52 results about "Planetary exploration" patented technology

The invention relates to an end sampler for planetary exploration, which relates to the end sampler for celestial body exploration. The end sampler for planetary exploration solves the problems that the conventional end sampler for planetary exploration cannot be directly connected with a mechanical arm, loses flexibility and mobility, and cannot meet the mass limit of a detector system due to large volume and heavy mass. In the end sampler of the invention, a first DC brushless motor(4) slows down by a planetary reducer(2) and then drives a worm screw(32) to rotate; two digging paws of a digging output device(B) are symmetrically arranged on both sides of the worm screw(32); worm wheels(31) are fixed on a rotary shaft(23) of the digging output device; the worm screw(32) is in meshed transmission with two worm wheels(31) on the digging output device(B); the worm wheels(31) drive the rotary shaft(23) of the digging output device to rotate; and the rotary shaft(23) of the digging output device drives a first bucket(25) and a second bucket(26) to rotate by a digging handle(22). The end sampler is applied to the technical field of detection of space resources.

A method and apparatus for solving a planning problem generates multiple efficient, alternate plans, one of which is selected for execution. Cost and quality metrics are used for describing and comparing the multiple plans. A planner narrows down a large number of possible solutions or plans to solve the problem based on a domain description including parameters that play a role in cost and quality computation. The method and apparatus can be used in planning stream processing workflows, threat detection and prevention, including intrusion detection, travel planning and planetary exploration.

The invention discloses a planetary exploration landing trajectory comprehensive optimization method, and relates to a planetary landing trajectory optimization method, belonging to the field of deepspace exploration. The method is implemented by the following steps: establishing a detector landing dynamics equation; calculating the probability of collision between a detector and planetary surface obstacles; setting up a planetary exploration landing trajectory comprehensive optimization problem by taking the uncertainty of fuel consumption performance and planetary landing as well as the complex terrain conditions of the obstacles existing on the planet surface into account; solving the planetary exploration landing trajectory comprehensive optimization problem, and completing the comprehensive optimization of the planetary exploration landing trajectory by taking the uncertainty of fuel consumption performance and planetary landing as well as the complex terrain conditions of the obstacles existing on the planet surface into account so as to realize safe and accurate landing. In addition, in the calculation of the collision probability, the description of the degree of threat tothe detector under the condition of uncertainty is more accurate. By simplifying a collision probability formula, the calculation amount is reduced and the optimization speed is accelerated under thepremise of guaranteeing accuracy.

The invention relates to a vehicle-mounted device, in particular to a six-wheel single drive folding extendable rocker arm type vehicle-mounted device. The vehicle-mounted device solves the problems that a plurality of driving sources are required when a folding suspension bracket of a vehicle-mounted mechanism of an existing planetary exploration vehicle is unfolded, an unfolding joint has a complex structure, and the reliability is poor. One end of a front folding suspension bracket mechanism is connected with the front end of a transmission mechanism; the other end of the front folding suspension bracket mechanism is connected with one front wheel; the transmission shaft of each front wheel is connected with the output shaft of one driving motor; one end of a middle wheel vertical arm is connected with the front folding suspension bracket mechanism; the other end of the middle wheel vertical arm is connected with one middle wheel; the transmission shaft of each middle wheel is connected with the output shaft of one driving motor; a differential mechanism is installed in a carriage; two ends of the differential mechanism are respectively connected with two transmission mechanisms; and the differential mechanism is used for controlling the unfolding and folding of two folding suspension bracket systems. The vehicle-mounted device is applied to planetary exploration.

