Multi-modal collaborative planetary exploration robot

Abstract

The application provides a multi-mode cooperative planetary exploration robot, which adopts a modularized separable design to improve the functional integration and task flexibility, and has the cooperative working ability of three-state switching of wheel running, leg running and flight. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker assembly. The damping rocker assembly is separably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent exploration vehicle. Four six-degree-of-freedom legs are distributed in a rectangular shape on the bottom surface of the main vehicle body. Each six-degree-of-freedom leg is connected to a rotor-wheel composite assembly at the lower end. In the wheeled state, the arc-shaped sections are perpendicular to the spokes, and a plurality of arc-shaped sections are arranged in the circumferential direction to form a wheel body. In the flight state, the rotor-wheel composite assembly is flipped upward to above the main vehicle body. By changing the length of the spoke, the arc-shaped section connected to the spoke is stretched out. At the same time, the arc-shaped section is flipped to the same horizontal plane as the spoke to serve as a blade together with the spoke.

Description

Technical Field

[0001] This invention relates to a robot, specifically a multi-mode collaborative planetary exploration robot, belonging to the fields of deep space exploration and space robotics. Background Technology

[0002] As humanity's exploration of extraterrestrial bodies deepens, the target areas for space exploration are expanding from geologically simple, flat plains to regions with higher scientific research value but extremely complex environments. These areas include the permanently shadowed south and north poles of the Moon and Mars, the interiors of large impact craters, steep canyons, and underground caverns. The terrain of these target areas typically features steep slopes, dramatic elevation changes, surfaces covered with loose weathered layers or sharp rocks, and soft, easily collapsing soil. This places unprecedentedly stringent demands on the mobility of planetary probes (planetary rovers) performing exploration missions.

[0003] Currently, typical planetary probes that have successfully carried out missions on the Moon and Mars generally adopt a passive movement mechanism of "six-wheel rocker arm suspension". Through the linkage of rocker arms and torsion bars, the six wheels can passively adapt to the undulations of the terrain, showing good stability and terrain passability on the relatively flat lunar or Martian surface, and have successfully completed a number of scientific exploration missions.

[0004] However, facing the demands of future complex exploration missions, such traditional wheeled mobile systems have revealed significant technological limitations:

[0005] (1) Single mode of operation and insufficient environmental adaptability: Pure wheeled movement is prone to slipping and sinking in soft, deep weathered layers or sandy ground, and its movement efficiency is low and the risk is high in areas full of gravel. Once stuck in soft terrain, its ability to get out of trouble is very limited.

[0006] (2) Limited functional integration and mission flexibility: Traditional detectors are usually designed as a whole unit with fixed functions, and cannot dynamically adjust their form or conduct collaborative detection according to mission requirements.

[0007] (3) The ability to cross obstacles is limited by the physical size of the wheel: the maximum height of the obstacle that it can cross is usually directly related to the wheel radius. When facing large rocks or steep slopes that are larger than the wheel diameter, it is very easy to bottom out or get stuck.

[0008] In summary, existing planetary probe mobility technologies are primarily optimized for flat terrain. They have inherent limitations in complex terrain, such as movement speed, obstacle-crossing height, soft-surface traversal, and extrication capabilities, making it difficult to meet the urgent needs for efficient and precise exploration of high-risk, high-reward areas like polar regions and impact craters. Therefore, there is an urgent need for a new type of planetary exploration robot that can overcome these technological bottlenecks while retaining the stability and reliability of traditional wheeled mobility. Summary of the Invention

[0009] In view of this, the present invention provides a multi-mode collaborative planetary exploration robot, which adopts a modular and separable design to improve functional integration and mission flexibility; and has the ability to cooperate in three states: wheeled, legged, and flight.

[0010] The technical solution of the present invention is: a multi-mode cooperative planetary exploration robot, comprising: a main body, six-degree-of-freedom legs, a rotor-wheel composite assembly, and a damped rocker arm assembly;

[0011] The damping rocker arm assembly is detachably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to function as an independent detection vehicle.

