed inside the robot to maintain the stability of the robot's attitude when the multi-mode space robot is in the flying and hovering states.

[0123] According to the free flight mode of the multi-mode space robot of this embodiment, the propulsion system is used for the multi-mode space robot to perform space robot maneuvers and propel the space robot to perform space flight movement.

[0124] According to the free flight mode of the multimodal space robot of this embodiment, the navigation system is used to determine the spatial position of the multimodal space robot itself.

[0125] According to the crawling mode of the multi-mode space robot in this embodiment, the crawling mode mainly includes a communication system, a posture control system, a dual robotic arm system, and a navigation system.

[0126] According to the crawling mode of the multi-mode space robot of this embodiment, the posture control system is used to maintain the stability of the multi-mode space robot in the crawling state to achieve smooth crawling.

[0127] According to the crawling mode of the multimodal space robot in this embodiment, the dual robotic arm system is placed on both sides of the outside of the robot (the two sides are not fixed directions, but mean two opposite surfaces outside the multimodal space robot body). The dual robotic arms alternately clamp the relevant points of the crawled structure (the points indicated by the clamping mechanism) to drag the multimodal space robot body to move in space on the crawled structure.

[0128] According to the fixed base mode of the multi-mode space robot of this embodiment, the fixed base mode mainly includes a communication system, a dual robotic arm system, and a docking system.

[0129] According to the fixed base mode of the multi-mode space robot in this embodiment, the dual robotic arm system performs the function of grasping and clamping the space cooperation target, and drives the space cooperation target to move in space by clamping the relevant points on the space cooperation target (indicated by the clamping mechanism).

[0130] According to the fixed base mode of the multimodal space robot in this embodiment, the docking mechanism system is used to fix the multimodal space robot at a specific point (indicated by the docking point on the spatial structure), and cooperates with the fixed base mode dual robotic arm system of the multimodal space robot in this embodiment to perform the fixed base robotic arm grasping function.

[0131] The multi-mode space robot dual-manipulator system according to this embodiment includes but is not limited to performing its functions in crawling mode and fixed base mode.

[0132] The multi-mode space robot docking system according to this embodiment includes two components, male and female, and an electrical signal interface. During docking, the female and male components lock together to perform the fixing and assembly functions, and the electrical signal interface connects to transmit electrical signals.

[0133] In the fixed-base mode of this embodiment of the multimodal space robot, the female component of the docking mechanism system has both active opening and passive closing functions. During docking, when the female and male components reach the mating point, the male component triggers the female component's passive closing switch, locking the two components. To undock, the female component opens in response to a remote host computer command, releasing the locked state and achieving separation.

[0134] According to the multi-mode space robot docking system of this embodiment, the docking mechanism system performs functions including but not limited to docking between space structures.

[0135] According to the multi-mode space robot dual-manipulator system of this embodiment, the dual-manipulator system includes a manipulator, a clamping mechanism, and a clamped mechanism, which are respectively located at the ends of the dual-manipulator and on the clamped space structure.

[0136] This embodiment provides an on-orbit assembly solution using the aforementioned multi-modal space robot for on-orbit assembly of large space structures. This process requires the space robot to move to a designated location for work, with movement categorized into short-range and long-range movements.

[0137] Movement plan 1: short-distance movement. If the work points are located at two close different surface positions on the same spatial structure or two very close positions (within the range of a single crawling) on ​​different spatial structures, the optimal crawling mode can be adopted for movement. Compared with a single free flight mode space robot, it reduces the collision problems and poor grasping accuracy caused by flight movement and landing, while saving fuel and extending working time. If the work points are located at two different points on different spatial structures with a long distance (exceeding the range of a single crawling), it is relatively difficult for a single crawling mode robot, and sometimes it may be necessary to take a "detour" plan, or even it may not be possible to reach the work point. This embodiment can adopt a "crawl-fly-crawl" mode for movement. The multi-mode space robot moves to a reasonable take-off point in crawling mode, then switches to free flight mode, releases the clamping mechanism gripping the space structure and retracts the robotic arm, while burning fuel to propel the multi-mode space robot into space flight. When it reaches a reasonable landing point, the robotic arm extends, then clamps the clamped mechanism at the corresponding point, and finally crawls to the working point. Alternatively, this embodiment adopts a "fly-crawl" and "crawl-fly" mode switching scheme. This scheme not only reduces the fuel consumption of a single free flight mode space robot, but also compensates for the disadvantage of a single crawling mode space robot that cannot reach the working point by crawling alone. At the same time, it reduces the crawling distance of the space robot under this working condition to a certain extent, thereby weakening the impact of flexible vibration coupling on large space structures.

