CN104108475A - Multifunctional manned lunar vehicle - Google Patents
Multifunctional manned lunar vehicle Download PDFInfo
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- CN104108475A CN104108475A CN201410303217.XA CN201410303217A CN104108475A CN 104108475 A CN104108475 A CN 104108475A CN 201410303217 A CN201410303217 A CN 201410303217A CN 104108475 A CN104108475 A CN 104108475A
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Abstract
The invention provides a multifunctional manned lunar vehicle which has three probe modes, namely an astronaut driving mode, an auto inspecting probe mode and a robot driving probe mode. A chassis of the manned lunar vehicle is of a two-section structure capable of being assembled freely and capable of being assembled and disassembled as needed. A center computer, antenna equipment, a passenger station part and other equipment are installed on the chassis, moon surface sample collecting and analyzing equipment is further installed on the chassis and mainly comprises a binocular vision system, mechanical arms and a moon surface sample analyzing instrument. On the surface of the moon, the collected moon surface samples are sent into the moon surface sample analyzing instrument through the coordinate operation of the binocular vision system and the two mechanical arms and are directly probed, and then the analysis data are sent to the earth through the antenna equipment. The multifunctional manned lunar vehicle is compact in structure, light in weight, integrated in function and comfortable to ride, meets the requirement for manned moon surface inspecting probing, and can achieve on-site probing.
Description
Technical field
The present invention relates to lunar rover vehicle design field, relate in particular to a kind of cosmonaut's of collection driving model, independently make an inspection tour detection mode and robot and drive the multi-functional manned lunar rover vehicle of detection mode.
Background technology
The manned lunar rover vehicle is born expansion astronaut action radius, transportation science load, sampling instrument and all kinds of moon sample, and ensure that astronaut safely, efficiently completes the task that lunar surface is surveyed.Therefore, the manned lunar rover vehicle need to have good lunar surface locomotivity, interactive capability, loading transport capacity and safety assurance ability.
At present, " Jade Hare number " unmanned lunar rover vehicle of China's lunar exploration second phase development has successfully been realized lunar surface soft landing and has been carried out scheduling to last trimestral lunar surface and maked an inspection tour, " Jade Hare number " unmanned lunar rover vehicle has been broken through lunar surface mobile technology, Navigation Control technology, integrated electronics technology, lunar surface existence technology and ground experiment technology, for follow-up manned lunar rover vehicle development provides technical guarantee and experience support, but the unmanned lunar rover vehicle and the manned lunar rover vehicle have the difference of internal, the similar lunar surface robot of the unmanned lunar rover vehicle, the manned lunar rover vehicle is face vehicle closer, so, the development of the manned lunar rover vehicle is faced with larger challenge.
The manned lunar rover vehicle is indispensable walking-replacing tool in mankind manned moon landing process.At present, the manned lunar rover vehicle having succeeded in sending up only has No. 15, No. 16, No. 17 entrained LRV of Apollo of the U.S., three sections of the manned lunar rover vehicle of LRV chassis employings are collapsible, and adopt the Ackermann steering mode of conventional truck, because the design of LRV chassis structure is improper, in the time that car travels at steep slope or intersects slope, there is the problems such as uncomfortable of taking.
Summary of the invention
In order to solve the problem of prior art, the invention provides a kind of multi-functional manned lunar rover vehicle, comprise chassis, central computer, antenna equipment, service on buses or trains station part and lunar surface sample collection analytical equipment are installed on described chassis, wherein,
Ground station and lunar surface lander by described antenna equipment to described central computer transmit operation instruction and carry out the transmission of data information;
Described service on buses or trains seat part comprises control handle, cosmonaut or robot by described operating handle to central computer transmit operation instruction;
Described central computer is according to the instruction of described ground station or described lunar surface lander or described cosmonaut or the transmission of described robot, and driver train and the described lunar surface sample collection analytical equipment controlled on described chassis are carried out work.
Preferably, described chassis comprises anterior chassis and rear chassis, between described anterior chassis and described rear chassis, removably connects; The both sides on described anterior chassis are respectively arranged with two wheels, and the both sides of described rear chassis are respectively arranged with a wheel.
Preferably, on the wheel in described anterior chassis and described rear chassis, be provided with described driver train, described driver train comprises steering driving mechanism and the driver train of advancing.
Preferably, be also provided with power supply on described chassis, described power supply provides electric energy for the each equipment on the described multi-functional manned lunar rover vehicle.
Preferably, be also provided with the flexible sun wing on described chassis, the described flexible sun wing is connected with described battery, and is described battery charging.
Preferably, described antenna equipment comprises high gain antenna and low-gain antenna, described ground station is realized with described central computer and is carried out communication by described high gain antenna, and described lunar surface lander is by described low-gain antenna and carry out communication with described central computer.
