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

Abstract

The application discloses a multi-mode space robot for on-orbit assembly and a path planning method thereof, relates to the technical field of robots, and the robot comprises a master control system, a posture control system, a double-robot arm system, a communication system, a propulsion system, a docking system, a navigation system and a power supply system; the multi-mode space robot can realize switching of working modes, 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 application also provides a path planning method, which provides support for a space movement scheme of the multi-mode space robot, and provides a reference for improving time efficiency of the space robot in an on-orbit assembly process and reducing cost in the on-orbit assembly process.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a multi-modal space robot for on-orbit assembly and its path planning method. Background Technology

[0002] Space robots, as a typical intelligent operating system, are gradually changing the traditional models of space transportation, on-orbit construction, on-orbit maintenance, and deep space exploration, and are one of the important enabling means for future unmanned and manned space missions. With the continuous deepening of human exploration in the field of space, the increasing complexity of space manipulation tasks such as on-orbit capture, on-orbit servicing and repair, on-orbit assembly, and deep space exploration, as well as the emergence of new on-orbit mission requirements, have posed new technological challenges to the development and application of space robots. Among these, on-orbit assembly of space structures is a far-reaching and highly challenging cutting-edge technology. Using space robots, basic units such as structural modules, components, or small spacecraft launched into orbit in one or more launches can be autonomously assembled sequentially into large or super-large spacecraft, offering advantages such as low construction, operation, and maintenance costs and strong scalability.

[0003] Currently, space robots are mainly divided into three types: 1) Fixed-base robots, which are typically deployed on the main body of ultra-large spacecraft and are characterized by large robotic arms; 2) Crawling robots, which are generally installed on large truss structures, space station main bodies, or guide rails, have a working end and a moving end. The working end performs assembly functions, and the moving end is connected to the structure and moves; 3) Free-flying robots are free from the constraints of spacecraft main bodies or guide rails and can fly freely in space to perform long-distance missions. However, all three types of space robots have their own limitations: Fixed-base robots are limited by their own size and have limited working space, making it difficult to assemble space structures that exceed their own size; Crawling robots move relatively slowly and inevitably come into contact and collide with space structures when moving on them, and are prone to coupling effects with the flexible vibrations of large flexible structures; Free-flying robots, although moving relatively fast, have problems such as high fuel consumption and high cost, and in a microgravity environment, the capture accuracy of free-flying robots is low, making it difficult to dock two freely floating space structures. Summary of the Invention

[0004] The main objective of this application is to propose a multi-mode space robot for on-orbit assembly and its path planning method to improve the efficiency of the space robot.

[0005] To achieve the above objectives, one aspect of this application proposes a multi-mode space robot for on-orbit assembly, the multi-mode space robot comprising: a main control system, an attitude control system, a dual robotic arm 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 between 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 attitude adjustment;

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

[0009] In the fixed base mode, the multi-mode space robot is positioned at the 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 includes the following steps:

[0012] The initial state of the multi-mode space robot is set to the free flight mode; the multi-mode space robot is started to work, its own spatial position is determined, and then it switches to the free flight mode to determine the mission objective of the multi-mode space robot and control the multi-mode space robot to fly to the landing point of the space structure to be assembled; wherein, the landing point is the landing position of the multi-mode space robot on the space structure when it switches from the free flight mode to the crawling mode;

[0013] The multi-mode space robot is controlled to switch to the crawling mode via the dual robotic arm system; in the crawling mode, the multi-mode space robot is controlled to crawl and move along the space structure to be assembled until it moves to the working point; wherein, the working point is the position that the multi-mode space robot needs to reach when performing the assembly function;

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

[0015] In some embodiments, the main control system includes a first control unit, which is used to perform 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 includes the following steps:

[0017] The system controls the multi-mode space robot to power on, controls the power supply system to operate, and uses the navigation system to determine its own spatial position.

[0018] The communication system is used to receive instructions from the host computer, determine the task objective, 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 multi-mode space robot to fly to the landing point, so that the deviation between the actual landing position and the landing point is within a preset range, and the speed and angular velocity of the multi-mode space robot are controlled to be reduced to 0 during landing.

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

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

[0022] The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordinated cooperation of various systems, the dual robotic arm system is controlled to work and unfold, thereby clamping the two adjacent clamped points at the landing point to complete the landing.

[0023] The robotic arm is driven to alternately grip the clamped mechanism on the aerospace structure at a target frequency, crawling to the working position.