[0012] The four six-degree-of-freedom legs are arranged in a rectangular shape on the bottom surface of the main body; each of the six-degree-of-freedom legs is connected to a rotor-wheel composite assembly at its lower end.

[0013] The rotor-wheel composite assembly includes a wheel body, spokes, and a hub; the spokes are made of shape memory alloy.

[0014] The wheel body has a circumferential segmented structure; each arc segment is connected to the hub through a spoke, and the arc segment can flip relative to the spoke; in wheel mode, the arc segment is perpendicular to the spoke, and several arc segments are arranged circumferentially to form the wheel body; in flight mode, the rotor-wheel composite assembly flips upward to above the main body; by changing the length of the spoke, the spoke extends and the arc segment connected to it extends out; at the same time, the arc segment flips to be in the same horizontal plane as the spoke, and together with the spoke, it serves as a blade.

[0015] In a preferred embodiment of the present invention, the rotor-wheel composite assembly is a variable diameter wheel, wherein the spoke length is changed by controlling the temperature of the spokes, thereby changing the diameter of the wheel body.

[0016] In a preferred embodiment of the present invention, a heating element is provided on the spokes, and the length of the spokes is changed by temperature control.

[0017] As a preferred embodiment of the present invention, the wheel diameter is adjusted in stages by controlling the temperature of the spokes in segments.

[0018] In a preferred embodiment of the present invention, the damping rocker arm assembly is connected to the main vehicle body via a magnetic attraction unit;

[0019] The magnetic attraction unit adopts a permanent magnet-electromagnetic hybrid adsorption unit, which includes a permanent magnet and an electromagnetic coil.

[0020] As a preferred embodiment of the present invention, the probe vehicle is equipped with a battery for independent power supply;

[0021] The main vehicle body is equipped with a charging interface, which allows the main vehicle body to charge the battery of the detection vehicle when the detection vehicle is connected to the main vehicle body.

[0022] In a preferred embodiment of the present invention, a target is provided at the bottom of the main vehicle body for navigation when the detection vehicle is reset.

[0023] In a preferred embodiment of the present invention, when the robot is in flight and is landing, the damping rocker arm in the damping rocker arm assembly acts as a landing gear to achieve landing cushioning.

[0024] Beneficial effects:

[0025] (1) The multi-mode collaborative planetary exploration robot of the present invention adopts a modular and separable design. The damping rocker arm assembly can detach from the main vehicle body and enter the narrow space that the main robot cannot reach for exploration as an independent exploration vehicle, thereby improving the robot's flexibility and functional integration.

[0026] (2) The multi-mode collaborative planetary exploration robot of the present invention has a multi-mode collaborative operation mode, and can realize the collaborative operation logic of switching between wheeled, legged and flying states. It has diverse operation modes and good environmental adaptability.

[0027] (3) In the rotor-wheel composite assembly of the present invention, the spokes and the arc-shaped segment used to form the wheel body together serve as flight blades, which can effectively increase the blade area and enhance its lift when in flight mode.

[0028] (4) The spokes of the wheel in the multi-mode collaborative planetary exploration robot of the present invention are made of shape memory alloy, which can change the wheel diameter through temperature control, thereby improving the robot’s environmental adaptability and obstacle crossing ability. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the multi-mode planetary exploration robot of the present invention in a six-degree-of-freedom leg suspension movement mode;

[0030] Figure 2 This is a schematic diagram of the multi-mode planetary exploration robot of the present invention in a four-bar suspension movement mode;

[0031] Figure 3 A schematic diagram showing the separation of the damping rocker arm assembly into a probe vehicle;

[0032] Figure 4 This is a perspective view of the multi-mode planetary exploration robot of the present invention in flight mode;

[0033] Figure 5 This is a top view of the multi-mode planetary exploration robot of the present invention in flight mode;

[0034] Figure 6 This is a schematic diagram illustrating the change in wheel diameter.