Preferably, described lunar surface sample collection analytical equipment comprises binocular vision system, mechanical arm and lunar surface sample analyser, and described binocular vision system, mechanical arm and lunar surface sample analyser are all connected with described central computer; Under the control of described central computer, described mechanical arm matches with described binocular vision system and obtains the sample on lunar surface and send in described lunar surface sample analyser, and described lunar surface sample analyser is transferred to described ground station or described lunar surface lander by analyzing the data that obtain by described central computer.
Preferably, described mechanical arm adopts double mechanical arms, and each described double mechanical arms all has five degree of freedom.
The present invention, owing to adopting above technical scheme, makes it compared with prior art, has following advantage and good effect:
1) the multi-functional manned lunar rover vehicle provided by the invention has cosmonaut's driving model, independently makes an inspection tour detection mode and three kinds of detection modes of robot driving detection mode, and three kinds of detection modes have ensured variety and the integration of function.
2) the multi-functional manned lunar rover vehicle provided by the invention adopts two sectional type chassis design, two sections of chassis can freely be assembled and separate, when in case of emergency, rear chassis can be separated with anterior chassis, cosmonaut can directly drive anterior chassis portion and drive to safety zone, and minimizing waste of power, is convenient to cosmonaut's escape.
3) on the multi-functional manned lunar rover vehicle provided by the invention, be provided with lunar surface sample collection analytical equipment, can directly carry out on the spot research and analysis to lunar surface sample, then pass through antenna equipment, to analyze data back ground, carry out sample analysis on the spot and can alleviate cosmonaut's work capacity, survey and offer convenience to lunar surface.
Brief description of the drawings
By reference to the accompanying drawings, by the detailed description of stating below, can more clearly understand above-mentioned and other feature and advantage of the present invention, wherein:
Fig. 1 is overall structure composition schematic diagram of the present invention;
Fig. 2 is cosmonaut's driving model schematic diagram;
Fig. 3 is the autonomous detection mode schematic diagram of making an inspection tour;
Fig. 4 is that robot is driven detection mode schematic diagram;
1-wheel
The anterior chassis of 2-
3-control handle
4-life support system
5-central computer
6. rear chassis
7-mechanical arm
8-lunar surface sample analyser
9-binocular vision system
10-high gain antenna
11-power supply
12-low-gain antenna
13-service on buses or trains seat
14-instrument display station
15-steering driving mechanism
16-camera
The 17-driver train of advancing
The flexible sun wing of 18-
19-robot.
Detailed description of the invention
Referring to the accompanying drawing that the embodiment of the present invention is shown, the present invention below will be described in more detail.But the present invention can be with many multi-form realizations, and should not be construed as the restriction of the embodiment being subject in this proposition.On the contrary, it is abundant and complete open in order to reach proposing these embodiment, and makes those skilled in the art understand scope of the present invention completely.In these accompanying drawings, for clarity sake, may amplify size and the relative size in layer and region.
With reference to figure 1-4, the multi-functional manned lunar rover vehicle of one provided by the invention, can carry cosmonaut, supports that cosmonaut carries out various lunar surface tests, and the instrument of communicating by letter with ground station with lunar surface lander as cosmonaut.This lunar rover vehicle comprises chassis and is arranged on service on buses or trains station on chassis, power supply, electronic machine, antenna equipment, lunar surface sample collection analytical equipment etc.; This manned lunar rover vehicle is applicable to manned or unmanned lunar surface and makes an inspection tour and survey, and specifically can realize three kinds of detection operations patterns: cosmonaut's driving model, independently make an inspection tour detection mode and robot and drive detection mode.
In the present embodiment, chassis adopts two sectional type structure, and it comprises anterior chassis 2, rear chassis 6 and wheel 1, between anterior chassis 2 and rear chassis 6, removably connects, and can freely assemble as the case may be and separate; The both sides on anterior chassis 2 are respectively arranged with two wheels 1, and the both sides on trailing portion chassis 6 are respectively arranged with a wheel 1; On wheel 1, be provided with driver train, driver train comprises advance driver train 17 and steering driving mechanism 15; On preferred each wheel 1, be provided with driver train 17 and steering hardware 15 in the present embodiment, make the lunar rover vehicle can realize the Ackermann steering of conventional truck, can realize again turning to of car body, two kinds of steering modes play the effect of mutual backup.Chassis provided by the invention adopts two sectional type structure, and in emission process, anterior chassis 2 separates with rear chassis 6, is convenient to place, and reduces and takes up an area space, after arrival lunar surface, by cosmonaut, both is assembled; In the time that the multi-functional manned lunar rover vehicle runs into emergency situation, rear chassis 6 can be separated with anterior chassis 2, has reduced the waste of power of the lunar rover vehicle, and cosmonaut can directly drive anterior chassis 2 parts and return to lander region.