[0024] In some embodiments, the main control system includes a third control unit, which 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 via the docking system includes the following steps:

[0026] The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordination of various systems, it docks itself at the work point using the docking system.

[0027] The mission objective of the multi-mode space robot is determined; when the mission objective is to transport and re-dock a target space structure, the multi-mode space robot is controlled to switch to the free flight mode, thereby driving the target space structure to move in space; when the mission objective is to grasp and re-dock the target space structure, the robotic arms of the dual robotic arm system are controlled to grasp the target space structure and complete the docking.

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

[0029] The alternating switching unit is used to control the multi-mode space robot to perform maneuvering displacement on one or more of the aerospace structures by adopting a multi-segment alternating flight and crawling movement mode.

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

[0031] To achieve the above objectives, another aspect of this application proposes a path planning method, which is applied to a multi-modal space robot for on-orbit assembly as described in this application. The method includes the following steps:

[0032] A mathematical model is performed on the space mission scenario, and the time consumption and total cost during the movement of the multi-mode space robot are analyzed; wherein, the total cost includes maintenance cost, energy consumption cost and safety cost;

[0033] A task objective function is constructed using the time consumption and the total cost, and weight parameters are established.

[0034] The objective function value for the entire path is calculated based on the time consumption, the total cost, and the weight parameters, using the task objective function.

[0035] The path with the minimum objective function value is selected as the movement path of the multi-mode space robot.

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

[0037] Perform mathematical modeling of the task scenario based on the task requirements;

[0038] Determine the start and end points of the task;

[0039] Analyze the crawling points and flight points in space of the spatial cooperative target in the mission scenario;

[0040] The switching path between the fixed base mode and the crawling mode is determined based on the crawling point and the flight point;

[0041] Determine the spatial flight path based on the flight points; determine the crawling path based on the crawling points;

[0042] The analysis of the time consumption and total cost during the movement process of the multi-mode space robot includes the following steps:

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

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

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

[0046]

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

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

[0049] With the objective function of minimizing the objective function value of the task objective function as the objective, the time consumption is used as a constraint, the time weight is set to 1, and then the corresponding objective function value of the entire path is calculated using the task objective function;

[0050] With the objective function of minimizing the objective function value of the task objective function as the objective, the total cost is used as a constraint, the time weight is set to 0, and then the corresponding objective function value of the entire path is calculated using the task objective function;

[0051] With the objective function of minimizing the objective function value of the task objective function as the goal, and taking the time consumption and the total cost as constraints, the time weight is set to a range of 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 this application include at least the following beneficial effects:

[0053] This application provides a multi-mode space robot for on-orbit assembly. The multi-mode space robot has three working modes: free flight mode, crawling mode, and fixed base mode, and provides a switching scheme for the working modes. This application also provides a path planning method to support the spatial movement scheme of the multi-mode space robot, and provides a reference for improving the time efficiency of the space robot and reducing the cost of on-orbit assembly. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A multi-view example provided for an embodiment of this application is a multi-mode space robot for on-orbit assembly;

[0056] Figure 2 A flowchart illustrating a path planning method provided in an embodiment of this application;

[0057] Figure 3 A schematic diagram illustrating the switching of working modes within the mobile solution provided in this application embodiment;

[0058] Figure 4 A schematic diagram of an optional movement path provided for an embodiment of this application;

[0059] Figure 5 A schematic diagram illustrating the relationship between path and time, and path and cost in numerical simulation provided for embodiments of this application;

[0060] Figure 6 The diagram illustrates the path and objective function of the numerical simulation under different time weights provided in the embodiments of this application. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying 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 those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0062] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, 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 this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0063] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0065] Reference Figure 1 This application provides a multi-mode space robot for on-orbit assembly. The multi-mode space robot includes: a main control system, an attitude control system, a dual robotic arm 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 between 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 attitude adjustment;

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

[0069] In the fixed base mode, the multi-mode space robot is positioned at the 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 includes the following steps:

[0072] The initial state of the multi-mode space robot is set to the free flight mode; the multi-mode space robot is started to work, its own spatial position is determined, and then it switches to the free flight mode to determine the mission objective of the multi-mode space robot and control the multi-mode space robot to fly to the landing point of the space structure to be assembled; wherein, the landing point is the landing position of the multi-mode space robot on the space structure when it switches from the free flight mode to the crawling mode;

[0073] The multi-mode space robot is controlled to switch to the crawling mode via the dual robotic arm system; in the crawling mode, the multi-mode space robot is controlled to crawl and move along the space structure to be assembled until it moves to the working point; wherein, the working point is the position that the multi-mode space robot needs to reach when performing the assembly function;

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

[0075] Optionally, the main control system includes a first control unit, which is used to perform 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 includes the following steps:

[0077] The system controls the multi-mode space robot to power on, controls the power supply system to operate, and uses the navigation system to determine its own spatial position.

