DE102010018756A1 - Exploration device for use in e.g. country vehicle for exploring e.g. earth, has arms are rotated around specific degree for variably controlling travel type of device and motion sequence of arms and laterally attached at housing - Google Patents

Abstract

The device (1) has rotatable arms (9, 11) for transferring forces between a surface area and the device when the arms contact a heavenly body, and the device is moved. The arms are rotated around 360 degree for variably controlling travel type of the device and motion sequence of the arms. The arms are laterally attached at housing (3) in a y-direction (7), where planes of rotation of the arms are arranged parallel to each other and spaced from each other. The planes of rotation extend in an x-z direction of the housing. Rotational axes (13) run in the y-direction. An independent claim is also included for a method for moving an exploration device.

Description

The invention relates to an exploration device by means of the celestial bodies with a surface and a low gravity are explicable, wherein forces between the surface and the exploration device are transferable and the exploration device is moved and a method for moving the exploration device.

Exploration devices by means of the celestial body with a surface and a low gravity are explorable and methods for moving such a reconnaissance device are known. These have a plurality of arms, which are associated with the exploration device pivotable. By pivoting the arms back and forth, a force can be transmitted between the arms and the celestial body, whereby the exploration device can be moved. From the Soviet mission Phobos 2 an exploration device is known, which is equipped with four triangles, which allow to perform jumps and changing a position after such a jump. From the publication L. Richter / Robotics and Autonomous Systems 23 (1998) 117-124 a mobility device is known, which has two, mounted on opposite, flattened sides of the pivot arms, wherein depending on the location of the mobility device, one of the arms can be pivoted so that a tipping of the mobility device takes place on the other pivot arm side having. As a result, a kind of rolling movement of the mobility device on a surface is possible.

The object of the invention is to allow an improved exploration of celestial bodies with a surface and a low gravity, in particular to allow an improved movement of such a reconnaissance device.

The object is with an exploratory device by means of the celestial bodies with a surface and a low gravity are explicable, wherein forces between the surface and the exploration device are transferable and the exploration device is moved in that the exploration device has at least one arm by means of which the forces between the Surface and the reconnaissance device are transferable, wherein the at least one arm touches the celestial body and the exploration device is moved, wherein the at least one arm for at least one Fortbewegungsart the exploration device is rotatable by 360 ° and at least one movement variably controlled and / or regulated.

Advantageously, the at least one arm can be controlled variably and / or regulated, so that different movements and thus types of movement are possible. Advantageously, the at least one arm can be rotated through 360 °, so that no pivoting back of the at least one arm is necessary for locomotion. Advantageously, a movement of the exploration device on the surface of the celestial body comparable to rowing and / or creeping can take place. The surface of the celestial body may, for example, have rock. However, it is also conceivable that the surface of the celestial body has a high degree of dicing, in particular dust and / or sand. It is possible that the arm during rotation by 360 ° in the dust and / or sand surface having at least partially digs or einkrallt and thereby allows locomotion of the reconnaissance device, which raises each and on a further rotation on the surface of the celestial body falls back, whereby a repetition of the 360 ° rotation is possible, with a crawling movement of the exploration device takes place. Gravitational forces of less than 0.2 g, in particular from 0.2 g to 100 μg, in particular from 0.1 g to 200 μg, in particular from 1000 to 500 μg, in particular less than 1000 μg, can be understood as meaning low gravitation, g for the gravitational acceleration with 9.81 m / s ² stands. Furthermore, a low gravity can be understood as meaning such a low gravity, in which the celestial body itself is not able to bind larger rock formations to itself, in particular against centrifugal force due to a self-rotation of the celestial body. It is known that such celestial bodies often consist predominantly of dust and / or very small parts, which are predominantly held together by intermolecular forces, in particular van der Waals forces. Advantageously, the exploration device can also be used on such celestial bodies, wherein it is possible that intensive contact with the fine-grained surface of the celestial body is created by a very slow activation or rotation of the at least one arm and / or a clawing on the surface of the exploration device the celestial body holds.

