185 results about "Space operations" patented technology

The invention belongs to the technical field of space teleoperation and discloses a system and a method for synchronously controlling teleoperation. The system comprises an operator, a ground control center, a space system and uplink and downlink channels, wherein the ground control center is used for constructing a space system model, predicting uplink time delay in real time, generating a remote control instruction of a space robot according to a synchronous simulation state of the model, receiving and processing a feedback state of a space system at the same time, and correcting the remote control instruction according to the feedback state. The method comprises the steps as follows: constructing an equivalent model of the space system on the ground and carrying out synchronous simulation on the space system; and automatically generating the remote control instruction according to a synchronous simulation state, and synchronously controlling the equivalent model to finish automatic control of the space robot. Compared with the conventional space teleoperation mode, the decision of a ground system is adopted to replace dependence of the conventional mode on the decision of the space system or the operator, and the dual requirements for real-time performance and robustness of a space operation task are met.

The invention relates to the field of space robot researching and engineering, in particular to a soft touch joint based on a joint cross structure. The soft touch joint based on the joint cross structure comprises a driving transmission mechanism, a damping assembly and a sensing component. The driving transmission mechanism comprises motor driving units, controllers, inner shells, outer shells, sliding blocks, sliding rails and the like. The damping assembly comprises linear type magnetorheological dampers, clutches, rotary type magnetorheological dampers, spring mechanisms, torsion spring mechanisms and the like. The sensing component comprises encoders, linear displacement sensors and the like. The mechanical arm joint mainly utilizes the clutches and the magnetorheological dampers in the damping assembly to control the total flexibility of the soft touch joint, mutual conversion between a pitching and yawing two-freedom-degree rigidity driving function and space six-dimensional momentum unloading can be achieved according to operation tasks, and therefore soft touch of space operations is achieved.

The invention discloses an attitude control method for a spacecraft networked system based on event trigger, belonging to the field of system servo control for space robot networked control systems. The method comprises the following steps: firstly arranging a suitable transition process for the desired attitude of the system by designing a tracking differentiator to avoid a serious overshoot on the output of the system caused by an over-large initial error, and at the same time, acquiring a differential signal of the desired value for preparation for subsequent controller design; then, considering the network transmission signals, designing an event-triggered expansion state observer by using an attitude-angle measurement signal output by an event trigger mechanism, estimating the nonlinear uncertainties formed by the state in the spacecraft system, coupling, external disturbances and the like in real time, and compensating the estimated values of the nonlinear uncertainties into an error feedback control rate to form a composite controller. Finally, the method provided by the invention prevents nonlinear factors such as internal and external interferences from adversely affectingthe system, improves the robustness of the system, and provides guarantee for the smooth completion of space operations tasks.

The invention provides a multifunctional gantry type six-shaft industrial robot. A first upright post (3) and a second upright post (6) are arranged on a first rail (1) and a second rail (4) respectively through a first movable joint shaft (2) and a second movable joint shaft (5); a crossbeam (7) is arranged between the first upright post (3) and the second upright post (6); a movable arm (9) is arranged on the crossbeam (7) through a third movable joint shaft (8); a hoisting arm (11) is arranged on the movable arm (9) through a fourth movable joint shaft (10); a first rotating arm (13) is arranged on the end part of the hoisting arm (11) through a first rotating joint shaft (12); a second rotating arm (15) is arranged on the first rotating arm (13) through a second rotating joint shaft (14); and a terminal actuator (17) is arranged on the end part of the second rotating arm (15) through a third rotating joint shaft (16). The robot has six free degrees, wherein three free degrees are movable joints, and three free degrees are rotating joints. The robot is a novel structure of the industrial robot capable of completing various operations and large space operations.

The invention relates to a real-time fluorescence PCR (polymerase chain reaction) detection system based on a rotary type microfluidic chip. The system comprises an annealing low-temperature area, an extension appropriate temperature area, a thermal change high temperature area, a rotating module, a PCR reagent accommodating cavity, an injection micro-channel, an instrument fixing base and a fluorescence detection system, wherein a temperature cycle control module comprises the annealing low-temperature area, the extension appropriate temperature area and the thermal change high temperature area; a micro-channel cycle PCR amplification module comprises the rotating module, the PCR reagent accommodating cavity, the injection micro-channel and the instrument fixing base; and a fluorescence spectrum detection module comprises the fluorescence detection system. According to the system, three modules, namely, the micro-channel cycle PCR amplification module, the temperature cycle control module and the fluorescence spectrum detection module are integrated, so that the portable micro PCR fluorescence real-time detection system applicable to space operation requirements is realized, and purposes of function integration, structure microform, lightness, small size and full-automatic detection are achieved.