[0035] Among them: 1-six-degree-of-freedom leg, 2-damped rocker arm assembly, 21-damped rocker arm, 22-damped rocker arm deployment mechanism, 3-magnetic unit, 4-main body, 6-rotor-wheel composite assembly, 61-wheel body, 62-spoke, 63-hub. Detailed Implementation

[0036] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0037] This embodiment provides a highly flexible multi-mode collaborative planetary exploration robot, which adopts a modular and separable design to improve functional integration and mission flexibility; and has the ability to coordinate operations by switching between wheeled, legged, and flight modes.

[0038] like Figure 1 As shown, the multi-mode cooperative planetary exploration robot includes: a main body 4, six-degree-of-freedom legs 1, a rotor-wheel composite assembly 6, and a damped rocker arm assembly 2; the four six-degree-of-freedom legs 1 are rectangularly distributed on the bottom surface of the main body 4; each six-degree-of-freedom leg 1 is connected to a rotor-wheel composite assembly 6 at its lower end, and the rotor-wheel composite assembly 6 can rotate at high speed under the drive of the wheel drive joint at the end of the six-degree-of-freedom leg 1, realizing the robot's rapid wheeled movement on the planetary surface.

[0039] The damping rocker arm assembly 2 is detachably connected to the center of the lower end face of the main vehicle body 4. The damping rocker arm assembly 2 includes damping rocker arms 21 and a damping rocker arm deployment mechanism 22. The damping rocker arm deployment mechanism 22 is detachably connected to the center of the lower end face of the main vehicle body 4. The four damping rocker arms 21 are arranged in a rectangular pattern and connected to the damping rocker arm deployment mechanism 22. The damping rocker arm deployment mechanism 22 is used to retract or extend the main vehicle body 4 by the damping rocker arms 21.

[0040] The damping rocker arm assembly 2 enables the robot to have two suspension movement modes: a six-degree-of-freedom leg suspension movement mode and a four-link suspension movement mode. In the six-degree-of-freedom leg suspension movement mode, the damping rocker arm deployment mechanism 22 retracts the damping rocker arm 21 upwards into the main body 4 so that it does not affect the movement of the six-degree-of-freedom leg 1. Figure 1 As shown; in the four-link suspension movement mode, the damping rocker arm deployment mechanism 22 deploys the damping rocker arm 21 downwards, so that the end of the damping rocker arm 21 aligns with the output end of the ankle pitch joint in the six-degree-of-freedom leg 1; simultaneously, the six-degree-of-freedom leg 1 folds into Figure 2 At the position shown, the six-degree-of-freedom leg 1 and the damped rocker arm 21 form a parallelogram structure, as shown. Figure 2 As shown.

[0041] Furthermore, the cooperation between the six-degree-of-freedom legs 1 and the wheels 6 enables wheel-leg composite movement: when moving by wheels, the wheels 6 rotate at high speed under the drive of the wheel drive joints at the ends of the six-degree-of-freedom legs 1, enabling the robot to move quickly on the star table; when the robot moves to rugged terrain, the four six-degree-of-freedom legs 1 can be adjusted to walking mode, and the four six-degree-of-freedom legs are controlled by gait, with the wheels 6 as feet to achieve foot movement.

[0042] The damping rocker arm assembly 2 is detachably connected to the lower end face of the main vehicle body 4, and can detach from the main vehicle body 4 to function as an independent detection vehicle. For example... Figure 3 As shown, under specific mission requirements, the damping rocker arm assembly 2 detaches from the main vehicle body 4 and enters narrow spaces that the main robot cannot reach, such as deep in a meteorite crater, inside a lava tube, or in a crack, as an independent exploration vehicle (quadruped robot).