In one embodiment of the exploration device is provided that the at least one arm with at least one movement of the group: a Pivoting movement of the at least one arm or a synchronous pivoting movement of several of the arms from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the surface and back, a rotational movement of the at least one arm or a synchronous rotational movement of several of the arms from the position close to the housing by 360 ° starting from the surface, such a fast pivoting movement of the at least one arm or synchronous pivotal movement of several of the arms from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular about 120 °, in the direction of the solid surface and back again, so that a contact contact of the exploration device to the surface of the celestial body is at least temporarily canceled, such rapid rotation of the at least one arm or synchronous rotational movement of both arms from the housing close position 360 ° Begi away from the solid surface such that abutting contact of the exploratory device with the surface of the celestial body is at least temporarily canceled, a pivotal movement or rotational movement of the at least one arm, an oppositely directed pivotal movement or rotational movement of a plurality of the arms, a phase shifted, in particular 180 °, Pivoting movement or rotational movement of several of the arms, shaking movements of the at least one arm or more of the arms can be controlled and / or regulated. Advantageously, the slow rotational movement leading to creeping of the exploration device can be carried out so rapidly that it leaves the surface, ie makes a jump and / or a ballistic flight, in particular to leave the celestial body at a speed greater than the escape velocity. Advantageously, if more than one arm is provided on the exploration device, a pivotal movement and / or rotational movement cause a rotation about a vertical axis, that is, a different orientation of the exploration device. Advantageously, the oppositely directed pivoting movement and / or rotational movement of a plurality of arms can likewise bring about a rotation about a vertical axis. Advantageously, the phase-shifted, in particular by 180 °, pivoting movement and / or rotational movement cause a crawling locomotion, in particular advantageous on soft and / or sandy surfaces. Optionally, this may also allow for advantageous movement on liquid surfaces. The shaking movements of the at least one arm or several of the arms can advantageously free the exploration device from an unfavorable position for measurements and / or locomotion, for example if it is in an unfavorable position after a drop or landing on the celestial body, in particular in dust and / or buried sand in an unfavorable position. Advantageously, by the shaking movements tipping and / or shaking out of the exploration device can be effected in a more favorable position. Advantageously, the at least one arm can be controlled in such a way that the most varied types of movement are possible, in particular also making jumps, in particular also such powerful jumps that an escape velocity of the celestial body can be achieved or its gravitational field can be overcome. Advantageously, by the pivoting movement of the at least one arm or more of the arms from the position close to the housing in the direction of the surface, for example a solid surface, for example rock and / or sand, and back again a tipping over of the exploration device. In this case, for example, advantageously entrained measuring devices can be aligned with the surface of the celestial body. Advantageously, the pivoting movement can take place so rapidly that the exploration device releases from the surface of the celestial body at least temporarily, that is, makes a jump. In this respect, the exploration device may be a mobility device in the most general sense, in particular a land vehicle and / or in particular a ballistic aircraft.

In a further embodiment of the exploration device it is provided that the housing is dimensioned longer in an x-direction than in a z-direction and has two of the arms, which are arranged spaced from one another with respect to a y-direction of the housing. An x-direction can be understood as meaning a longitudinal direction of the exploration device. A z-direction can be understood to mean a vertical axis of the exploration device. A y-direction may be understood to mean a transverse direction of the exploration device, wherein the transverse direction extends transversely to a direction of travel and the x-direction extends longitudinally to a direction of travel of the exploration device. Advantageously, spaced forces can be transmitted between the celestial body and the exploratory device by means of the two arms. Advantageously, a movement in the x-direction can take place, in particular a control of the x-direction by a corresponding driving of the two arms is possible.

In a further embodiment of the exploration device is provided that the arms are mounted with respect to the y-direction of the side of the housing. Advantageously, the two arms can be mounted laterally of the housing, which are rotatable by 360 ° laterally of the housing.

In a further embodiment of the exploring device it is provided that planes of rotation of the arms are spaced apart and arranged substantially parallel to one another. Advantageously, a uniform movement of the exploration device in the x-direction can take place.

In a further embodiment of the exploration device it is provided that the planes of rotation extend in an xz-direction of the housing. Advantageously, this can be a force or force component in the x-direction of the exploration device are generated so that it can be advantageously moved.

In a further embodiment of the exploration device, it is provided that the axes of rotation are arranged in the region of a first end of the housing with respect to the x-direction. Advantageously, the pivot axes of the two arms are arranged with respect to the x-direction at a first end of the housing, so that there is also the force introduction point, such as lifting and lowering the first end and / or rotating the housing to the first end are possible ,

In a further embodiment of the exploration device, it is provided that the pivotable arms each have a length which is greater than a distance of a center of gravity of the exploration device from the respective axis of rotation. Advantageously, this makes it possible to overturn the exploration device, wherein the rotatable arms are rotated towards the surface of the celestial body and thereby the housing begins to rotate about the pivot axes of the arms, as long as this tilts forward over. This advantageously makes it possible to turn the exploration device back and forth, for example in order to align an antenna and / or instruments of the exploration device accordingly

In a further embodiment of the exploring device, it is provided that the length of the arms is shorter in each case than a distance of a second end of the housing opposite the first end with respect to the x direction from the respective axis of rotation. Advantageously, the arms are made shorter than an extension of the exploration device in the x-direction, so that a rotation of the arms by 360 ° allows a crawling movement of the exploration device along the x-direction.