[0138] Mobility Option 2: Long-Distance Movement: A space robot in a single crawling mode would undoubtedly cause severe vibrations to the space structure during long-distance movement, potentially causing damage. Furthermore, long-distance movement in a single free-flight mode would require significant fuel. Therefore, a hybrid crawling and free-flight mode was developed. By switching between crawling, flying, and crawling multiple times, this long-distance movement method combines the advantages of both modes—flexibility and stability. This mode of movement is suitable not only for long-distance movement within a single space structure, but also for long-distance movement between different space structures and even between different spacecraft.

[0139] After an on-orbit assembly space robot moves to its designated work location, it must begin assembly tasks. Under these conditions, traditional space robots face significant challenges in completing assembly and docking tasks. First, the space robot and the two spatial structures it is docking with are both floating, requiring the space robot to possess extremely high grasping precision to ensure accurate assembly and docking. Furthermore, fixed-base robots lack the flexibility of space robots due to their limited workspace during assembly and docking.

[0140] According to the free flight mode and fixed base mode referred to by the multi-mode space robot, when in the on-orbit assembly condition of a large space structure, docking two large space structures can be divided into two working modes: free flight capture docking and fixed base docking.

[0141] Docking Plan 1: For the flight capture docking working mode, the spacecraft body to be assembled and docked and a certain space structure are known to be the cooperation targets. At the same time, the spacecraft body and the certain space structure are already at a relatively close distance.

[0142] After the multimodal space robot arrives at the designated working area, it adopts a free flight mode to approach a certain spatial structure. A clamping mechanism and a docking mechanism are arranged on the certain spatial structure. The multimodal space robot is guided by vision and completes docking with the docking mechanism on the certain spatial structure through the docking mechanism, so that the multimodal space robot is fixed on the certain spatial structure. At this time, the certain spatial structure and the multimodal space robot form a whole.

[0143] The multimodal space robot then switches to free flight mode, driving a space structure for a simple movement. The multimodal space robot approaches the main body of the spacecraft and grips the corresponding gripping mechanism on the main body, enabling the main body of the spacecraft to engage with a specific docking mechanism on the space structure, completing the docking between the main body of the spacecraft and the space structure.

[0144] Docking Option 2: For a fixed-base docking scenario, the two spacecraft bodies and a space structure are known to be the target of docking. At the same time, the spacecraft bodies and the space structure are already relatively close to each other.

[0145] After the multimodal space robot arrives at the designated working area, it adopts a free flight mode to fly close to a certain spatial structure. A clamped mechanism and a docked mechanism are arranged on the certain spatial structure. The multimodal space robot uses visual guidance to clamp the clamped mechanism on the certain spatial structure through the clamping mechanism.

[0146] The multimodal space robot then clamps a certain space structure and flies and moves, and again docks itself on the spacecraft body through visual guidance (this docking point is not the docking point between the spacecraft body and the certain space structure). At this time, the multimodal space robot body is fixed on the spacecraft body, and the mechanical arms clamp a certain space structure.

[0147] Finally, the multi-mode space robot switches to fixed base mode, and its dual robotic arms guide a certain space structure to complete docking with the main body of the spacecraft.

[0148] This embodiment also provides a path planning method for on-orbit assembly of a multi-mode space robot:

[0149] The hypothesis is as follows: In an existing on-orbit assembly task in space, a multimodal space robot is required. The multimodal space robot has three working modes: free flight, crawling, and fixed, but its energy budget is limited.

[0150] The environment is as follows: two two-dimensional crawling paths and one three-dimensional aerial area path are set to simulate the mission environment, in which there are certain obstacles at the starting point, target point and part of the path, which hinder the flight of the free base mode to a certain extent.

[0151] The problem is as follows: For a multimodal spatial robot with a given starting position and target position, consider factors such as time, maintenance cost, energy cost, and safety cost to plan an efficient and low-cost path to complete the assembly task.

[0152] Based on the above content, the optimization objective function during the movement process is constructed, and the weight is set based on the comprehensive time and total cost.