In order to solve a problem that the existing mechanical state simulation of a space target cannot realize tasks of effective spin counteraction of the target and multiple repeated trapping of the target, the invention provides a ground physical simulation experiment system for space spinning target trapping and spin counteraction and belongs to the field of ground zero-gravity simulations of space operation systems and space targets. According to the ground physical simulation experiment system for space spinning target trapping and spin counteraction, the space target spinning state is simulated by using a six-degree-of-freedom simulator; the six-degree-of-freedom motion and zero-gravity state of a service aircraft are simulated by using air flotation and air injection; a six-degree-of-freedom mechanical arm carries a spinning tracking claw device to track and trap the spin angle velocity and spin axis of the spinning space target; angular momentum in the trapping process is transmitted to the service aircraft; and reverse air jet is adopted to perform spin counteraction. The structure of the ground physical simulation experiment system for space spinning target trapping and spincounteraction has the advantages that effective spin counteraction can be realized, trapping and spin counteraction can be integrated and the target can be repeatedly trapped for multiple times.

The invention provides a novel weeder used under tree crowns in orchards. The novel weeder comprises a self-propelled tractor, a telescopic arm lifting frame, a telescopic arm, a pitch angle control mechanism and a weeding operation device. The telescopic arm is of a scissor fork support type structure, and the length of the telescopic arm is controlled through a hydraulic cylinder so as to adapt to different line spacing operation requirements of different orchards. The pitch angle control mechanism is hung at the tail end of the telescopic arm and controlled by the hydraulic cylinder so as to adapt to different landforms under trees. The weeding operation device comprises an operation motor, a tree passing driving plate and a mowing cutter head. The novel weeder can adapt to the gardening requirement for mowing grass under tree crowns in the current orchard grass growing mode, the labor intensity of fruit growers is reduced, and working efficiency is greatly improved.

The invention provides a laser imaging radar-based non-cooperative aircraft relative position posture measuring method. A laser imaging radar is used as a measuring device to realize measurement of the relative posture of a non-cooperative aircraft having no obvious features. The method mainly comprises the following steps: 1, establishing a precise point cloud model library; 2, acquiring visible position cloud data by using the laser imaging radar; 3, preprocessing the visible cloud data; 4, carrying out coarse registration on the visible position cloud data and precise point cloud model data; and 5, carrying out point cloud precise registration by adopting an ICP algorithm to determine an optimal relative position posture. The method realizes measurement of the relative position posture of the non-cooperative aircraft with any configuration, and has the advantages of strong anti-interfere ability, good algorithm robustness, high relative position posture measurement precision and meeting of relative navigation task requirements of a short-distance non-cooperative target in space operation by establishing the point cloud database and reasonably selecting a point cloud to be registered.

The invention discloses a multifunctional dredge boat. A support of a buoyancy supporting leg is welded to a boat body. Navigation signal lamps are welded to the boat body, a cab assembly is fixedly connected with the boat body through screws, and control equipment, circuit equipment and instrument equipment are integrated in a cab. A digging arm assembly is welded to the boat body, a reamer dredge pump is connected with the digging arm assembly, and a power system is fixed on a deck of the boat body through screws. An automatic positioning pile, a compact type hydraulic lifting propeller and the boat body are connected to the reserved support through a pin shaft, and a dredge pipe is laid on the deck of the boat body. By the adoption of the structure, the multifunctional dredge boat overcomes the defects that a common dredge boat in the prior art cannot handle shallow water area and limited space operations easily in places such as rivers, lakes, channels and reservoirs in a city due to the huge size, the common dredge boat cannot be put to good use in inland waterways, energy and labor consumption is large, transporting and transferring are extremely inconvenient, dredging by small-sized machines and manual work can waste time and energy, and the cost is high.

The invention provides a mechanical arm active grabbing device and method based on multi-model fusion. The mechanical arm active grabbing device based on multi-model fusion comprises a base (1), a mechanical arm (2), a laser radar (3), a binocular vision system (4) and a mechanical arm (5), wherein the laser radar (3) and one end of the mechanical arm (2) are respectively fixedly mounted on the base (1), and the binocular vision system (4) and the mechanical arm (5) are respectively fixedly mounted at the other end of the mechanical arm. The mechanical arm active grabbing method based on multi-model fusion comprises the following steps: step 1, sensing an object to be grabbed to obtain sensing information; step 2, positioning the object to be grabbed according to the sensing information toobtain positioning information; and step 3: grabbing the object to be grabbed according to the positioning information. The mechanical arm active grabbing device and method based on multi-model fusion fully consider the complex environment of space operation, effectively improve the capability of moving object grabbing, and have a wide application prospect.