In a further embodiment of the exploration device it is provided that the pivotable arms have substantially common axes of rotation. Advantageously, the arms can essentially have a common pivot axis about which they are each separately pivotable. Advantageously, this ensures uniform movement of the exploration device in the x direction.

In a further embodiment of the exploration device, it is provided that the axes of rotation extend substantially in a common y-direction. The pivot axes extend in a common y-direction, ie transversely to a direction of travel of the exploration device, wherein advantageously rotational movements of the arms allow a uniform movement in the x-direction. Alternatively and / or additionally, however, it is also conceivable to arrange the pivot axes at an angle to the y-direction, similar to a Vorspureinstellung, advantageously clawing or jamming and / or digging of the rotating arms with the surface of the celestial body is possible.

In a further embodiment of the exploration device is provided that each of the arms is assigned a separate drive. Advantageously, each of the arms can be driven separately, whereby advantageously the variable control and / or regulation can be carried out for each of the arms.

In a further embodiment of the exploration device it is provided that the arms are assigned a common drive. Advantageously, only a common drive is possible, which can be variably controlled and / or regulated. The arms can advantageously be moved synchronously by means of a common drive.

In a further embodiment of the exploration device it is provided that the exploration device has only one central arm, wherein the central arm is mounted in a central U-shaped cutout of the housing. Advantageously, the exploration device can be moved by means of only one arm, in particular turned over.

In a further exemplary embodiment of the exploration device, it is provided that at least one of the arms in the housing-near position forms a protection for a functional device of the exploration device arranged behind it. Advantageously, at least one of the arms can be positioned or positioned in front of a functional device of the exploration device, so that advantageously the functional device can be protected, for example during a landing and / or during a non-operational phase, for example against impacts and / or unwanted radiation entry.

In a further embodiment of the exploration device, it is provided that at least one of the arms has a functional device of the exploration device. Advantageously, the functional device can be provided directly on the arm, which can advantageously be brought directly into contact with the surface of the celestial body. Alternatively and / or additionally, it is conceivable to set up the functional device by means of the at least one rotatable arm, so that the latter, for example for performing measurements and / or images of the surface in a more favorable distance to the surface of the celestial body is located.

In a further embodiment of the exploration device, it is provided that the housing of the exploration device is at least partially fluid-tight and the exploration device is floatable thereby. Advantageously, the exploration device can also be designed floatable, wherein the rotatable arms allow a rowing or crawling locomotion on the liquid surface of the celestial body.

The object is also in a method for moving an exploration device, in particular an exploration device described above, by means of the celestial bodies with a surface and a low gravity are explicable by transmitting a force between the celestial body and at least one arm of the exploration device and to rotate the at least one arm solved by 360 °. Advantageously, the exploration device can be moved and / or moved on the celestial body. Moreover, the advantages described above arise.

In one embodiment of the method, a variable regulation and / or control of a movement sequence of the at least one arm, pivoting of the at least one arm or synchronous pivoting of several of the arms from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular about 120 °, in the direction of the solid surface and back again, rotating the at least one arm or synchronously rotating several of the arms from the housing near position by 360 ° starting from the solid surface, such a fast pivoting of the at least one arm or synchronous pivoting several of the arms from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the solid surface and back again, so that an abutment contact of the exploration device to the surface of the celestial body is at least temporarily canceled, such a fast turning of the at least one arm or synchronously rotating a plurality of the arms from the proximal position 360 ° away from the solid surface such that abutting contact of the exploration device with the surface of the celestial body is at least temporarily eliminated, pivoting or rotating one arm of the plurality of arms, one opposite directed pivoting or rotating a plurality of the arms, a phase shifted, in particular by 180 °, pivoting or rotating a plurality of arms and / or a shaking moving an arm of the plurality of arms or a plurality of arms provided. Advantageously, the exploration device can be moved and / or moved in various ways. Incidentally, the advantages described above arise.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Described and / or illustrated features form the subject of the invention, or independently of the claims, either alone or in any meaningful combination, and in particular may additionally be the subject of one or more separate applications. The same, similar and / or functionally identical parts are provided with the same reference numerals.