[0153] The multimodal space robot of this embodiment has a limited energy budget, i.e., the total amount of power carried by the multimodal space robot is limited, and the total volume of fuel carried is limited. When the power or fuel volume reaches a certain minimum, the multimodal space robot must move to a specific location for energy replenishment.

[0154] According to the environment mentioned in this embodiment, the crawling path is two-dimensional, and the flying path is three-dimensional.

[0155] The obstacles mentioned in this embodiment include, but are not limited to, broad objects such as space cooperative targets and space non-cooperative targets that hinder space flight.

[0156] The time mentioned in this embodiment is the total time required to move from the starting point to the target point during the on-track assembly process.

[0157] The maintenance cost mentioned in this embodiment is the total maintenance cost required to move from the starting point to the target point during the on-orbit assembly process, which specifically includes the on-orbit maintenance cost, operation and labor costs, and software maintenance costs of the space robot.

[0158] The energy cost mentioned in this embodiment is the total energy cost required to move from the starting point to the target point during the on-orbit assembly process, specifically including the space robot fuel launch and transportation cost, fuel raw material cost, and electricity cost.

[0159] The safety cost mentioned in this embodiment is only for the docking process, and the safety costs of docking in crawling mode and docking in flying mode are analyzed respectively.

[0160] The total cost mentioned in this embodiment includes factors such as maintenance cost, energy cost and safety cost.

[0161] The technical solution of the present application is further described below with reference to the accompanying drawings and embodiments.

[0162] Example 1:

[0163] Still refer to Figure 1 , this embodiment provides a schematic diagram of the overall structure of a multi-mode space robot for on-orbit assembly. Figure 1 The multi-mode space robot is 500mm × 500mm × 500mm in size. It includes a posture control system, dual robotic arms, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system.

[0164] The third mode of this embodiment is specifically:

[0165] 1) Free flight mode: This mode includes the attitude control system, propulsion system, communication system, and navigation system. In this mode, the multimodal space robot uses the communication system components to receive mission instructions from the host computer. The navigation system then determines its spatial position and plans a reasonable path. Finally, the propulsion system propels the multimodal space robot along the appropriate path. The attitude control system controls the multimodal space robot's position and posture throughout the entire process.

[0166] 2) Crawling Mode: This mode includes a communication system, attitude control system, dual-manipulator system, and navigation system. In this mode, the multimodal space robot utilizes the communication system components to receive task instructions from the host computer. It then uses the navigation system to determine its spatial position and plan a reasonable path. Finally, the dual-manipulator system's robotic arms alternately grasp points on the spatial structure, crawling according to task requirements. In crawling mode, the depth vision cameras on the robotic arms provide visual guidance during the grasping process.

[0167] 3) Fixed-base mode: This mode includes the communication system, dual-manipulator system, and docking system. In this mode, the multimodal space robot utilizes the communication system components to receive task instructions from the host computer. The docking components on the multimodal robot mate with those at the fixed end of the multimodal robot, allowing the multimodal space robot to dock and secure to the space structure. Finally, the dual-manipulator system performs the grasping and docking tasks. A depth vision camera provides visual guidance during the docking process.

[0168] Example 2:

[0169] The third mode switching solution of this embodiment is:

[0170] 1) Switching from free flight mode to crawling mode: The multimodal space robot is initially in free flight mode. When the mode switch is initiated, the multimodal space robot flies to the crawling mode initial point, maintains a suitable posture, and hovers. At this point, the dual robotic arms each use their gripping mechanisms to grasp two different but adjacent gripping structures. Simultaneously, the spatial structure serves as a cooperative target, with gripping structures arranged to facilitate crawling. The left and right robotic arms alternately grasp the arranged gripping structures in an orderly manner, achieving crawling, thus completing the mode switch. When the robotic arms are released again to adjust the posture, the propulsion system propels the multimodal space robot into flight, and the operating mode switches back to free flight mode.

[0171] 2) Switching from free flight mode to fixed base mode: The multi-mode space robot is initially in free flight mode. When switching modes, the multi-mode space robot flies to the initial point of fixed base mode, maintains a reasonable posture, and hovers. Then, the docking parts on the multi-mode space robot and the docking parts on the space structure complete the mode switch. When switching back, the docking parts actively open, the propulsion system propels the multi-mode space robot into flight, and the operating mode switches back to free flight mode.