The invention discloses a mixed switchover work space mapping method of a master-slave isomerous teleoperation robot. When a master end and a slave end are in an outside motion range far away from a captured target, a mapping manner of joint space-joint space is adopted; when the master end and the slave end are in an inside motion range close to the captured target, a mapping manner of operation space-operation space is adopted; when the master end and the slave end move to the inside motion range from the outside motion range, a specific joint-operation transitional manner is adopted for switchover; and when the master end and the slave end move to the outside motion range from the inside motion range, a specific operation-joint transitional manner is adopted for switchover back. The mixed switchover work space mapping method is simple and convenient to implement and high in computational efficiency, can meet flexibility and operation handfeeling of large-range motion and accurate positioning of local precise operation, and realizes smooth transitional switchover.

The embodiment of the invention provides a government and enterprise platform system and an operation method thereof. The platform system is connected with a set service sub platform of a government executive department, wherein the government executive department is a government executive department related to enterprise office business. The system comprises a center control module, and a registration entrance sharing module, a service supervision module, an information sharing module, a service ordering module and an exhibition space operation module which are connected with the center control module. The convenience of business between enterprises and governments is improved at many aspects.

The application discloses a catenary overhaul operation vehicle and its platform device, wherein the platform device includes a main lifting platform, a left lifting platform, a right lifting platform, a left horizontal telescopic arm, a right horizontal telescopic arm, a left horizontal driving part and a right horizontal driving Components; the left horizontal telescopic arm and the right horizontal telescopic arm are respectively horizontally arranged on the left and right sides of the main lifting platform; the left lifting platform is arranged at the telescopic end of the left horizontal telescopic arm, and the right lifting platform is arranged at the telescopic end of the right horizontal telescopic arm; The left horizontal driving part is drivingly connected with the left horizontal telescopic arm, and is used to drive the left horizontal telescopic arm to expand and contract horizontally; The platform device achieves a comprehensive overhaul of the catenary, and at the same time realizes a compact design and ensures a safe space for operation. It is convenient to horizontally adjust the working range of the left lifting platform and the right lifting platform during construction operations, with high operating efficiency and high safety.

The invention relates to a space robot orbit tool replacing device, which belongs to the field of space robot on-orbit service and aims at solving the problems that the existing orbit tool replacing device has poor space operation reliability, the great pose tolerance can not be realized, the power consumption is high, the mass is high, and the like. For the mechanical transmission, a motor of a first set of driving system is used for driving a gear, a transmission shaft is driven by the gear, in addition, the function is realized through the butt joint of a screw bolt sleeve arranged on the transmission shaft and a screw bolt head arranged at the other end of the transmission shaft. For electric transmission, a motor of a second set of driving system is used for driving the gear, a cam long shaft is driven by the gear, in addition, the moment on the cam long shaft is transferred to a cam short shaft through a steel wire, and two parts of an electric connector are in butt joint through a slider-crank mechanism fixedly arranged on the cam long shaft and the cam short shaft. The tool end locking adopts the kinematics coupling mode, and before the butt joint realization of the electric connector, a locking finger is driven by a cam to realize the locking of the tool end. The butt joint surface of the orbit tool replacing device and a replaceable tail end manipulator is a conical surface, and great pose tolerance capability can be realized.

The invention provides a drill chuck for perpendicularly drilling holes, and relates to a special drill chuck which is used for drilling holes in narrow spaces and is applicable to operation in small process spaces. The drill chuck comprises a drill chuck body, a box, an input shaft, an output shaft, a first bevel gear and a second bevel gear, and the input shaft and the output shaft are respectively connected onto the box via bearings and are perpendicular to each other; the first bevel gear is fixedly connected to a shaft end of the input shaft, the second bevel gear is fixedly connected to the middle of the output shaft, and the first bevel gear and the second bevel gear are mutually meshed; and one end of the output shaft extends out of the box, and the end head of the end, which extends out of the box, of the output shaft is detachably connected with the drill chuck body. Power reversing is carried out by the pair of bevel gears, and accordingly a handheld electric drill can be used for drilling the holes in the small process spaces. Besides, in order to increase hole drilling balance, a handle which is symmetric to the input shaft is further arranged, so that an operator holds the handheld electric drill with a hand, and holds the handle with the other hand, and hole drilling pressure can be applied in a balanced manner. The drill chuck is applicable to small-space operation.