Show it:

1 a schematic plan view of an exploration device with two rotatable arms, which are located in a housing near home position;

2 and 3 in the 1 shown view of the exploration device, wherein, in contrast, the arms have different rotational positions;

4 a plan view of another exploration device with two rotatable arms, wherein the rotatable arms are in U-shaped cutouts of a housing of the explorer;

5 a plan view of another exploration device, which has a rotatable arm which is located in a central U-shaped cutout of a housing of the explorer;

6 a total of six different phases of movement of a tip over an exploratory device analogous to in 1 illustrated exploration device;

7 five movement phases of a crawling locomotion of the 6 illustrated exploration device; and

8th six phases of movement of a jumping locomotion into the 6 and 7 shown exploration device.

1 shows an explorer 1 for exploring a celestial body, not shown. The exploration device 1 has a housing 3 on, by means of a first arrow 5 an x-direction and a second arrow 7 a y direction of the exploration device 1 are drawn.

The exploration device 1 has a first arm 9 and a second arm 11 on, the side of the case 3 along a dash-dotted line of rotation 13 are rotatably mounted. The rotation axis 13 runs along the y-direction 7 so the first arm 9 and the second arm 11 are rotatable in a plane of rotation defined by a yz-direction.

By rotary movements of the first arm 9 and the second arm 11 they can be brought into engagement with a non-illustrated surface of the celestial body, so that over the arms 9 and 11 a force from the celestial body to the rest of the exploration device 1 can be transmitted, which can be moved and / or moved.

The 2 and 3 show basic possibilities of twisting movements of the arms 9 and 11 , In 2 are both arms 9 and 11 180 ° from the illustration in 1 twisted so that they are not in a housing close but in a housing-remote position. In 3 is only the first arm 9 swiveled through 180 °, which, for example, in alternation with the second arm 11 can be done so that they are rotated out of phase, with a kind of crawling locomotion of the exploration device 1 is possible. As shown 2 is also a crawling or locomotion of the exploration device 1 possible, with the arms 9 and 11 synchronous, so without phase shift with the same direction of rotation can be rotated. These can be assigned to a common drive, not shown. Alternatively and / or additionally, however, it is also possible for the arms 9 . 11 each to drive separately, each of the arms 9 . 11 a separate, in particular separately controllable, in particular by means of a common control, drive is assigned,

Alternatively and / or additionally, it is conceivable that on the arms 9 and 11 adhesion-promoting devices, for example micro- or nano-bristles, rubber-like materials and / or the like are provided.

4 shows another exploration device 1 which also has a first rotatable arm 9 and a second rotatable arm 11 that have a common axis of rotation 13 are rotatable.

The rotation axis 13 located at a front end 15 of the housing 3 , It can be seen that a length of the arms 9 and 11 is greater than a distance 19 the axis of rotation 13 from a focal point 21 the exploration device 1 , Advantageously, thereby the exploration device 1 be turned from one side to another, this opposite side.

It can also be seen that the length 17 the poor 9 and 11 less than a second distance 23 the axis of rotation 13 from a rear end 25 of the housing 3 , The back end 25 of the housing 3 is on the opposite side of the front end 15 of the housing 3 ,

In contrast to the representation according to the 1 to 3 are the arms 9 and 11 each within a U-shaped cutout 27 of the housing 3 arranged. Advantageously, characterized in a rest position, the arms 9 and 11 within an outer contour of the housing 3 be stored.

5 shows another exploration device 1 , in contrast to the representation of the 1 to 4 only a first rotatable arm 9 that is about a rotation axis 13 is rotatable. The first rotatable arm 9 is inside a central U-shaped cutout 27 of the housing 3 arranged.

6 shows a total of six phase images of another exploration device 1 , analogous to the representation of the 1 is built, so a first arm 9 and a second arm 11 has, in 6 only the first arm 9 is visible. In addition to the first arrow 5 shown x-direction is in 6 by means of a third arrow 29 a z-direction of the exploration device 1 located. The z-direction corresponds to a vertical axis of the exploration device 1 and is perpendicular to a surface 31 , for example, the surface 31 of the celestial body.

In 6 the movement phases are symbolized by the capital letters A-F. In a movement phase A, the exploration device is at rest, with an upper side 33 the exploration device 1 on the surface 31 of the celestial body rests. Here are the arms 9 and 11 in a housing near position to the housing 3 ,

In a second movement phase B are the arms 9 and 11 synchronously towards the surface 31 so far pivoted that front ends of the arms 9 and 11 the surface 31 touch. This is a torque or a force from the surface 31 on the exploration device 1 transferred, with the rear end 25 begins to lift.