[0078] The communication system is used to receive instructions from the host computer, determine the task objective, 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 multi-mode space robot to fly to the landing point, so that the deviation between the actual landing position and the landing point is within a preset range, and the speed and angular velocity of the multi-mode space robot are controlled to be reduced to 0 during landing.

[0080] Optionally, 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 robotic arm system;

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

[0082] The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordinated cooperation of various systems, the dual robotic arm system is controlled to work and unfold, thereby clamping the two adjacent clamped points at the landing point to complete the landing.

[0083] The robotic arm is driven to alternately grip the clamped mechanism on the aerospace structure at a target frequency, crawling to the working position.

[0084] Optionally, the main control system includes a third control unit, which 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 via the docking system includes the following steps:

[0086] The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordination of various systems, it docks itself at the work point using the docking system.

[0087] The mission objective of the multi-mode space robot is determined; when the mission objective is to transport and re-dock a target space structure, the multi-mode space robot is controlled to switch to the free flight mode, thereby driving the target space structure to move in space; when the mission objective is to grasp and re-dock the target space structure, the robotic arms of the dual robotic arm system are controlled to grasp the target space structure and complete the docking.

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

[0089] The alternating switching unit is used to control the multi-mode space robot to perform maneuvering displacement on one or more of the aerospace structures by adopting a multi-segment alternating flight and crawling movement mode.

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

[0091] Reference Figure 2 This application provides a path planning method, which is applied to a multi-mode space robot for on-orbit assembly. The method includes the following steps S200 to S230:

[0092] S200: Perform mathematical modeling of the space mission scenario and analyze the time consumption and total cost during the movement of the multi-mode space robot; wherein, the total cost includes maintenance cost, energy consumption cost and safety cost;

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

[0094] S220: Calculate the corresponding objective function value for the entire path based on the time consumption, the total cost, and the weight parameters, using the task objective function;

[0095] S230: Select the path with the smallest objective function value as the movement path of the multi-mode space robot.

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

[0097] Perform mathematical modeling of the task scenario based on the task requirements;

[0098] Determine the start and end points of the task;

[0099] Analyze the crawling points and flight points in space of the spatial cooperative target in the mission scenario;

[0100] The switching path between the fixed base mode and the crawling mode is determined based on the crawling point and the flight point;

[0101] Determine the spatial flight path based on the flight points; determine the crawling path based on the crawling points;

[0102] The analysis of the time consumption and total cost during the movement process of the multi-mode space robot includes the following steps:

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

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

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

[0106]

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

[0108] Optionally, the step of calculating the corresponding objective function value for the entire path based on the time consumption, the total cost, and the weight parameters, and using the task objective function, includes the following steps:

[0109] With the objective function of minimizing the objective function value of the task objective function as the objective, the time consumption is used as a constraint, the time weight is set to 1, and then the corresponding objective function value of the entire path is calculated using the task objective function;

[0110] With the objective function of minimizing the objective function value of the task objective function as the objective, the total cost is used as a constraint, the time weight is set to 0, and then the corresponding objective function value of the entire path is calculated using the task objective function;

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

[0112] The following section will provide a detailed introduction and explanation of the solutions in the embodiments of this application, using specific application examples.

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

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

[0115] A multi-modal space robot for on-orbit assembly includes an attitude control system, a dual-arm 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-arm system includes two robotic arms, an onboard computer, a gripping 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 nozzles; the docking system includes a docking male and female component; 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 working modes: free flight mode, crawling mode, and fixed base mode. These three modes can be freely switched to meet different mission requirements.

[0118] Multimodal space robots have at least the following beneficial effects: high mobility, high flexibility, and 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, an attitude control system, a propulsion system, and a navigation system.

[0120] According to the three modes of the multi-mode space robot in this embodiment, the systems with the same name mentioned below 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 in this embodiment, the communication system is placed inside the robot to receive instructions from the remote host computer and simultaneously 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 in 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 flight and hovering states.

[0123] According to the free flight mode of the multi-mode space robot in 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 and movement.

[0124] According to the free flight mode of the multi-mode space robot in this embodiment, the navigation system is used to determine the spatial position of the multi-mode 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, an attitude control system, a dual robotic arm system, and a navigation system.