[0172] 3) Switching from Crawling Mode to Fixed Base Mode: The multi-mode space robot is initially in crawling mode. When switching modes, the multi-mode space robot crawls to the initial point of fixed base mode, maintains a suitable posture, and hovers. The docking part of the multi-mode space robot then docks with the docking part on the space structure. This configuration resembles the fixed base mode diagram shown in the figure, indicating the mode switch is complete. When the docking part is actively opened, the multi-mode robot adjusts its posture and extends its robotic arm to grasp the clamped structure, switching the operating mode back to crawling mode.

[0173] See Figure 3 , this embodiment provides a set of assembly solutions for switching working modes. Considering that the working goal of the multi-mode space robot is to move to the right side point of the truss and fix it on the right side of the truss to perform the docking task, at this time, the multi-mode space robot is in free flight mode. This embodiment can adopt the following solutions: ① Fly directly to the target point, and then switch the mode switching solution of the fixed base mode through the free flight mode, and fix it on the right side of the truss; ② According to appropriate path planning, the multi-mode space robot first flies a distance, switches to the crawling mode at a point a certain distance away from the fixed point on the right, crawls to the fixed point on the right through the crawling mode, and then switches to the fixed base mode. (Only a simple mode switching solution of "free flight-crawl-fixed base" is given here, and it moves on a single space structure).

[0174] When in a more complex mission environment, such as moving on multiple spatial structures or moving long distances, multiple "free base fixation-crawl-free flight" mode switches can be performed according to mission requirements and environmental requirements, and the mode switching scheme of this embodiment is not limited to the examples given.

[0175] With respect to the docking schemes 1 and 2 proposed in this application, when the final target point of movement is a space structure, docking scheme 1 is adopted, that is, when the multi-mode space robot is fixed on the space structure in a fixed base mode, it is regarded as a whole and adopts a free flight mode to drive the space structure to fly together. The multi-mode space robot then approaches the spacecraft body and clamps the corresponding clamped mechanism on the spacecraft body, so that the spacecraft body and the specific docking mechanism on a certain space structure cooperate to complete the docking of the spacecraft body and the space structure; when the final target point of movement is the spacecraft body, docking scheme 2 is adopted, that is, when the multi-mode space robot is fixed on the spacecraft body in a fixed base mode, the fixed base mode is directly adopted, and the robotic arm is used to grab the aerospace structure floating around the spacecraft body to complete the docking.

[0176] For docking solution one, the multi-mode space robot mainly performs the transportation function; for docking solution two, the multi-mode space robot mainly performs the assembly function. In response to the above situation, the multi-mode space robot of this embodiment can carry fuel tanks of different volumes and rechargeable battery packs of different capacities according to mission requirements. When the multi-mode space robot mainly performs the transportation function, the propulsion system, as the main working end, can carry a larger fuel tank and a smaller rechargeable battery pack; when the multi-mode space robot mainly performs the assembly function, the robotic arm, as the main working end, can carry a larger rechargeable battery pack for the robotic arm to work for a long time and carry a smaller volume of fuel.

[0177] Example 3:

[0178] This embodiment provides a multi-mode space robot path planning method for on-orbit assembly, and the specific steps are as follows:

[0179] Task modeling for existing technology problems: Multimodal robots can be considered as having R 3 The working space of the space truss is covered with crawling sites c(i) and flying sites f(j), as well as the task starting point s and the task target point e.

[0180] The path can be expressed as p i :s→V→e, where When crawling only, V={c(1),...,c(i)}; when flying only, V={f(1),...,f(j)}. For a given time parameter t f , p i (0) = s, pi (t f )=e. When 0 <t<t f hour, Comprehensive consideration of maintenance cost C t , energy consumption cost C e and safety cost C s .

[0181] Time t p i The cost of the path C(t,p i ):

[0182] C(t,p i )=C t (t,p i )+C e (t,p i )+C s (t,p i ) (1)

[0183] Completed p i The total cost of the path C(t f ,p i ):

[0184] C(t f ,p i )=C t (t f ,p i )+C e (t f ,p i )+C s (t f ,p i ) (2)

[0185] Design objective function:

[0186] W=λt f +μC(t f ,p i ) (3)

[0187] Where λ and μ represent weights.