The invention provides a combined foldable and extendable suspension type six-wheel vehicle-mounted mechanism, relating to a foldable and extendable six-wheel vehicle-mounted mechanism. By adopting the mechanism, the problem that a probe vehicle can not simultaneously have a good folding function and superior mobility performance at present is solved. The mechanism is characterized in that a second rod, a sixth rod, a seventh rod and a third rod form a closed rectangle; one end of a fourth rod is hinged with the middle of the sixth rod and the other end thereof is hinged with the middle of the third rod; the second rod and the fourth rod are arranged in parallel; one end of the seventh rod is hinged with one end of a ninth rod by a second rotary locking device; the other end of the ninth rod is hinged with a second wheel; the side wall of the fourth rod is fixedly connected with one end of a guide rail; the guide rail and a slider are locked by a locking pin; the side wall of the slider is fixedly connected with the side wall of a tenth rod; and the tenth rod, an eleventh rod, a twelfth rod, a thirteenth rod and an extension spring form a spring constrained quadrilateral mechanism. The mechanism is used for planetary exploration.

The invention relates to a method for determining the observability of a planetary exploration entry section autonomous navigation system and belongs to the technical field of deep space exploration. The method comprises the following steps: establishing a navigation measurement equation by utilizing distance measurement information between a lander and a manual telecom tag; and combining an observability analysis method based on Lie differential coefficient with a quadratic approximation method, deducing a recursive calculation method of an observability matrix, and defining the observability of the navigation system by utilizing a reciprocal of the condition number of the observability matrix. The observability determination accuracy of the planetary exploration entry section autonomous navigation system is improved, the calculated amount is reduced, and the planetary exploration entry section navigation performance is improved.

The invention provides a closed chain typed suspension mechanism of a six-wheel planetary detection vehicle, and more particularly relates to closed chain typed suspension mechanism used for a planetary detection vehicle, aiming at the problems that the suspension mechanism of the six-wheel typed environment detection vehicle adopts a positive closed chain rectangular gemel coupling structures and a reverse closed chain rectangular gemel coupling structure which are provided with a plurality of suspension rods and complex structures; two sides of a differential are respectively provided with a set of three-wheel four-rod closed gemel suspension mechanisms; each set of three-wheel four-rod closed gemel suspension mechanism consists of a front rocker arm, a middle rocker arm, a rear rocker arm, a balance rod, a front wheel, a middle wheel and a rear wheel; one end of each input shaft is fixedly connected with a balance rod and the other end thereof is fixedly arranged on the driving gear of a differential; two ends of the balance rod are pivotally connected with the front rocker arm and the rear rocker arm; two ends of the front rocker arm are pivotally connected with the front wheel and the front end of the middle rocker arm; the middle part of the bottom of the middle rocker arm is pivotally connected with the middle wheel; the rear end of the middle rocker arm is pivotally connected with the front end of the rear rocker arm; the rear end of the rear rocker arm is pivotally connected with the rear wheel; the closed chain typed suspension mechanism has the advantages of few suspension rods and simple structure, and can be applicable to planetary detection vehicles, ground detection robots and high-class toy vehicle suspension mechanisms.

A hexahedron moving robot comprises triangle vertexes from the first one to the eighth one and rod groups from the first one to the twelfth one. The first triangle vertex is connected with the first rod group, the second rod group and the fifth rod group; the second triangle vertex is connected with the second rod group, the third rod group and the sixth rod group; the third triangle vertex is connected with the fifth rod group, the ninth rod group and the tenth rod group; the fourth triangle vertex is connected with the sixth rod group, the tenth rod group and the eleventh rod group; the fifth triangle vertex is connected with the first rod group, the fourth rod group and the seventh rod group; the sixth triangle vertex is connected with the third rod group, the fourth rod group and the eighth rod group; the seventh triangle vertex is connected with the seventh rod group, the ninth rod group and the twelfth rod group; and the eighth triangle vertex is connected with the eighth rod group, the eleventh rod group and the twelfth rod group. The robot can arrive at any appointed area by utilizing self-transformation and can be used in the fields of planetary exploration, military affairs, toy teaching and the like.