[0043] As an example, the damped rocker arm assembly 2 is connected to the main vehicle body 4 via a magnetic attraction unit, thereby enabling rapid separation. Preferably, the magnetic attraction unit employs a permanent magnet-electromagnetic hybrid attraction unit, including a permanent magnet and an electromagnetic coil; wherein the permanent magnet provides a continuous attraction force, ensuring connection is maintained even in the absence of electricity; the electromagnetic coil is used to control separation and assist in alignment. When separation is required, the magnetic field generated by the reverse current counteracts the attraction force of the permanent magnet, achieving rapid decoupling; during connection, it provides additional attraction force and guides precise alignment, ensuring connection stability and separation flexibility.

[0044] When the main body 4 receives the separation command, the control damping rocker arm deployment mechanism 22 adjusts the damping rocker arm 21 to the preset separation posture. At this time, the damping rocker arm 21 is deployed to... Figure 1 and Figure 2Between the positions, that is, downwards at a certain angle, but not connected to the six-degree-of-freedom leg 1; then the electromagnetic coil is activated to generate a reverse magnetic field to counteract the permanent magnet attraction. The separated damping rocker arm assembly 2, as an independent probe rover, has the ability to operate autonomously to perform its probe mission. After separation, the probe rover (i.e., the separated damping rocker arm assembly 2) serves as a "subordinate" unit of the main vehicle body 4 and communicates with the main vehicle body 4; the main vehicle body 4 is responsible for long-distance communication with the Earth or the orbiter; when the probe rover is connected to the main vehicle body 4, a contact-type data transmission interface (such as fiber optic or high-speed electrical connector) is used to quickly transmit large-capacity data (such as high-definition images and 3D point clouds).

[0045] As an example, the probe vehicle is equipped with a high-energy-density solid-state battery, which can provide independent energy supply; furthermore, the battery on the probe vehicle is a rechargeable battery, and a solar cell array is arranged on the main vehicle body 4. The main vehicle body 4 is equipped with a charging interface. When the probe vehicle is connected to the main vehicle body 4, the main vehicle body 4 can charge the battery on the probe vehicle through the charging interface.

[0046] As an example, the probe vehicle can use its onboard stereo camera or monocular camera to achieve relative positioning and attitude estimation through image feature matching and motion estimation; it can also operate under the remote control of the main vehicle body 4.

[0047] As an example, after the probe vehicle completes its detection task, it can approach the main vehicle 4 autonomously or under the remote control of the main vehicle 4. It uses its onboard visual sensors (such as cameras for visual navigation and detection) and proximity sensors (such as Hall sensors or laser rangefinders) to perform coarse alignment with the main vehicle 4. When the distance is close enough, the electromagnetic coil on the main vehicle 4 can generate a guiding magnetic field, which, combined with the attraction of the permanent magnet, will precisely pull the probe vehicle into the predetermined position, thereby achieving magnetic guidance and fine alignment.

[0048] As an example, the mating surface between the damping rocker arm deployment mechanism 22 of the probe trolley and the main vehicle body 4 is provided with a mechanical guiding structure (such as a guide cone and a guide groove) to provide physical alignment.

[0049] Furthermore, a target is set at the bottom of the main vehicle body 4 (when a guide cone is set, the guide cone can be used as a target) for navigation.

[0050] As an example, the mating surface between the damping rocker arm deployment mechanism 22 of the probe trolley and the main vehicle body 4 is provided with a mechanical locking mechanism such as an electric latch (which must also include a latch hole that mates with the electric latch). As a redundant design, the mechanical locking mechanism unlocks synchronously when the main vehicle body 4 activates the electromagnetic coil to generate a reverse magnetic field to counteract the permanent magnet attraction and release the probe trolley.

[0051] As an example, the damping rocker arm assembly 2 is connected to the main vehicle body 4 by a multi-point magnetic attraction method. That is, the damping rocker arm assembly 2 is connected to the main vehicle body 4 through multiple independent magnetic attraction units. The multiple independent magnetic attraction units are distributed in a dispersed manner. Even if some magnetic attraction units fail, the remaining magnetic attraction units can still maintain the connection, thereby improving reliability.