[0188] By finding the right f , p i , so that the objective function W reaches the desired minimum value.

[0189] For an alternative example, see Figure 4 :

[0190] Figure 4In the figure, the key points where the multi-mode space robot can attach are {s, c(i), e}; the flight point is f(i) (note that not all flight points are shown in the figure, the focus is on the mode switching path of "crawl-fly-crawl"). The robot's crawling path is from the starting point s to c(1), and then moves between c(i) and c(j); the switching between free flight mode and crawling mode is Flight path f(i)→f(j). Figure 4 In the example, point A corresponds to the starting point s, and point B corresponds to the target point e. Except for points s and e, all other points are denoted as the set V = {c(1),...,c(i),f(1),...,f(j)}. The L-shaped spatial truss structure consists of a long side l1 parallel to the x-axis and a short side l2 parallel to the z-axis.

[0191] Maintenance cost C t : Daily maintenance is an indispensable part of the on-orbit assembly process in space, involving several key costs. Specifically, it includes the on-orbit maintenance cost of the space robot, operation and labor costs, and software maintenance costs. For the convenience of calculation and analysis, we will uniformly record the average daily maintenance cost as C main .

[0192] To more accurately evaluate the maintenance cost, we further calculate the maintenance cost per second using the following formula:

[0193]

[0194] On this basis, for a specific path p i The time cost at time point t can be calculated using the following formula:

[0195] C t (t,p i )=C main ×t (5)

[0196] Energy consumption cost C e The energy consumption cost of the space robot takes into account the space robot fuel launch and transportation costs, fuel raw material costs, and electricity costs. Considering that the space solar power station provides power supply to the multi-mode space robot, the average electricity cost per second is C eles Consider the space robot carrying fuel volume V fuel , density is ρ0, fuel specific impulse I sp , gravitational acceleration g0, the total cost per kilogram of launch transportation cost and per kilogram of fuel is C trans , the number of maneuvers required for a single flight is n motor , p i The number of flights at time t under the path is N(t,p i), the velocity increment of a single maneuver is Δv, and the total mass of the space robot is m robot .

[0197] According to the Tsiolkovsky Rocket Equation:

[0198]

[0199] The fuel mass consumption for a single maneuver is:

[0200] Δm=m initial -m final (7)

[0201] The total number of maneuvers n can be obtained by iterating formula (7): total .

[0202] Fuel cost per flight:

[0203]

[0204] Electricity cost:

[0205] C electric =C eles t (9)

[0206] p i Energy consumption cost at time t under the path:

[0207] C e (t,p i )=N(t,p i )×C sgle +C electric (10)

[0208] Safety cost C s :The safety cost of space robots only considers the docking process here, and analyzes the corresponding safety costs for single-mode crawling robots and flying robots. Assume that under a specified task, the safety cost of a single crawling mode space robot is C crawl , crawl mode in p i The risk probability at time t under the path is The safety cost of a space robot using a single flight mode is C fly , airplane mode in p i The risk probability at time t under the path is

[0209] p i The safety cost at time t under the path:

[0210]

[0211] Where δ is the correction coefficient, according to the path p i Modifications were made to take into account the synergistic effects of flying and crawling.

[0212] Power life: The multi-mode space robot will undoubtedly consume a lot of power when performing crawling and assembly, and the power life of the multi-mode space robot depends on the capacity of its power supply. When the space robot is fully charged, the battery capacity is E max , the total power of the space robot is Therefore, the crawling distance in full power state is:

[0213]

[0214] Add L max As a limitation of the crawling mode, when the power is lower than a certain value, you need to move to a specific point on the truss to fully charge it. i The charging time during the path is t batter (p i ).

[0215] Objective function:

[0216] According to each path p i The crawling distance can be analyzed:

[0217]

[0218] Flight distance:

[0219]

[0220] The mode switching time on the path is t switch

[0221] Total time:

[0222]

[0223] The design objective function is:

[0224]

[0225] Where 0≤λ≤1, t max is the longest time among all paths, C max is the maximum cost among all paths. λ is a tuning parameter. When λ = 0, the objective function only weights the cost, finding the path with the optimal cost. When λ = 1, it only weights the time, finding the path with the optimal time. The optimal path for the task can be found by adjusting the value of λ according to the task requirements.