The invention relates to wheel slip rate and slip angle measurement methods, in particular to a track information based wheel slip rate and slip angle measurement method, and solves the problems of inaccurate measurement due to external force interference in a driven wheel method and incapability of directly observing single wheel slip in a visual odometer method in existing methods for measuring wheel slip rate and a slip angle of a planetary exploration vehicle. The method is carried out by the following steps: 1, determining relationships between a track and the wheel slip rate and between the track and the slip angle; 2, establishing a wheel slip angle measurement model; and 3, establishing a wheel slip rate measurement model. The method solves the problems of inaccurate measurement due to external force interference in the driven wheel method and incapability of directly observing single wheel slip in the visual odometer method, has the advantages of high speed, high precision, high practicality, wide application range and the like, and is suitable for the field of planetary exploration.

The invention relates to an autonomous celestial navigation method based on sun shock time delay. The autonomous celestial navigation method comprises the following steps: with the acute change of a central wavelength of a sun spectral line caused by sun shock as a feature, respectively recording a moment that the feature is directly received by an atomic frequency discriminator facing towards the sun and a moment that the feature is reflected by a reflecting celestial body and is received by the atomic frequency discriminator facing towards the reflecting celestial body, so as to obtain time delay quantity, and providing navigation information of a space vehicle; and establishing a state model of the space vehicle according to orbital dynamics, establishing an implicit expression measurement model including a non-linear equation according to the sun shock time delay, and estimating the position and speed of the space vehicle by virtue of an implicit expression traceless Kalman filter utilizing a dichotomy. The autonomous celestial navigation method belongs to the autonomous navigation field of the space vehicles and is applicable to the navigation and location of transfer orbits or surrounding orbits for planetary exploration in the solar system.

The invention relates to a robot capable of removable bouncing. The robot comprises a movement system and a sensor system, wherein the robot is integrally configured into a symmetrical structure; the gravity center of the robot is located on a symmetric line of a mechanism and located below a detection system in a center position; manual and automatic control modes are used in robot control; the automatic control mode is arranged in the sensor system through an ultrasonic sensor and connected with a control execution mechanism; the robot is provided with a camera for obtaining on-site information and transmitting to an operator in a remote mode; the ultrasonic sensor is installed on a steering engine rotating shaft; the rotating shaft is interlinked with the sensor to control the robot; in the manual control mode, a joystick for controlling the robot is arranged, and the camera carried by the robot is connected with an upper computer; the movement mechanism of the movement system is a wheeled model movement and bouncing movement mechanism. Different movement strategies can be selected by the robot to move according to different on-site environments. The robot can be used for occasions, such as planetary exploration, military reconnaissance, rescue after disaster and the like due to diversified movement modes.

A mimosa-pudica-simulated flexible-hinge-connected variable topology folding and extending mechanism comprises flexible hinges and extendable modules, and each flexible hinge is connected with the twocorresponding extendable modules. The extendable modules comprise rotating machine seats, extending arms and four-rod mechanisms. Each of the upper layers and the lower layers of the rotating machineseats corresponds to four pin shaft seats; the extending arms are connected with the pin shaft seats through pin shafts; the two sides of the extending arms are connected with the multiple four-rod mechanisms through pin shafts; the four-rod mechanisms comprise driving rods, driven rods and connecting frame rods; one ends of the driving rods are connected with the extending arms through pin shafts, and the other ends of the driving rods are connected with the driven rods through pin shafts; one ends of the driven rods are connected with the driving rods through pin shafts, and the other endsof the driven rods are connected with the connecting frame rods through pin shafts; and one ends of the connecting frame rods are connected with the driven rods through pin shafts, and the other endsof the connecting frame rods are connected with the extending arms through pin shafts. The mimosa-pudica-simulated flexible-hinge-connected variable topology folding and extending mechanism has the characteristics of being simple in folding process, large in folding ratio, low in mass, simple in structure, high in stability, high in reliability and large in structural strength, and can be appliedto space missions such as earth observation and planetary exploration through space telescopes.