According to the movement phase C are the arms 9 and 11 already further towards the surface 31 twisted, but these are not further relative to the surface 31 the celestial body, instead the housing 3 the exploration device 1 starts to move, with the back end 25 is raised further.

According to the movement phase D, the rear end is set even further, so that the exploration device 1 is placed almost vertically.

According to the movement phase E is the housing 3 the exploration device 1 so far by means of the arms 9 and 11 placed this tilting forward, what by means of a curved arrow 35 is symbolized.

According to the movement phase F is the housing 3 the exploration device 1 with a bottom 37 on the surface 31 of the celestial body tilted. It can be seen that while doing the arms 9 and 11 protrude according to the twisting movement.

To complete the tilting movement of the exploration device 1 from the top 33 on the bottom 37 can the arms 9 and 11 be turned back to the housing close position.

In the illustration according to the movement phase F of 6 is an antenna 39 the exploration device 1 aligned so that these from the surface 31 of the celestial body pointing away. In addition, not shown measuring instruments, for example, at the bottom 37 the exploration device 1 are in the direction of the surface 31 aligned with the celestial body.

According to the presentation of the 6 it can be seen that the housing 3 the exploration device 1 in the third arrow 29 shown z-direction has a smaller extent than in the means of the first arrow 5 symbolized x-direction. As a result, the movement or tilting movement of the exploration device shown according to the phases A-F is advantageous 1 possible.

7 shows another mode of travel of the exploration device 1 in a total of five phases of movement, which in 7 are symbolized by the capital letters A-E. According to the movement phase A can be seen that the arms 9 and 11 initially from the housing-near position of the surface 31 were turned off, which is in the movement phase A of the 7 by means of a second curved arrow 41 is indicated. According to the presentation of the 7 so are the arms 9 and 11 rotated in the opposite direction as shown by the 6 , It can be seen that it is also the arms 9 and 11 with the surface 31 engaged, in contrast to the representation of the 6 not the back end 25 but the front end 15 of the housing 3 the exploration device 1 is raised. According to the movement phase B of 7 is the case 3 even further.

According to the movement phase C, the housing 3 the exploration device 1 set up a little further.

According to the movement phase D of 7 are the arms 9 and 11 in a substantially vertical position to the surface 31 , so that they engage with the surface in another rotary motion 31 lose, which is advantageous in that they are shorter than the second distance 23 between the rear end 25 and the axis of rotation 13 , As soon as the arms 9 and 11 again near the housing 3 or in their housing near position, the housing begins 3 the exploration device 1 back to the surface 31 to tilt back, what in the movement phase D the 7 by means of the first curved arrow 35 is symbolized.

According to the movement phase E of 7 is the case 3 the exploration device 1 back to the surface 31 tilted back of the celestial body, however, has a distance compared to the movement phase A. 43 in the first arrow 5 symbolized x-direction covered.

It can be seen that thereby the exploration device 1 can be moved, where always the same page, so for example the bottom 37 to the surface 31 shows, so when moving no rolling the explorer 1 he follows. Advantageously, therefore, always the same side of the surface 31 remain facing or accordingly turned away.

Alternatively and / or additionally, the rear end may assist in locomotion 25 friction reducing, in particular a friction-reducing coating and / or on the surface 31 having rolling rolling elements / wheels.

8th shows a total of six movement phases of the exploration device 1 , which are identified by the capital letters A-F. Basically, a rotational movement of the arms 9 and 11 that the movement of the 6 equivalent. The only difference, however, is the rotation in comparison to the representation of 6 so fast that in the movement phase E not one by means of the first curved arrow 35 indicated forward tilting of the housing 3 the exploration device 1 takes place, but that instead of the housing 3 of the sensing device 1 and the arms 9 and 11 from the surface 31 solve and the exploration device 1 a ballistic trajectory relative to the surface 31 of the celestial body passes through, which in the movement phases E and F of 8th by means of a fourth arrow 45 is indicated.

It is advantageous according to the illustration 6 to 8th creeping, turning and jumping the explorer 1 possible. According to the representations of the 6 to 8th become the arms 9 and 11 each without phase shift, ie synchronously and with the same direction of rotation optionally fast, to take off, or slowly twisted to turn or creep.

Advantageously, it is alternatively and / or additionally possible, the first arm 9 and the second arm 11 to rotate with a phase shift, for example, a phase shift of 180 °, wherein in a direction of rotation corresponding to the 6 , depending on the length of the corresponding arm 9 . 11 either tilting with only one arm or rotating the explorer about the third arrow 29 indicated z-direction of the exploration device 1 is possible. This is analogous to a direction of rotation according to the 7 if only one of the arms 9 . 11 is twisted. If twisting the arms 9 and 11 with a phase shift of 180 ° is a paddling or locomotion of the exploration device 1 possible, wherein on average a straightforward locomotion in the x direction of the exploration device 1 is possible.