[0052] The rotor-wheel composite assembly 6 combines the functions of a rotor and a wheel, enabling it to both walk and fly (especially on planets with thin atmospheres like Mars). The rotor-wheel composite assembly 6 includes a wheel body 61, spokes 62, and a hub 63; the spokes 62 are made of shape memory alloy, with one end connected to the hub 63 and the other end hinged to the inner circumferential surface of the wheel body 61. Heating elements are provided on the spokes 62, allowing the length of the spokes 62 to be adjusted through temperature control.

[0053] The wheel body 61 has a segmented structure, meaning it is divided into several arc-shaped segments along the circumference. Each arc-shaped segment is connected to the hub 63 via a spoke 62 (shape memory alloy). The arc-shaped segments can rotate relative to the spokes 62. In wheel mode, the arc-shaped segments are perpendicular to the spokes 62, and several arc-shaped segments are arranged circumferentially to form the wheel body. In flight mode, the arc-shaped segments rotate to the same horizontal plane as the spokes 62, and together with the spokes 62, they function as blades. Figure 4 and Figure 5 As shown, the spokes and the curved segments used to form the wheel body can be used together as flight blades, which can effectively increase the blade area (the air is thin on planets, and using the spokes and the curved segments used to form the wheel body as flight blades can effectively increase the blade area), thereby increasing the lift when it is in flight mode.

[0054] When the wheel 61 tread is damaged or encounters grooves, obstacles, etc., and flight mode needs to be activated, the rotary joints on the six-degree-of-freedom legs 1 drive the four rotor-wheel composite assemblies 6 to rotate upwards above the main body 4 and mechanically lock them. Then, by controlling the temperature of the heating plates on the spokes 62, the length of the spokes 62 is changed, and the extended spokes 62 extend the arc-shaped segments connected to them. At the same time, the arc-shaped segments flip up to be on the same horizontal plane as the spokes 62, and together with the spokes 62, they serve as blades. The hub 63 is equipped with a drive unit (such as a drive motor) for driving the blades to rotate, driving the blades to start rotating rapidly, generating sufficient lift to lift the robot off the ground and enter low-altitude flight. Upon reaching a safe area, when the rotor robot lands, the damping rocker arm 21 of the robot's bottom detection vehicle acts as a landing gear / leg to achieve landing cushioning and improve landing stability. Then, temperature control restores the spokes 62 to their original shape, the arc segment flips back to its initial state, and drives the four rotor-wheel composite components 6 to rotate downwards to below the main body 4, so that they can return to wheel or leg mode and continue to perform their tasks.

[0055] Based on this, the robot possesses a multi-mode collaborative operation capability, enabling collaborative operation logic that switches between wheeled, legged, and flight modes. Legged movement includes both the robot's own legged mode and the probing vehicle's legged mode. It can intelligently switch between these three basic movement modes according to task requirements and environmental conditions. Furthermore, in this robot, the rotor-wheel composite assembly 6 is connected to the main body 4 via six-degree-of-freedom legs 1. In flight mode, the six-degree-of-freedom legs 1 can change the blade attitude, making it highly adaptable to the environment. Moreover, by changing the blade attitude, the robot can achieve flight functionality by simply transforming one or more rotor-wheel composite assemblies 6 into rotors, demonstrating strong structural redundancy.

[0056] When performing a task, the robot uses sensing units (including radar, cameras, etc.) to acquire environmental information in real time (such as terrain slope, obstacle height, ground softness, atmospheric density, wind speed, etc.); combined with the current task objectives (such as rapid movement, fine operation, obstacle crossing, small space exploration, emergency avoidance), it evaluates the applicability of different modes.

[0057] The wheel mode is suitable for fast and efficient movement on flat or slightly rugged terrain; when encountering complex and rugged terrain, tall obstacles, deep ditches, or when fine-tuning the posture is required, the robot switches to leg mode, with its six-degree-of-freedom legs providing excellent obstacle crossing and posture adjustment capabilities; when encountering narrow spaces that the main vehicle body 4 cannot reach, the probe vehicle separates; when it is necessary to quickly traverse large areas of complex terrain or probe vertical structures, the robot switches to flight mode; the spokes 62 inside the rotor-wheel composite assembly 6 extend out as rotors to provide lift.