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

[0127] According to the crawling mode of the multi-mode space robot in this embodiment, the dual robotic arm system is placed on both sides of the robot's exterior (the two sides are not in a fixed direction, but rather represent two opposing surfaces on the exterior of the multi-mode space robot body). The robotic arms alternately grip the relevant points of the crawled structure (the points indicated by the gripping mechanism) and drag the multi-mode space robot body to move in space on the crawled structure.

[0128] According to the fixed base mode of the multi-mode space robot in 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 cooperative target. By clamping the relevant points on the space cooperative target (pointed by the clamping mechanism), the space cooperative target is driven to move in space.

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

[0131] According to this embodiment, the multi-mode space robot dual-arm system 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 fixing and assembly functions, and the electrical signal interface connects to transmit electrical signals.

[0133] According to the fixed base mode of the multi-mode space robot in this embodiment, the female component of the docking mechanism system has active opening and passive closing functions. During docking, when the female component and the male component reach the mating point, the male component triggers the passive closing switch of the female component, thereby locking the engagement. When disengaging, the female component opens when a command is issued via a remote host computer, releasing the locking state of the two components 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 spatial structures.

[0135] According to this embodiment, the multi-mode space robot dual-arm system includes a robotic arm, a gripping mechanism, and a gripped mechanism. The gripping mechanism and the gripped mechanism are located at the end of the dual robotic arm and on the gripped spatial structure, respectively.

[0136] According to the on-orbit assembly scheme provided in this embodiment, the aforementioned multi-mode space robot is used in the on-orbit assembly of large space structures. On-orbit assembly of large space structures first requires the space robot to move to a designated location to perform its work, which is categorized into short-distance movement and long-distance movement based on the distance traveled.

[0137] Movement Option 1: Short-distance movement. If the work point is located at two adjacent different surfaces on the same spatial structure or two very close locations (within the range of a single crawl) on different spatial structures, the optimal crawling mode can be adopted for movement. Compared with a space robot in a single free-flight mode, this reduces the collision problems and poor grasping accuracy caused by flight movement and landing, while saving fuel and extending working time. If the work point is located at two different locations on different spatial structures that are far apart (exceeding the range of a single crawl), it is relatively difficult for a robot in a single crawling mode. Sometimes, a "detour" may be necessary, and it may even be impossible to reach the work point. This embodiment can employ a "crawling-flying-crawling" movement method. The multi-mode space robot moves to a suitable takeoff point in crawling mode, then switches to free flight mode, releases the gripping mechanism on the space structure, retracts its robotic arm, and simultaneously burns fuel to propel the multi-mode space robot into space flight. Upon reaching a suitable landing point, it extends its robotic arm, grips the corresponding gripped mechanism, and finally crawls to the work point. Alternatively, this embodiment can use a "flying-crawling" or "crawling-flying" mode switching scheme. This scheme not only reduces the fuel consumption of a space robot operating solely in free flight mode but also compensates for the disadvantage of a space robot operating solely in crawling mode being unable to reach the work point by crawling alone. Furthermore, it reduces the crawling distance of the space robot under this condition to some extent, thereby weakening the impact on the flexible vibration coupling of large space structures.

[0138] Mobility Option Two: Long-Distance Movement. A single crawling mode for a space robot would undoubtedly cause strong vibrations to the space structure during long-distance crawling, potentially even damaging it. Simultaneously, a single free-flight mode for long-distance movement requires a large amount of fuel. Therefore, this method combines crawling and free-flight modes, employing multiple "crawling-flight-crawling" mode switches. This long-distance movement method combines the advantages of both modes—flexibility and stability. This mode 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 robot moves to its designated work location, it needs to perform assembly tasks. Under these conditions, it is undoubtedly difficult for traditional space robots to complete the assembly and docking work. First, both the space robot and the two spatial structures it is assembling and docking with are in a floating state, which requires the space robot to have extremely high grasping accuracy to ensure the accuracy of assembly and docking. In addition, fixed-base robots are less flexible than space robots when performing assembly and docking work due to the limited workspace.

[0140] Based on the free flight mode and fixed base mode of the multi-mode space robot, when assembling two large space structures in orbit, docking can be divided into two working modes: free flight capture docking and fixed base docking.

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

[0142] After the multi-mode space robot arrives at the designated work area, it approaches a space structure in free flight mode. The space structure is equipped with clamping and docking mechanisms. Guided by vision, the multi-mode space robot docks with the docking mechanism on the space structure, thus fixing the multi-mode space robot to the space structure. At this point, the space structure and the multi-mode space robot form a whole.