Alternatively and / or additionally, it is conceivable, for example, if the exploration device 1 on the front end 15 or the rear end 25 remains lying, this by turning and / or shaking the arms 9 . 11 to free. This is also possible if the exploration device 1 on the side, on one of the arms 9 . 11 if this is the case 1 is executed, remains lying. If necessary, the arms can 9 . 11 to the front end 15 approach or be slightly shorter than the second distance 23 For example, 90 to 100%, especially about 98 to 99%, of the distance 23 make out, so that although the creeping is just possible without a Hintsüberkippen, but at one, in particular deep, pinning the front end 25 advantageous engagement with the surface 31 to be released.

Advantageously, a reliable position and / or position change of the exploration device 1 take place, with this only a variable control and / or regulation with different movement patterns of the two arms 9 and 11 is required. Advantageously, this position change both by slow crawling as well as by rapid repelling on the surface 31 connected with a subsequent ballistic free flight phase. Advantageously, the movement or a movement pattern of the arms 9 and 11 can be variably controlled and / or regulated, so that this can also be adapted and / or changed during a mission to a celestial body and / or changed, for example, if there is new knowledge about a surface condition of the celestial body after a landing. Advantageously, it is also possible during a mission to change the destination, so the exploration device 1 to land on any celestial body.

Advantageously, a corresponding drive of the arms 9 and 11 as well as the arms 9 and 11 even comparatively low mass, so be designed easily. It is advantageous to move the arms 9 and 11 a low energy requirement is necessary. Advantageously, the arms have 9 and 11 , which is a locomotion device of the exploration device 1 represent comparatively little moving parts, so are kept simple by a basic structure.

The celestial body may be, for example, so-called asteroids, which have a very low attraction force in comparison to the gravitation on earth. Advantageously enough for a movement, the twisting of the two arms 9 and 11 or the in 5 illustrated central arm 9 , According to the presentation of the 1 to 3 are the arms 9 and 11 on sides or sides of the housing 3 the exploration device 1 appropriate. Advantageously, a force is introduced or is a force introduction point in the surface 31 beyond the center of gravity 21 the exploration device 1 , where the axis of rotation 13 as close to the front end as possible 15 the exploration device 1 What is the easiest possible erection of the housing 3 the exploration device 1 around the axis of rotation 13 allows.

The not shown drives the arms 9 and 11 are advantageously adapted to a gravity of the celestial body to be explored, so that they counter to the prevailing gravitational forces corresponding to the rotational movements, in particular according to 6 to 8th , can perform, so the housing 3 the exploration device 1 can lift. Optionally, the drives of the arms 9 and 11 to a desired jump distance and / or height of the exploration device 1 be adjusted.

In particular, there are five basic means of transportation. According to the presentation of the 6 is a folding over of the exploration device 1 possible, for example, accidentally on the surface 31 lying top 31 the exploration device 1 to turn upwards accordingly. This can be useful, for example, to the effect that on the top 33 attached antenna 39 does not radiate in the direction of the planetary body or celestial body, and that possibly carried scientific measuring instruments to the ground or the surface 31 are aligned. This can be advantageously achieved by the in 6 illustrated parallel rotation of the arms 9 and 11 from the position close to the housing, first in the direction of the surface 31 respectively.

At the in 7 Crawling can be the exploration device 1 advantageous per revolution by 360 ° around the distance 43 be moved, for example, after the exploration device 1 has completed a survey of a landing site, or if obstacles such. B. stones the exploration device 1 to disturb. This can be done by the arms 9 . 11 parallel to each other, but in the opposite direction, so first away from the surface 31 of the celestial body are turned. This can advantageously the exploration device 1 creeping forward. This short-distance movement around the distance 43 For example, it can advantageously be used to verify unusual or implausible measurement results by means of a second measurement in the immediate vicinity, ie at a short distance to the first measurement.

According to the presentation of the 8th can the exploration device 1 jumping or moving along a ballistic trajectory. This can be used to advantage if investigations are to take place at a more remote location. This can advantageously the exploration device 1 a greater distance by means of a corresponding jump in the direction of the fourth arrow 45 of the 8th overcome. This is done by parallel rotation of the arms 9 and 11 in the same direction as already in 6 explained, however, with a relatively larger rotational speed. This can advantageously enough energy in the surface 31 of the celestial body are initiated, so that a rejection of the exploration device 1 takes place, so this from the surface 31 dissolves and goes into the ballistic trajectory. This can advantageously take place so quickly that an escape velocity for leaving the celestial body is achieved.