[0058] Furthermore, the rotor-wheel composite assembly 6 is a variable-diameter wheel, making it highly adaptable to various environments. By precisely controlling the heating current and time of the heating plates on the spokes 62, the length of the spokes 62 can be varied. When the spokes 62 are at their shortest length, adjacent arc-shaped segments are joined together to form a complete wheel body 61, at which point the wheel body 61 is at its smallest. When the spokes 62 increase in length, the connected arc-shaped segments are pushed outwards (at which point the arc-shaped segments flip), thereby increasing the diameter of the wheel body 61, such as... Figure 6 As shown. By synchronously and precisely controlling the temperature of the heating elements on each spoke 62, it is ensured that each spoke 62 can undergo dimensional changes synchronously.

[0059] As an example, the diameter of the wheel body 61 can be adjusted in stages by precisely controlling the temperature of the heating elements on the spokes 62 in segments.

[0060] By using wheels with varying diameters, the robot's environmental adaptability can be improved. For example, small-diameter wheels with strong driving force can be used when climbing slopes, while larger-diameter wheels can be used when it is necessary to improve the robot's obstacle-crossing ability or moving speed.

[0061] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A multi-mode cooperative planetary exploration robot, characterized in that, include: Main body, six-degree-of-freedom legs, rotor-wheel composite assembly, and damping rocker arm assembly; The damping rocker arm assembly is detachably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to function as an independent detection vehicle. The four six-degree-of-freedom legs are arranged in a rectangular shape on the bottom surface of the main body; each of the six-degree-of-freedom legs is connected to a rotor-wheel composite assembly at its lower end. The rotor-wheel composite assembly includes a wheel body, spokes, and a hub; the spokes are made of shape memory alloy. The wheel body has a circumferential segmented structure; each arc segment is connected to the hub through a spoke, and the arc segment can flip relative to the spoke; in wheel mode, the arc segment is perpendicular to the spoke, and several arc segments are arranged circumferentially to form the wheel body; in flight mode, the rotor-wheel composite assembly flips upward to above the main body; by changing the length of the spoke, the spoke extends and the arc segment connected to it extends out; at the same time, the arc segment flips to be in the same horizontal plane as the spoke, and together with the spoke, it serves as a blade.

2. The multi-mode cooperative planetary exploration robot according to claim 1, characterized in that: The rotor-wheel composite assembly is a variable diameter wheel. By controlling the temperature of the spokes, the length of the spokes can be changed, thereby altering the diameter of the wheel body.

3. The multi-mode cooperative planetary exploration robot according to claim 1 or 2, characterized in that: Heating plates are provided on the spokes, and the length of the spokes is changed by temperature control.

4. The multi-mode cooperative planetary exploration robot according to claim 2, characterized in that: The wheel diameter can be adjusted in stages by controlling the temperature of the spokes in segments.

5. The multi-mode cooperative planetary exploration robot according to claim 1 or 2, characterized in that: The damping rocker arm assembly is connected to the main vehicle body via a magnetic attraction unit; The magnetic attraction unit adopts a permanent magnet-electromagnetic hybrid adsorption unit, which includes a permanent magnet and an electromagnetic coil.

6. The multi-mode cooperative planetary exploration robot according to claim 1 or 2, characterized in that: The probe vehicle is equipped with a battery for independent power supply; The main vehicle body is equipped with a charging interface, which allows the main vehicle body to charge the battery of the detection vehicle when the detection vehicle is connected to the main vehicle body.

7. The multi-mode cooperative planetary exploration robot according to claim 1 or 2, characterized in that: A target is set at the bottom of the main vehicle body for navigation when the detection vehicle is reset.

8. The multi-mode cooperative planetary exploration robot according to claim 1 or 2, characterized in that: When the robot lands while in flight, the damping rocker arm in the damping rocker arm assembly acts as a landing gear to achieve landing cushioning.

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