[0143] Subsequently, the multi-mode space robot switched to free flight mode, causing a certain space structure to move slightly. The multi-mode space robot approached the spacecraft body and clamped onto the corresponding clamping mechanism on the spacecraft body, enabling the spacecraft body and the specific docking mechanism on the space structure to cooperate and complete the docking of the spacecraft body and the space structure.

[0144] Docking Scheme Two: This scheme involves docking on a fixed base. The two spacecraft bodies to be assembled and docked, along with a certain space structure, are known as the cooperative targets. Furthermore, the spacecraft bodies and the space structure are already relatively close to each other.

[0145] After arriving at the designated work area, the multi-mode space robot flies in free flight mode to approach a certain space structure. The space structure is equipped with clamping mechanisms and docking mechanisms. Guided by vision, the multi-mode space robot clamps the clamping mechanism on the space structure.

[0146] Subsequently, the multi-mode space robot grips a space structure and flies and moves, then docks itself onto the spacecraft body again through visual guidance (this docking point is not the docking point between the spacecraft body and the space structure). At this time, the multi-mode space robot body is fixed on the spacecraft body, while the mechanical arms grip the space structure.

[0147] Finally, the multi-mode space robot switched to fixed base mode, and its mechanical arms guided a space structure to dock 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 following assumptions are made: In a current on-orbit assembly mission in space, the participation of a multimodal space robot is required. This multimodal space robot has three working modes: free flight, crawling, and stationary operation, but its energy budget is limited.

[0150] The environment is as follows: The mission environment is simulated by setting two two-dimensional crawling paths and one three-dimensional aerial area path. There are obstacles at the starting point, the target point, and part of the path, which to some extent hinder the flight of the free mount mode.

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

[0152] Based on the above, construct an optimization objective function for the movement process, and establish weights that take into account both time and total cost.

[0153] The multi-mode space robot mentioned in this embodiment has a limited energy budget, meaning that the total amount of electricity it carries and the total volume of fuel it carries are limited. When the electricity or fuel volume is depleted to a certain level, the multi-mode space robot needs to move to a specific location to replenish its energy.

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

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

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

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

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

[0159] The safety costs mentioned in this embodiment only apply to the docking process, and the safety costs of docking in crawling mode and docking in flight mode are analyzed separately.

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

[0161] The technical solution of this application will be 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. (Refer to...) Figure 1 The three-view drawing shows that the multi-mode space robot has a body size of 500mm × 500mm × 500mm. The multi-mode space robot includes an attitude control system, a dual robotic arm system, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system.

[0164] The specific mode of this embodiment is as follows:

[0165] 1) Free Flight Mode: This mode includes an attitude control system, propulsion system, communication system, and navigation system. In this mode, the multi-mode space robot receives task commands from the host computer using the communication system, then uses the navigation system to determine its spatial position and plan a reasonable path, and finally uses the propulsion system to propel the multi-mode space robot along the reasonable path. The attitude control system controls the posture of the multi-mode space robot throughout the entire process.

[0166] 2) Crawling Mode: This mode includes a communication system, an attitude control system, a dual-arm robotic system, and a navigation system. In this mode, the multi-mode space robot uses the communication system to receive task instructions from the host computer, then uses the navigation system to determine its own spatial position and make reasonable path planning, and finally uses the dual-arm robotic system to alternately grasp the grasped points on the spatial structure, crawling according to the task requirements. In crawling mode, the depth vision camera on the robotic arm plays a visual guidance role in the grasping process.

[0167] 3) Fixed Base Mode: This mode includes a communication system, a dual-arm robotic system, and a docking system. In this mode, the multi-modal space robot receives task commands from the host computer using the communication system components. The docking components on the multi-modal robot mate with the docking components at the fixed end of the multi-modal robot, allowing the multi-modal space robot to dock with and be fixed to the space structure. Finally, the dual-arm robotic system performs the grasping and docking tasks. A depth vision camera provides visual guidance during the docking process.

[0168] Example 2:

[0169] This embodiment presents a three-mode switching scheme:

[0170] 1) Switching from Free Flight Mode to Crawling Mode: The multi-mode space robot initially operates in free flight mode. When switching modes, the robot flies to the initial crawling mode position, maintains a suitable posture, and hovers. At this point, the two robotic arms use their gripping mechanisms to grasp two different but adjacent gripped mechanisms. Simultaneously, the spatial structure serves as a cooperative target, with gripped mechanisms arranged to facilitate crawling. The left and right robotic arms alternately and systematically grasp the arranged gripped mechanisms, achieving the crawling function. This completes the mode switch. After releasing the robotic arms and adjusting the posture, the propulsion system propels the multi-mode space robot back into free flight mode.

