Lunar surface operation multi-robot collaborative knitting and material adding system and knitting method

Abstract

The invention discloses a lunar surface operation multi-robot collaborative weaving material adding system and a weaving method. The multi-robot collaborative weaving material adding system is composed of a communication base station, an energy base station, a supporting rod and a plurality of weaving robots. The knitting robot is composed of moving wheels, a moving chassis, a wire feeding mechanism, a knotting device, a power battery, a battery cover, a control box and a sensing system. The weaving method comprises the steps that S1, the weaving robot deploys the supporting rod at the edge of a lunar surface meteorite crater; s2, the weaving robot fixes the tail end of a carbon fiber yarn in a yarn feeding mechanism to a supporting rod; s3, a plurality of weaving robots move in the meteorite crater, and the wire feeding speed is controlled to be consistent with the moving speed; and S4, the multiple weaving robots move according to the planned path, and net-shaped protection structure weaving is completed in a mutual knotting and supporting rod winding mode. By deploying the weaving robot formation on the lunar surface, the purpose of unmanned construction of the protective net on the lunar surface can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of extreme manufacturing technology, in particular to a moon surface operation multi-robot collaborative weaving additive system and a weaving method. BACKGROUND

[0002] Establishing permanent or semi-permanent bases and facilities on the lunar surface is a key step for humans to achieve deep space exploration, conduct frontier scientific research, develop space resources, and even future interstellar migration. The moon, as the closest natural satellite of the Earth, is an ideal test field for verifying deep space survival and construction technology. Its potential resources, unique space environment, and strategic location as a transit station for deep space exploration make it a necessary path and important support point for humans to move towards the universe. At present, using lunar local resources for construction to reduce the huge cost of transporting materials from the Earth is the focus of research related to lunar base construction. However, the extremely harsh environment of the moon poses a great threat to related construction activities: the high vacuum and severe temperature difference on the lunar surface can cause dramatic changes in the properties of building materials, leading to problems such as structural cracking and delamination failure; the moon lacks a global magnetic field and a dense atmosphere for protection, and strong cosmic radiation and solar wind directly hit the lunar surface, which not only poses a fatal threat to the health of astronauts, but also causes long-term exposure to degrade and embrittle building materials, shortening the service life of structures; frequent micrometeorite impacts can also damage structures already built. The combined effects of these environmental factors make in-situ construction of lunar soil that relies on delicate processes and material stability face extremely high technical risks and complexity in actual operation.

[0003] In view of the above challenges, seeking effective protective measures is the key to the success of lunar construction. It is of great significance to use the widely distributed craters on the moon as a natural terrain advantage, weaving and deploying large protective net structures on their surface or internal space, and adjusting the extreme environment of high radiation and high temperature difference to a suitable construction environment. SUMMARY

[0004] The purpose of the present application is to provide a moon surface operation multi-robot collaborative weaving additive system and a weaving method. The system and weaving method use multiple unmanned operation trolleys to autonomously weave and add materials in extreme environments such as the lunar surface. The protective net is used as a pilot infrastructure or key component for lunar construction. The widely distributed craters on the moon are used as a natural terrain advantage to weave and deploy large protective net structures on their surface or internal space, construct a physical protective barrier against impacts and a radiation and static shielding foundation layer, provide a relatively stable lunar soil construction environment, and help overcome the limitations of extreme environments.

[0005] Technical solution: The moon surface operation multi-robot collaborative weaving additive system provided by the application comprises a communication base station for being responsible for moon-earth information interaction and robot formation information processing, an energy base station for being responsible for charging power battery groups used by the robots and performing storage and loading and unloading operations, a support rod made of a corrosion-resistant lightweight high-bending strength material such as a special alloy or a glass steel for providing support for a fixed base point of a weaving operation and a weaving net, and a plurality of weaving robots for system execution, wherein each weaving robot comprises a mobile chassis, a power battery group, a communication system, a sensing system and a wire feeding mechanism, and the communication system and the sensing system are integrated in a control box.

[0006] Further, the mobile chassis meets the load and space requirements of the components of the load robot, the surface of the moving wheel has a complex pattern and a large ground contact area, and normal walking in a complex operation area and climbing ability are realized.

[0007] Further, the communication system is composed of a wireless radio frequency module, an optical communication module, a satellite relay module and a related information processing module, and the communication between the robots and the communication between the robots and the communication base station is ensured.

[0008] Further, the wire feeding mechanism is expanded on the basis of the specifications of a common wire feeder, meets the filling of a large number of fiber ropes used in the weaving process, and is additionally provided with a special treatment mechanism at the end of the wire feeding port, the mechanism appropriately extends outward, is provided with a heating assembly or a glue gun assembly, can fix the fiber ropes relative to each other, and realizes the locking of the meeting knots in the weaving process.

[0009] Further, the sensing system comprises a temperature sensor, an attitude sensor, a visual sensor and a mechanical sensor, so that the robot can obtain surrounding information and self-state information.