The invention discloses an assisting method and device for movements in space. According to the assisting method and device, the moving ability of astronauts can be effectively enhanced. According to the method, an external skeleton system is coupled on a space suit. The external skeleton system comprises a profiling mechanical structure, a man-machine interface system, a control system, an actuator and an energy power system. The man-machine interface system senses and sends moving states and moving intensions of the astronauts to the control system, the control system processes information and sends instructions to the actuator, and the actuator drives the profiling mechanical structure to assist in supporting of astronaut loads or providing of boosting power for movements of the astronauts, accordingly, energy consumption of the astronauts is greatly reduced, the bearing ability, the moving ability of upper and lower limbs and the information processing ability of the astronauts are improved, the adaptability of the astronauts to severe environments is enhanced, and the astronauts are assisted in completion of various space operations. Besides, by the aid of the profiling mechanical structure, astronaut bodies can be protected, the astronauts are prevented from being injured, and the assisting method and device are suitable for popularization in the of astronaut space operation devices.

A three-configuration metamorphic tree pruning and chopping machine with a three-DOF (degree of freedom) transformation function comprises a wood chopping combined mechanism, a crawler walking system, a rack, a driving linkage, a transmission linkage, an output connecting rod, pins, a hydraulic cylinder and a hook joint, wherein the rack is mounted on the crawler walking system, the driving linkage, the transmission linkage and the output connecting rod are mutually connected through the pins, the driving linkage and the transmission linkage are mounted on the rack, the wood chopping combined mechanism is mounted at one end of the output connecting rod through the hydraulic cylinder and the hook joint and comprises a saw mechanism, a lower clamping mechanism, rollers, an upper clamping mechanism and a branching knife. During working, flexible metamorphism of three-DOF and three-configuration transformation is realized, and large space operation is realized through overlaying of movement spaces; the tree pruning and chopping machine comprises full rod pieces and is lower in manufacturing cost, long in service life and simple to maintain. The tree pruning and chopping machine can prune, trim and chop trees and perform sectional wood cutting operation in severe and rugged forest.

The invention discloses an active disturbance rejection control method of a spacecraft considering network transmission and actuator saturation. The method includes the steps that firstly, a proper transition process is arranged for a desired attitude of a system by designing a tracking differentiator, and meanwhile a differential signal of an expected value is obtained to prepare for subsequent controller design; and then a nonlinear sampling extended state observer is designed by using an attitude angle measurement signal output from a network protocol, real-time estimation of a state in a spacecraft system and nonlinear uncertain items formed by coupling, external interference and so on is carried out, and an estimated value of the nonlinear uncertain items is compensated to an error feedback control rate containing an anti-saturation compensator. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation can not only avoid the adverse effect of nonlinear factors such as internal and external interference on the system, but also ensure that an actuator can precisely control the spacecraft attitude within the saturation range, and provide guarantee for successful completion of space operation tasks. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation has good control effect, and can be widely used in other nonlinear networked control systems.

The invention provides a despun capture integrated device. The despun capture integrated device comprises a capture mechanism, a coupling and a despun mechanism, and the despun mechanism comprises anelectric generating machine mounted on a servicing spacecraft; the capture mechanism is connected with the despun mechanism through the coupling, after a target is captured by the capture mechanism, the despun mechanism is driven by rotation of the target to generate electricity, and thus rotation of the target is eliminated. According to the despun capture integrated device, the structure is compact, automatic centering is achieved, clamping is reliable, energy consumption is low, applicability of interfaces is wide, the despun capture integrated device can be used for targets in high speed self-spin or plane-spin states and the targets which the interface of a rotary body shape is located on a rotary shaft, continuous capturing and releasing of the targets can be achieved, stability of the targets and accuracy of gesture are guaranteed, and the despun capture integrated device has great application value in space operation tasks such as repairing, auxiliary on-orbit and off orbit offailed satellites.

A method and apparatus for embedded encoding of overlay data ordering in an in-situ interferometer is described. An in-situ interferometer is encoded, or augmented, with special or missing alignment attributes at desired positions. Exposing a sequence of the encoded in-situ interferometer onto a silicon wafer coated with a suitable recording media. Then measuring the alignment attributes. The encoded overlay data is processed to verify the proper order and physical location of each overlay measurement. The data is collected without increasing the overall number of required overlay measurements required. Collection of overlay data allows for the proper reconstruction of the aberrated wavefront. Non-coupling alignment attribute offsets can also be used to perform similar operations using singular value decomposition and null space operations.