The invention provides a multi-spring constrained quadrilateral foldable and extendable suspension type six-wheel vehicle-mounted mechanism, relating to a foldable and extendable six-wheel vehicle-mounted mechanism. By adopting the mechanism, the problem that a probe vehicle can not simultaneously have a good folding function and superior mobility performance at present is solved. The mechanism is characterized in that a second rod, a third rod, a fourth rod, a seventh rod and a first extension spring form a first spring constrained quadrilateral mechanism; a fifth rod, a sixth rod, an eighth rod, a seventh rod and a second extension spring form a second spring constrained quadrilateral mechanism; the side wall of the seventh rod is fixedly connected with one end of a guide rail; the guide rail and a slider are locked by a locking pin; and a tenth rod, an eleventh rod, a twelfth rod, a thirteenth rod and a third extension spring form a third spring constrained quadrilateral mechanism. The mechanism is used for planetary exploration.

The invention discloses a telescopic and insertable moving mechanism. The telescopic and insertable moving mechanism comprises an upper rod group (A), a lower rod group (B), as well as three branched chain push rods and connectors thereof, wherein the top end of each branched chain push rod is inserted into a bottom hole of a connecting rod of the upper rod group (A) and is fixedly connected with the bottom hole through a pin; the tail end of each branched chain push rod is inserted into a top hole of a joint bearing rod of the lower rod group (B) and is fixedly connected with the top hole through a pin. By controlling the telescoping of a driving motor and each push rod in the upper rod group (A), the telescoping motion of the upper rod group (A) and the lower rod group (B) can be realized, the insertion motion between the upper rod group (A) and the lower rod group (B) can be realized, and the whole mechanism has a telescoping and insertion movement gait and a climbing and turning movement gait. The telescopic and insertable moving mechanism can be applied to pipeline robots and the related civilian fields, and can be applied to the fields of planetary exploration and military use.

The present disclosure provides a data-driven modular planetary exploration data archiving system, comprising a data archiving interface module, a data sending/receiving service module, a message queue module, a data archiving service cluster module, a load balancing service module, and a cluster management service module. The data archiving interface module comprises a data archiving interface module, a data sending/receiving service module, a message queue module, a data archiving service cluster module, a load balancing service module, and a cluster management service module. By means of archiving data from different missions and different sources, a system of planetary exploration data archiving is constructed based on loosely coupled system architecture, which improves the scalabilityof the system, and different data archiving components are dynamically loaded to archive data in real time, which improves the security of data. At that same time, because the whole system support cluster deployment, the archive task assignment is reasonably carried out through load balancing, the system resource utilization rate and the archiving concurrency processing ability are improved, andthe problems existing in the scalability, security, efficiency and concurrency of the conventional planetary exploration data archiving system are solved.

The invention relates to a robot. The robot comprises at least five moving parts which can be rotatably connected from the head to the tail in turn to form an annular travelling wheel, and steering engines which are connected to the moving parts and can adjust the angle between two adjacent moving parts, and the number of the steering engines is three less than the number of the moving parts; andthe multiple moving parts are hinged from the head to the tail in turn to form the annular travelling wheel, the steering engines connected to the moving parts can drive and adjust the angle between two adjacent moving parts to change the performance of various shapes of the robot, the friction and the supporting force between the robot and the ground are utilized to make the center of gravity ofthe robot move forward, and thus the robot can move forward continuously. According to the robot, the structure is simple, control is convenient, the motion efficiency of the robot is effectively improved, the adaptive environment of the robot can be changed by adjusting the number of the moving parts, and the robot can be applied to planetary exploration, geological exploration, emergence rescue,large-scale precision machinery maintenance and the like.

The embodiment of the invention discloses a parachute system for planetary exploration. According to the parachute system for planet detection, the sensor and the repairing structure are arranged on the parachute body, the impact strength of dust particles is monitored through the sensor, and accurate evaluation of impact damage of the dust particles to the parachute body is achieved; and the repairing structure is used for repairing the damage of the parachute caused by dust impact based on a sensor signal of the sensor, so that closed-loop control and real-time automatic repairing are realized.