[0010] The moon surface operation multi-robot collaborative weaving method provided by the application is realized based on the moon surface operation multi-robot collaborative weaving additive system, and comprises the following steps: S1, determining a weaving area and calibrating a support rod point, and deploying the support rod at the edge of a moon surface crater by the weaving robot; S2, fixing the end of the fiber wire in the wire feeding mechanism on the support rod by the weaving robot; S3, moving the plurality of weaving robots in the crater, controlling the wire feeding speed to be consistent with the moving speed, and realizing fiber wire delivery; S4, moving the plurality of weaving robots according to a planned path, and completing the weaving of the net-shaped protective structure by mutual knotting and winding around the support rod.

[0011] Further, in step S4, the planned path is realized by a control algorithm, specifically as follows: select the strut point at the edge of the region as the starting point, and the multi-robot performs surrounding or intersection knotting from the strut point, and performs secondary weaving operation by using the previously formed woven net, and finally forms a woven net in the weaving area that meets the aperture, density and coverage requirements.

[0012] Further, the mesh area after primary weaving is calculated, if the maximum mesh area does not meet the requirements, the center of gravity position of the mesh is set as a secondary knotting point, and the robot goes to perform intersection knotting and fixation, and the process is repeated until all mesh areas meet the requirements.

[0013] The computer readable storage medium of the application stores a computer program, and the program is executed by a processor to realize any of the methods.

[0014] The computer device of the application comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to realize the steps in any of the methods.

[0015] Advantages: Compared with the prior art, the lunar surface multi-robot collaborative weaving additive system and path planning method has the following advantages: the lunar surface multi-robot collaborative weaving additive system and path planning method can quickly build a cosmic space protection environment before building a lunar surface base, and the woven protective net cover can achieve the purposes of heat insulation, heat preservation and radiation protection. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The weaving robot of the application; Figure 2 The multi-robot collaborative weaving schematic diagram of the application; Figure 3 The flowchart of the multi-robot collaborative weaving method of the application; Figure 4 The multi-robot collaborative weaving top view of the application; Figure 5 The primary weaving schematic diagram of the application; Figure 6 The secondary weaving schematic diagram of the application; Figure 7 The flowchart of the multi-robot collaborative weaving algorithm of the application; 1. Weaving robot; 2. Communication base station; 3. Energy base station; 4. Strut; 5. Fiber filament; 6. Meteorite crater; 7. Knot; 11. Moving wheel; 12. Moving chassis; 13. Filament feeding mechanism; 14. Knotting device; 15. Power battery; 16. Battery cover; 17. Control box; 18. Sensing system. DETAILED DESCRIPTION

[0017] The technical solutions of the present application are further described below with reference to the accompanying drawings.

[0018] As shown in the drawings, Figure 2 The present application provides a lunar surface operation multi-robot collaborative weaving additive system, which includes a communication base station 2 for conducting lunar-earth information interaction and robot formation information processing; an energy base station 3 for charging the power battery pack used by the robot, and conducting storage and handling operations; a support rod 4 for providing support for the fixed base point of the weaving operation and the weaving net; a plurality of weaving robots for system execution, wherein each weaving robot 1 includes a mobile chassis, a power battery pack, a communication system, a sensing system, and a wire feeding mechanism, and the communication system and the sensing system are integrated in a control box.

[0019] As shown in the drawings, Figure 2 The system determines the weaving area such as the meteor crater 6 and imports the topographic information into the algorithm for weaving process simulation to find the optimal solution, and deploys the support rod 4 at the support rod point of the determined solution. After the support rod 4 is deployed, the weaving robot 1 self-checks whether the power meets the completion of the operation requirement, if not, the robot goes to the energy base station 3 for battery replacement and carries enough fiber wire 5 to the starting support rod 4, if it meets, it does not perform the battery replacement step. After reaching the respective support rod 4 position, the robot 1 fixes the end of the fiber wire 5 in the wire feeding mechanism 13 on the support rod 4 through the knotting device 14. Then, the plurality of weaving robots 1 move in the meteor crater 6 and control the wire feeding speed to be consistent with the moving speed, realizing the delivery of the fiber wire 5 and checking the status of the robot. The plurality of weaving robots 1 move according to the path planned by the algorithm, complete the weaving of the net-shaped protective structure by crossing and knotting around the support rod, for one weaving process, the robot 1 realizes knotting by circling between the two support rods 4 in the respective path planning along the meteor crater 6; for two weaving, two robots 1 start from the respective support rods 4, meet at the planning node along the meteor crater 6, cross to realize knotting and go to the end of the support rod 4 position. As shown in the drawings, Figure 4 The weaving process is shown from the top view, which is completed by the meeting and crossing of the robots 1 inside the meteor crater 6. For the fixed knot 7, the knotting device 14 at the wire feeding port of the robot processes the fiber wire 5, which realizes the mutual fixation of the wire rope by welding or gluing. The overall structure of the weaving robot 1 is shown in the drawings, Figure 1 The mobile chassis 12 is provided with six moving wheels 11 below; the mobile chassis 12 is provided with a wire feeding mechanism 13, a power battery 15, a battery cover 16, and a control box 17 from back to front; the wire feeding mechanism 13 is provided with a knotting device 14; the control box 17 is provided with a sensing system 18.