[0171] 2) Switching from Free Flight Mode to Fixed Base Mode: The multi-mode space robot initially operates in free flight mode. During mode switching, the robot flies to its initial position in fixed base mode, maintains a suitable posture, and hovers. Then, the docking components on the multi-mode space robot align with the docking components on the space structure, completing the mode switch. During the reverse switch, the docking components actively open, the propulsion system propels the multi-mode space robot, 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 initially operates in crawling mode. When switching modes, the multi-mode space robot crawls to the initial position of the fixed-base mode, maintains a reasonable posture, and hovers. Then, the docking parts of the multi-mode space robot dock with the docking parts on the space structure. At this time, the shape is similar to the schematic diagram of the fixed-base mode in the figure, indicating that the mode switch is complete. When the docking parts actively open, the multi-mode robot adjusts its posture, extends its robotic arm to grasp the clamped mechanism, and at this time, the working mode switches back to crawling mode.

[0173] Please see Figure 3 This embodiment provides an assembly scheme for switching working modes. Considering that the working goal of the multi-mode space robot is to move to the right side of the truss and fix it there for docking, the multi-mode space robot is in free flight mode. This embodiment can adopt the following schemes: ① fly directly to the target point, and then switch to fixed base mode through free flight mode to fix it on the right side of the truss; ② according to a suitable path planning, the multi-mode space robot first flies a certain distance, switches to crawling mode at a point a certain distance away from the fixed point on the right, crawls to the fixed point on the right, and then switches to fixed base mode. (Only a simple mode switching scheme of "free flight - crawling - fixed base" is given here, and it moves on a single spatial structure).

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

[0175] Regarding docking schemes one and two proposed in this application, when the final target point of movement is a spacecraft structure, docking scheme one is adopted. In this scheme, the multi-mode space robot, fixed to the spacecraft structure in a fixed-base mode, is considered a single unit and flies freely, propelling the spacecraft structure along with it. Subsequently, the multi-mode space robot approaches the spacecraft body and clamps the corresponding clamped mechanism on the spacecraft body, enabling the spacecraft body and a specific docking mechanism on a spacecraft structure to cooperate and complete the docking. When the final target point of movement is the spacecraft body, docking scheme two is adopted. In this scheme, when the multi-mode space robot, fixed to the spacecraft body in a fixed-base mode, it directly adopts the fixed-base mode and uses its robotic arm to grasp the floating spacecraft structure around the spacecraft body to complete the docking.

[0176] For docking scheme one, the multi-mode space robot primarily performs transport functions; for docking scheme two, it primarily performs assembly functions. In this embodiment, the multi-mode space robot can carry fuel tanks of varying volumes and rechargeable battery packs of varying capacities, depending on the task requirements. When the multi-mode space robot primarily performs transport functions, 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 primarily performs assembly functions, the robotic arm, as the main working end, can carry a larger rechargeable battery pack for extended operation and a smaller volume of fuel.

[0177] Example 3:

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

[0179] Task modeling to address the problems of existing technologies: A multimodal robot can be considered as possessing R... 3 The workspace is covered with crawling points c(i) and flight points f(j), as well as mission start point s and mission target point e.

[0180] A path can be represented 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, Taking into account maintenance costs C t Energy consumption cost C e and security costs 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] Complete 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 the objective function:

[0186] W=λt f +μC(t f ,p i (3)

[0187] Where λ and μ represent weights.

[0188] By finding a suitable t f p i This will make the objective function W reach the desired minimum value.

[0189] For an alternative case, please refer to Figure 4 :

[0190] Figure 4In the diagram, the key points that the multi-mode space robot can attach to are {s, c(i), e}; the flight point is f(i) (Note that not all flight points are shown in the diagram; the focus is on the "crawling-flying-crawling" mode switching path). 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 diagram, point A corresponds to the starting point s, and point B corresponds to the target point e. All points except s and e are denoted as the set V = {c(1),...,c(i),f(1),...,f(j)}. This 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, involving several key costs. These include the on-orbit maintenance cost of the space robot, operation and labor costs, and software maintenance costs. For ease of calculation and analysis, we will denote the average daily maintenance cost as C. main .