[0226] The simulation results are shown in Table 1:

[0227] Table 1

[0228]

[0229]

[0230] See Figure 5 , Figure 5 The simulation results of (a) time and (b) cost involve 35 paths in total, where path 1 and path 35 represent the crawl-only path and the flight-only path, respectively, while paths 2 to 34 correspond to the mixed path mode of “crawl-fly-crawl”. Figure 5 The maximum and minimum values ​​can be seen in the following text.

[0231] Figure 5 (a) in the figure shows the corresponding relationship between each path and the total time. Figure 5 As can be seen from the figure, path 1 (crawling path only) has the longest total time, while path 35 (flying path only) has the shortest total time. This shows that the flying mode has a significant advantage in time efficiency, while the crawling mode is relatively time-consuming. Figure 5 Panel (b) shows the relationship between each path and the total cost. The analysis shows that path 1 (crawling only) has the lowest cost, while path 35 (flying only) has the highest cost. This indicates that the crawling mode performs better in terms of cost control, while the flying mode requires a higher investment.

[0232] See Figure 6 , Figure 6 When (a) to (f) are λ = {00.20.40.60.81}, the path p i Corresponding W. Since λ is a time weight function, when the task is optimized only for cost, λ = 0, and path 1 (only crawling path) is the optimal choice; when the task needs to balance between time and cost, 0 < λ < 1, there is a critical value λ * , so that the optimal path changes from path 1 to one of the "crawl-fly-crawl" hybrid paths; when the task is only optimized for time, λ = 1, then path 35 (only flight path) is the optimal choice.

[0233] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0234] Those skilled in the art will understand that the technical solutions shown in the drawings do not constitute a limitation on the embodiments of the present application, and may include more or fewer technical solutions than shown in the drawings, or a combination of certain technical solutions, or different technical solutions.

[0235] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0236] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0237] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A multi-mode space robot for on-orbit assembly, characterized in that: The multi-mode space robot includes: a main control system, a posture control system, a dual-manipulator system, a communication system, a propulsion system, a docking system, a navigation system and a power supply system; The multi-mode space robot can switch working modes, including free flight mode, crawling mode and fixed base mode; In the free flight mode, the multi-mode space robot can perform space flight and posture adjustment; In the crawling mode, the multi-mode space robot can crawl on the aerospace structure; In the fixed base mode, the multi-mode space robot is arranged at a working point on the aerospace structure and is fixedly connected to the aerospace structure as a whole.

2. The multi-mode space robot for on-orbit assembly according to claim 1, characterized in that: The main control system is used to control the multi-mode space robot to switch the working mode; The step of controlling the multi-mode space robot to switch the working mode comprises the following steps: Setting the initial state of the multimodal space robot to the free flight mode; starting the multimodal space robot to start working, determining its own spatial position, then switching to the free flight mode, determining the mission objective of the multimodal space robot and controlling the multimodal space robot to fly to a landing point of the space structure to be assembled; wherein the landing point is the landing position of the multimodal space robot on the aerospace structure when switching from the free flight mode to the crawling mode; Controlling the multimodal space robot to switch to the crawling mode through the dual manipulator system; in the crawling mode, controlling the multimodal space robot to crawl along the spatial structure to be assembled until it moves to a working point; wherein the working point is a position that the multimodal space robot needs to reach when performing an assembly function; The multimodal space robot is controlled to switch to the fixed base mode through the docking system; in the fixed base mode, the multimodal space robot is controlled to be fixedly connected to the space structure to be assembled as a whole, and then the multimodal space robot is controlled to perform the assembly docking task.

3. The multi-mode space robot for on-orbit assembly according to claim 2, characterized in that: The main control system includes a first control unit, which is used to execute the step of setting the initial state of the multi-mode space robot to the free flight mode; The step of setting the initial state of the multi-mode space robot to the free flight mode comprises the following steps: Controlling the multi-mode space robot to start up, controlling the power supply system to operate, and using the navigation system to determine its own spatial position; Utilizing the communication system to receive host computer instructions, determine the task objectives, and then perform gait planning to determine the landing point and the working point; The attitude control system and the propulsion system are used to drive the multimodal space robot to fly to the landing point, so that the position deviation between the actual landing position and the landing point is within a preset range, and the speed and angular velocity of the multimodal space robot are controlled to drop to 0 when landing.