[0020] As shown in the drawings, Figure 3As shown, the embodiment of the present application provides a lunar surface operation multi-robot collaborative weaving method, which is realized based on a lunar surface operation multi-robot collaborative weaving additive system and includes the following steps: S1, determine the weaving area and calibrate the strut points, and deploy the struts at the edge of the lunar surface crater through the weaving robot; S2, the weaving robot fixes the fiber filament end in the filament feeding mechanism on the strut; S3, multiple weaving robots move in the crater, control the filament feeding speed to be consistent with the moving speed, and realize fiber filament delivery; S4, multiple weaving robots move according to the planned path, complete the weaving of the net-shaped protective structure through mutual knotting and winding around the struts. For example Figure 7 As shown, the algorithm flow is as follows: first, select some points as strut points at the edge of the area, which are uniformly distributed on the outer periphery of the area, and the number is determined according to the area and aperture size of the woven protective net. Two or more weaving robots start from the struts and weave all the strut points into a net in the form of winding around the struts, such as Figure 5 As shown, the weaving net in the area after one weaving is completed is shown from a top-down perspective. Then, the size of each mesh pattern in the woven net formed by one weaving is calculated, the largest area mesh is selected for judgment, if it meets the mesh area requirement, the operation is ended. If it does not meet the requirement, the barycentric position of the mesh pattern is calculated and set as a second knotting point, and the weaving robot is commanded to go to the second knotting point to form a knot in the form of intersection knotting for second weaving, and the end processing device of the filament feeder is used to fix the knot to prevent relative slipping. Then, the mesh area after weaving is recalculated, and the above process is repeated until all mesh areas meet the requirements, such as Figure 6 As shown, the weaving net after subdividing the woven net through twice second weaving is shown from a top-down perspective, realizing the weaving additive manufacturing in the operation area.

Claims

1. A multi-robot collaborative weaving additive manufacturing system for lunar surface operations, characterized in that, include: The communication base station is responsible for Earth-Moon information exchange and robot formation information processing; the energy base station is responsible for charging the power battery packs used by the robots and performing storage and loading / unloading operations; the struts are used to provide support for the fixed base points of the weaving operation and the weaving net; multiple weaving robots are used for system execution, each of which includes a mobile chassis, a power battery pack, a communication system, a sensing system, and a yarn feeding mechanism, wherein the communication system and the sensing system are integrated in the control box.

2. The multi-robot collaborative weaving additive manufacturing system for lunar surface operations according to claim 1, characterized in that, The mobile chassis meets the load and space requirements of each component of the load robot. The mobile wheels have complex patterns on their surface and a large contact area, enabling them to move normally in complex work areas and have the ability to climb slopes.

3. The multi-robot collaborative weaving additive manufacturing system for lunar surface operations according to claim 1, characterized in that, The communication system consists of a wireless radio frequency module, an optical communication module, a satellite relay module, and related information processing modules, ensuring communication between robots and between robots and communication base stations.

4. The multi-robot collaborative weaving additive manufacturing system for lunar surface operations according to claim 1, characterized in that, The yarn feeding mechanism is equipped with a special treatment mechanism at the end of the yarn feeding port. The special treatment mechanism extends outward and is equipped with a heating component or glue gun component, which is used to fix the fiber ropes together during the weaving process and lock the knot.

5. The multi-robot collaborative weaving additive manufacturing system for lunar surface operations according to claim 1, characterized in that, The sensing system includes temperature sensors, attitude sensors, vision sensors, and force sensors, enabling the robot to acquire information about its surroundings and its own state.

6. A method for multi-robot collaborative weaving on a lunar surface, characterized in that, The system is based on a multi-robot collaborative weaving additive manufacturing system for lunar surface operations, and includes the following steps: S1. Determine the weaving area and mark the strut points. Deploy the struts on the edge of the lunar crater using a weaving robot. S2. The weaving robot fixes the ends of the fiber filaments in the feeding mechanism onto the support rod; S3. Multiple weaving robots move within the meteorite crater, controlling the yarn feeding speed to match the moving speed to achieve fiber delivery; S4. Multiple weaving robots move along a planned path and complete the weaving of the mesh protective structure by knotting each other and wrapping around the support rods.

7. The multi-robot collaborative weaving method for lunar surface operations according to claim 6, characterized in that, In step S4, the path planning is achieved through a control algorithm, as follows: Select the strut point at the edge of the area as the starting point, and multiple robots start from the strut point to circle around or meet and cross to tie knots. Then, use the previously formed woven net to perform secondary weaving operations, and finally form a woven net in the weaving area that meets the requirements of aperture, density and coverage.

8. The multi-robot collaborative weaving method for lunar surface operations according to claim 7, characterized in that, Calculate the mesh area after one weaving. If the maximum mesh area does not meet the requirements, calculate the center of gravity of the mesh and set it as the secondary knotting point. The robot goes there to perform intersecting knotting and fixation. Repeat this process until all mesh areas meet the requirements.

9. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by a processor, it implements the method of any one of claims 6-8.

10. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the steps of the method according to any one of claims 6-8.

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