[0192] To more accurately assess maintenance costs, the maintenance cost per second is further calculated using the following formula:

[0193]

[0194] Based on this, 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 cost C e The energy cost of space robots considers the launch and transportation costs of space robot fuel, fuel costs, and electricity costs. It also considers the power supply provided by space solar power stations to space robots in multiple modes. The average electricity cost per second is C. eles Consider a space robot carrying a fuel volume of V. fuel With density ρ0 and fuel specific impulse I sp The gravitational acceleration is g0, and the sum of the launch and transportation costs per kilogram and the total fuel cost per kilogram 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) iThe velocity increment for 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 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 through equation (7). total .

[0202] Fuel cost per flight:

[0203]

[0204] Electricity cost:

[0205] C electric =C eles ·t (9)

[0206] p i Energy 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 This analysis of space robot safety costs only considers the docking process, focusing on the safety costs of single-mode crawling and flying robots. Let C be the safety cost of a single-mode crawling space robot for a given task. crawl Crawling mode in p i The probability of risk at time t under the path is The safety cost of a space robot using a single-flight mode is C. fly Flight mode in p i The probability of risk at time t under the path is

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

[0210]

[0211] Where δ is the correction coefficient, based on path p i The synergistic effect of flight and crawling is taken into account for the correction.

[0212] Power supply lifespan: Multi-modal space robots undoubtedly consume a significant amount of electrical energy when performing actions such as crawling and assembly. The power supply lifespan of a multi-modal space robot depends on its battery capacity. The battery capacity of a space robot when fully charged is E. max The total power of the space robot is Therefore, the distance that can be crawled when fully charged is:

[0213]

[0214] Add L max As a limitation of the crawling mode, when the battery level drops below a certain value, the device must move to a specific point on the truss to fully charge, and this is recorded as completion. 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 and obtained:

[0217]

[0218] Flight distance:

[0219]

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

[0221] Total time:

[0222]

[0223] The objective function is designed as follows:

[0224]

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

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

[0227] Table 1

[0228]

[0229]

[0230] Please see Figure 5 , Figure 5 The simulation results for (a) time and (b) cost involve a total of 35 paths, of which path 1 and path 35 represent crawl-only path and flight-only path respectively, while paths 2 to 34 correspond to a hybrid path mode of "crawling-flying-crawling". Figure 5 The maximum and minimum values ​​are visible in the text, and the same applies below.

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

[0232] Please see Figure 6 , Figure 6 In the equations (a) to (f), when λ = {0, 0, 2, 0, 4, 0, 6, 0, 8, 1}, the path p i The corresponding W. Since λ is a time weighting function, when the task only aims to optimize cost, λ = 0, and path 1 (crawling path only) is the optimal choice; when the task needs to balance time and cost, 0 < λ < 1, and there exists a critical value λ. * This causes the optimal path to change from path 1 to one of the mixed paths of "crawling-flying-crawling"; when the task only has time as the optimization objective, λ=1, and path 35 (flying path only) is the optimal choice.

[0233] The embodiments described in this application are for the purpose of more clearly illustrating 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. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by 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 figures do not constitute a limitation on the embodiments of this application, and may include more or fewer technical solutions than shown, or a combination of certain technical solutions, or different technical solutions.

[0235] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0236] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0237] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A multi-mode space robot for on-orbit assembly, characterized in that, The multi-mode space robot includes: a main control system, an attitude control system, a dual robotic arm system, a communication system, a propulsion system, a docking system, a navigation system, and a power supply system; The multi-mode space robot can freely switch between 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 attitude adjustment; In the crawling mode, the multi-mode space robot can crawl and move on aerospace structures; In the fixed base mode, the multi-mode space robot is set at the working position on the aerospace structure and is fixedly connected to the aerospace structure as a whole; 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 includes the following steps: The initial state of the multi-mode space robot is set to the free flight mode; the multi-mode space robot is started to work, its own spatial position is determined, and then it switches to the free flight mode to determine the mission objective of the multi-mode space robot and control the multi-mode space robot to fly to the landing point of the space structure to be assembled; wherein, the landing point is the landing position of the multi-mode space robot on the space structure when it switches from the free flight mode to the crawling mode; The multi-mode space robot is controlled to switch to the crawling mode via the dual robotic arm system; in the crawling mode, the multi-mode space robot is controlled to crawl and move along the space structure to be assembled until it moves to the working point; wherein, the working point is the position that the multi-mode space robot needs to reach when performing the assembly function; The multi-mode space robot is controlled to switch to the fixed base mode through the docking system; in the fixed base mode, the multi-mode space robot is controlled to be fixedly connected to the space structure to be assembled as a whole, and then the multi-mode space robot is controlled to perform the assembly and docking task. A path planning method for the multimodal space robot application includes the following steps: A mathematical model is performed on the space mission scenario, and the time consumption and total cost during the movement of the multi-mode space robot are analyzed; wherein, the total cost includes maintenance cost, energy consumption cost and safety cost; A task objective function is constructed using the time consumption and the total cost, and weight parameters are established. The objective function value for the entire path is calculated based on the time consumption, the total cost, and the weight parameters, using the task objective function. The path with the minimum objective function value is selected as the movement path of the multi-mode space robot.