4. The multi-mode space robot for on-orbit assembly according to claim 2, characterized in that: The main control system includes a second control unit, which is used to execute the step of controlling the multi-mode space robot to switch to the crawling mode through the dual manipulator system; The step of controlling the multi-mode space robot to switch to the crawling mode through the dual robotic arm system comprises the following steps: Controlling the multi-mode space robot to adjust its posture and maintain stability, and controlling the dual-manipulator system to work and deploy through coordination of various systems, thereby respectively clamping two adjacent clamped points at the landing point to complete the landing; The robot arm is driven to alternately clamp the clamped structure on the aerospace structure at a target frequency, crawl, and move to the working point.

5. The multi-mode space robot for on-orbit assembly according to claim 2, characterized in that: The main control system includes a third control unit, and the third control unit is used to execute the step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system; The step of controlling the multi-mode space robot to switch to the fixed base mode through the docking system comprises the following steps: The multi-mode space robot is controlled to adjust its posture and maintain stability, and the docking system is used to dock the robot at the working point through coordination among various systems. Determine the mission objective of the multimodal space robot; when the mission objective is to transport and then dock with a target aerospace structure, control the multimodal space robot to switch to the free flight mode, thereby driving the target aerospace structure to move in space; when the mission objective is to grasp and then dock with the target aerospace structure, control the robotic arms of the dual robotic arm system to grasp the target aerospace structure and complete the docking.

6. A multi-mode space robot for on-orbit assembly according to any one of claims 1 to 5, characterized in that: The main control system includes an alternating switching unit and a path planning unit; The alternating switching unit is used to control the multi-mode space robot to adopt a multi-stage flying and crawling alternating movement mode to perform maneuverable displacement on a single or multiple aerospace structures; The path planning unit is used to perform path planning according to the working mode in a preset task environment or when executing a multi-node task.

7. A path planning method, characterized in that: The method is applied to the multi-mode space robot for on-orbit assembly according to claim 1, and the method comprises the following steps: Mathematically modeling the space mission scenario and analyzing the time consumption and total cost of the multi-modal space robot during movement; wherein the total cost includes maintenance cost, energy consumption cost, and safety cost; Constructing a task objective function using the time consumption and the total cost, and setting weight parameters; Calculate the corresponding objective function value of the entire path according to the time consumption, the total cost and the weight parameter and using the task objective function; The path with the smallest objective function value is selected as the moving path of the multimodal space robot.

8. A path planning method according to claim 7, characterized in that: The mathematical modeling of the space mission scenario comprises the following steps: Conduct mathematical modeling of mission scenarios based on mission requirements; Determine the starting and ending points of the task; Analyzing the crawling points and the flying points in space on the space cooperation target in the mission scenario; Determining a switching path between a fixed base mode and a crawling mode according to the crawling point and the flying point; Determine a space flight path according to the flight points; determine a crawling path according to the crawling points; The analyzing of the time consumption and total cost during the movement of the multimodal space robot comprises the following steps: Based on the permutations and combinations of all crawling paths, mode switching paths, and flight paths, and taking the mission start point and mission end point as constraints, the time consumption and the total cost of the process from the mission start point to the mission end point are analyzed.

9. A path planning method according to claim 7, characterized in that: The step of constructing a task objective function using the time consumption and the total cost includes the following steps: The task objective function is constructed using the time consumption and the total cost as follows: Where W is the task objective function, p i is the path, t f is the total time taken for the path, C is the total cost, t max is the longest time among all paths, C max is the highest total cost among all paths, and λ is the time weight.

10. A path planning method according to claim 9, characterized in that: The step of calculating the corresponding objective function value of the entire path based on the time consumption, the total cost, and the weight parameter and utilizing the task objective function comprises the following steps: Taking the minimum objective function value of the task objective function as the goal, taking the time consumption as a constraint, setting the time weight to 1, and then using the task objective function to calculate the corresponding objective function value of the entire path; Taking the minimum objective function value of the task objective function as the goal, taking the total cost as a constraint, setting the time weight to 0, and then using the task objective function to calculate the corresponding objective function value of the entire path; With the minimum objective function value of the task objective function as the goal, the time consumption and the total cost are used as constraints, the value range of the time weight is set to 0<λ<1, and then the corresponding objective function value of the entire path is calculated using the task objective function.

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