It is advantageous by means of a corresponding control of the arms 9 and 11 also possible, the exploration device 1 around the third arrow 29 to perform indicated z-direction. This can either be just one of the arms 9 or 11 be rotated. Alternatively and / or additionally, both arms can 9 and 11 be rotated in the opposite direction to each other.

Alternatively and / or additionally, it is conceivable that the exploration device 1 to free in an uncontrolled impact on the celestial body, so for example if this on sidewalls or on the front end 15 or the rear end 25 to come to rest. Optionally, it may also be that when landing the exploration device 1 in this undesirable position at least a little way into the surface 31 of the heavenly body penetrates. Advantageously, to free a comparatively fast rotation of one or both of the arms 9 and 11 done so that due to a moment of inertia of the rotating arms 9 . 11 and / or due to mechanical contact of one of the arms 9 . 11 with the surface 31 the exploration device 1 can be destabilized so that these either desired dimensions immediately on the bottom 37 or optionally first on the top 33 to come to rest.

Advantageously, under conditions of reduced gravity, a robust, lightweight and versatile and energy efficient device for providing mobility of the exploration device 1 be specified.

Advantageously, the arms 9 and 11 additionally fulfill other tasks, such as protection for optical sensors, the side in the housing 3 are introduced. Alternatively and / or additionally, corresponding sensors may be attached to one or both of the arms 9 . 11 be attached, this by a corresponding rotation in an elevated measurement position, ie in a relatively large distance from the surface 31 of the celestial body can be positioned. Advantageously, systems that are in direct contact with the surface 31 need to be screened, but need a free field of view for their function by means of the poor 9 . 11 protected and to perform the appropriate measurement function by removing the arms 9 . 11 be released.

LIST OF REFERENCE NUMBERS

1

sensing device

3

casing

5

first arrow

7

second arrow

9

poor

11

poor

13

axis of rotation

15

front end

17

length

19

first distance

21

main emphasis

23

second distance

25

rear end

27

U-shaped neckline

29

third arrow

31

surface

33

top

35

first curved arrow

37

bottom

39

antenna

41

second curved arrow

43

distance

45

fourth arrow

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited non-patent literature

• L. Richter / Robotics and Autonomous Systems 23 (1998) 117-124 [0002]

Claims (19)