2. The multi-mode space robot for on-orbit assembly according to claim 1, characterized in that, The main control system includes a first control unit, which is used to perform 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 includes the following steps: The system controls the multi-mode space robot to power on, controls the power supply system to operate, and uses the navigation system to determine its own spatial position. The communication system is used to receive instructions from the host computer, determine the task objective, 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 multi-mode space robot to fly to the landing point, so that the actual landing position deviates from the landing point within a preset range, and the speed and angular velocity of the multi-mode space robot are controlled to be reduced to 0 during landing.

3. A multi-mode space robot for on-orbit assembly according to claim 1, 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 robotic arm system; The step of controlling the multi-mode space robot to switch to the crawling mode via the dual robotic arm system includes the following steps: The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordinated cooperation of various systems, the dual robotic arm system is controlled to work and unfold, thereby clamping the two adjacent clamped points at the landing point to complete the landing. The robotic arm is driven to alternately grip the clamped mechanism on the aerospace structure at a target frequency, crawling to the working position.

4. A multi-mode space robot for on-orbit assembly according to claim 1, characterized in that, The main control system includes a third control unit, which 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 via the docking system includes the following steps: The multi-mode space robot is controlled to adjust its posture and maintain stability. Through the coordination of various systems, it docks itself at the work point using the docking system. The mission objective of the multi-mode space robot is determined; when the mission objective is to transport and re-dock a target space structure, the multi-mode space robot is controlled to switch to the free flight mode, thereby driving the target space structure to move in space; when the mission objective is to grasp and re-dock the target space structure, the robotic arms of the dual robotic arm system are controlled to grasp the target space structure and complete the docking.

5. A multi-mode space robot for on-orbit assembly according to any one of claims 1 to 4, characterized in that, The main control system includes an alternation unit and a path planning unit; The alternating switching unit is used to control the multi-mode space robot to perform maneuvering displacement on one or more of the aerospace structures by adopting a multi-segment alternating flight and crawling movement mode. The path planning unit is used to perform path planning according to the working mode in a preset task environment or when executing multi-node tasks.

6. A multi-mode space robot for on-orbit assembly according to claim 1, characterized in that, The mathematical modeling of the space mission scenario includes the following steps: Perform mathematical modeling of the task scenario based on the task requirements; Determine the start and end points of the task; Analyze the crawling points and flight points in space of the spatial cooperative target in the mission scenario; The switching path between the fixed base mode and the crawling mode is determined based on the crawling point and the flight point; Determine the spatial flight path based on the flight points; determine the crawling path based on the crawling points; The analysis of the time consumption and total cost during the movement process of the multi-mode space robot includes the following steps: Based on the permutations and combinations of all crawling paths, mode switching paths, and flight paths, and taking the task start point and task end point as constraints, the time consumption and total cost of the process from the task start point to the task end point are analyzed.

7. A multi-mode space robot for on-orbit assembly according to claim 1, characterized in that, The process of constructing the task objective function using the time consumption and the total cost includes the following steps: The objective function for the task is constructed using the time consumption and the total cost as follows: ； in, Let the objective function of the task be... For path, This represents the total time taken for the path. The total cost is... The longest time among all paths, The highest total cost among all paths. Time weighting.

8. A multi-mode space robot for on-orbit assembly according to claim 7, characterized in that, The step of calculating the corresponding objective function value for the entire path based on the time consumption, the total cost, and the weight parameters, and using the task objective function, includes the following steps: With the objective function of minimizing the objective function value of the task objective function as the objective, the time consumption is used as a constraint, the time weight is set to 1, and then the corresponding objective function value of the entire path is calculated using the task objective function; With the objective function of minimizing the objective function value of the task objective function as the objective, the total cost is used as a constraint, the time weight is set to 0, and then the corresponding objective function value of the entire path is calculated using the task objective function; With the objective function of minimizing its value as the goal, and using the time consumption and total cost as constraints, the range of values ​​for the time weight is set as follows: Then, the corresponding objective function value for the entire path is calculated using the task objective function.

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