Exploration device ( 1 ) by means of the celestial bodies having a surface ( 31 ) and a low gravity, with forces between the surface ( 31 ) and the exploration device ( 1 ) are transferable and the reconnaissance device ( 1 ), characterized in that the exploration device ( 1 ) at least one arm ( 9 . 11 ) by means of which the forces between the surface ( 31 ) and the exploration device ( 1 ) are transferable, wherein the at least one arm ( 9 . 11 ) touches the celestial body and the exploration device ( 1 ), wherein the at least one arm ( 9 . 11 ) for at least one mode of travel of the exploration device ( 1 ) is rotatable by 360 ° and can be variably controlled and / or regulated with at least one movement sequence. Exploration device according to one of the preceding claims, characterized in that the at least one arm ( 9 . 11 ) or more of the arms with at least one movement sequence of the group: - a pivoting movement of the at least one arm ( 9 . 11 ) or a synchronous pivotal movement of several of the arms ( 9 . 11 ) from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the solid surface and back again, - a pivoting movement of the at least one arm ( 9 . 11 ) or a synchronous pivotal movement of several of the arms ( 9 . 11 ) from the position close to the housing by 360 ° starting from the solid surface, - such a fast pivoting movement of the at least one arm ( 9 . 11 ) or synchronous pivotal movement of several of the arms ( 9 . 11 ) from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the solid surface and back again, so that an abutment contact of the exploration device ( 1 ) to the surface ( 31 ) of the celestial body is at least temporarily canceled, - such a fast pivoting movement of the at least one arm ( 9 . 11 ) or synchronous pivotal movement of both arms ( 9 . 11 ) away from the housing-proximal position by 360 ° starting from the solid surface, so that an abutting contact of the exploration device ( 1 ) to the surface ( 31 ) of the celestial body is at least temporarily canceled, - a pivoting movement or rotational movement of the at least one arm ( 9 . 11 ), - an oppositely directed pivoting movement or rotational movement of several of the arms ( 9 . 11 ), - a phase shifted, in particular by 180 °, pivotal movement or rotational movement of several of the arms ( 9 . 11 ), - shaking movements of the at least one arm ( 9 . 11 ) or more of the arms ( 9 . 11 ) is controllable and / or controllable / are. Exploration device according to the preceding claim, characterized in that the housing ( 3 ) is dimensioned in an x-direction longer than in a z-direction and two of the arms ( 9 . 11 ), which with respect to a y-direction of the housing ( 3 ) are arranged spaced from each other. Exploration device according to the preceding claim, characterized in that the arms ( 9 . 11 ) with respect to the y-direction laterally of the housing ( 3 ) are mounted. Exploration device according to one of the preceding claims, characterized in that planes of rotation of the arms ( 9 . 11 ) are spaced and arranged substantially parallel to each other. Exploration device according to the preceding claim, characterized in that the planes of rotation in an xz-direction of the housing ( 3 ). Exploration device according to one of the preceding claims, characterized in that the pivot axes in the region of a first end of the housing relative to the x-direction ( 3 ) are arranged. Exploration device according to the preceding claim, characterized in that the rotatable arms ( 9 . 11 ) each have a length ( 17 ) which is greater than a distance of a center of gravity of the exploration device ( 1 ) from the respective axis of rotation ( 13 ). Exploration device according to the preceding claim, characterized in that the length of the arms ( 9 . 11 ) is shorter than a distance ( 19 . 23 ) a second end of the housing opposite the first end with respect to the x-direction ( 3 ) to the respective axis of rotation ( 13 ). Exploration device according to one of the preceding claims, characterized in that the rotatable arms ( 9 . 11 ) substantially common axes of rotation ( 13 ) exhibit. Exploration device according to the preceding claim, characterized in that the axes of rotation ( 13 ) substantially in a common y-direction. Exploration device according to one of the preceding claims, characterized that each of the arms ( 9 . 11 ) is assigned a separate drive. Exploration device according to one of the preceding claims 1 to 10, characterized in that the arms ( 9 . 11 ) is assigned a common drive. Exploration device according to the preceding claim, characterized in that the exploration device ( 1 ) only one central arm ( 9 . 11 ), wherein the central arm ( 9 . 11 ) in a central U-shaped cutout ( 27 ) of the housing ( 3 ) is attached. Exploration device according to one of the preceding claims, characterized in that at least one of the arms ( 9 . 11 ) in the position close to the housing, a protection for a functional device of the exploration device ( 1 ). Exploration device according to one of the preceding claims, characterized in that at least one of the arms ( 9 . 11 ) a functional device of the exploration device ( 1 ) having. Exploration device according to one of the preceding claims, characterized in that the housing ( 3 ) of the exploration device ( 1 ) at least partially fluid-tight and the exploration device ( 1 ) is buoyant thereby. Method for moving an exploration device, in particular an exploration device ( 1 ) according to one of the preceding claims, by means of the celestial bodies having a surface ( 31 ) and a low gravity, with: - transmitting a force between the celestial body and the at least one arm ( 9 . 11 ) of the exploration device ( 1 ), - to rotate the at least one arm ( 9 . 11 ) by 360 °. Method according to the preceding claim, with at least one of the following: - variable control and / or control of a movement sequence of the at least one arm ( 9 . 11 ), - pivoting the at least one arm ( 9 . 11 ) or synchronous pivoting of several of the arms ( 9 . 11 ) from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the solid surface and back again, - rotating the at least one arm ( 9 . 11 ) or synchronously turning several of the arms ( 9 . 11 ) from the position close to the housing by 360 ° starting from the solid surface, - swiveling the at least one arm so fast ( 9 . 11 ) or synchronous pivoting of several of the arms ( 9 . 11 ) from a position close to the housing by 90 ° to 180 °, in particular 100 ° to 170 °, in particular approximately 120 °, in the direction of the solid surface and back again, so that an abutment contact of the exploration device ( 1 ) to the surface ( 31 ) of the celestial body is at least temporarily canceled, - such fast-running rotation of the at least one arm ( 9 . 11 ) or synchronously turning several of the arms ( 9 . 11 ) away from the housing-proximal position by 360 ° starting from the solid surface, so that an abutting contact of the exploration device ( 1 ) to the surface ( 31 ) of the celestial body is at least temporarily canceled, - pivoting or turning of an arm ( 9 . 11 ) of the several arms ( 9 . 11 ), - oppositely directed pivoting or turning of several arms ( 9 . 11 ), - phases shifted, in particular by 180 °, pivoting or turning of several arms ( 9 . 11 ), - shaking movements of an arm ( 9 . 11 ) of the several arms ( 9 . 11 ) or more of the arms ( 9 . 11 ).

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