In the present embodiment, on anterior chassis 2, be provided with the equipment such as service on buses or trains station, antenna equipment, central computer 5, life support system 4, camera 16.Wherein, service on buses or trains station comprises service on buses or trains seat 13, control handle 3 and instrument display station, and wherein instrument display station can show some operational factors of car body, shows the information such as Vehicle Speed, course, pose, mileage and abnormal warning; The cosmonaut or the robot that are sitting on service on buses or trains seat 13 are handled control handle 3, control handle 3 by command to central computer 5, central computer 5 is again according to the driver train on instruction control wheel 1, thereby realizes the motions such as advancing, retreat or turn to of the manned lunar rover vehicle.Antenna equipment comprises high gain antenna 10 and low-gain antenna 12, lunar surface lander can be realized control and the communication to central computer 5 by low-gain antenna 12, in the time that the lunar rover vehicle is unpiloted, lunar surface lander can pass through low-gain antenna 12 control center's computing machines 5, thereby realizes the control to the lunar rover vehicle; The personnel of ground station can realize control to central computer 5 and the transmission of information by high gain antenna, and same in the time that the lunar rover vehicle is unpiloted, the personnel of ground station can control the functions such as the lunar rover vehicle travels.In addition, the camera 16 of the upper setting on anterior chassis 2, for moonscape is taken pictures, and is transferred to ground station by photo data by central computer 5.
In the present embodiment, be also provided with power supply 11 and the flexible solar wing 18 on anterior chassis, power supply 11 is connected with the each equipment on the lunar rover vehicle and makes its work for it provides the energy; The flexible solar wing 18 is connected with power supply 11, and the flexible solar wing 18 converts solar energy into electrical energy to battery 11 and charges, thereby has ensured the continuable operation of the lunar rover vehicle.In addition, the flexible solar wing 18 is deployable and packs up, and when expansion as shown in Figure 2, forms the shape of a similar shell for the flexible solar wing 18, has expanded the area that absorbs solar power, and the shell that simultaneously can be used as the lunar rover vehicle uses.
In the present embodiment, lunar surface sample collection analytical equipment is arranged in rear chassis 6, and it mainly comprises mechanical arm 7, binocular vision system 9 and lunar surface sample analyser 8; Mechanical arm 7, binocular vision system 9 and sample analyser 8 are all connected with central computer 5, and central computer 5 is controlled mechanical arm 7, binocular vision system 9 and sample analyser 8 and carried out work.Wherein, mechanical arm 7 adopts double mechanical arms, and has five degree of freedom; Double mechanical arms can meet the demand of unmanned probing on the one hand, and in the time that lunar launching carries out unmanned tour detection, the lunar rover vehicle can be thrown in double mechanical arms to lunar surface, and lunar surface is surveyed; On the other hand, double mechanical arms is more flexible, can realize a mechanical arm and capture sample, and another mechanical arm can bore to sample the operations such as mill.Binocular vision system adopts the principle of three-dimensional imaging, coordinates double mechanical arms to survey lunar surface.
On lunar surface, utilize binocular vision system 9 cooperative mechanical arm 7 co-ordinations, make mechanical arm 7 gather lunar surface sample and be sent in lunar surface sample analyser 8 from lunar surface; Lunar surface sample analyser 8 carries out research and analysis on the spot to sample, and lunar surface sample analyser 8 will analyze the data transmission obtaining to central computer 5, and central computer 5 is again by data back ground station or lunar surface land device.The present invention carries out sampling analysis on the spot by lunar surface sample collection analytical equipment, has greatly alleviated cosmonaut's work capacity, surveys and brings convenience to lunar surface.
The multi-functional manned lunar rover vehicle of one provided by the invention adopts above technical scheme, can realize cosmonaut's driving model, independently make an inspection tour detection mode and three kinds of mode of operations of robot driving detection mode, and its specific works process is as follows:
One, cosmonaut's driving model
As shown in Figure 2, under cosmonaut's driving model, the lunar rover vehicle, as cosmonaut's walking-replacing tool, has been expanded astronaut's action radius; Ball car can carry science load, sampling instrument and lunar soil sample, supports that cosmonaut carries out various lunar surface tests, and as the instrument of astronaut and lander and ground communication.Concrete, cosmonaut handles control handle 3 and sends instruction, and by central computer 5, instruction is communicated to the driver train on chassis, under the driving of driver train, makes the lunar rover vehicle advance, retreat or turn; In the time of needs pivot stud, handle control handle 3 by cosmonaut and send instruction, by central computer 5, four wheels in front and back are under the driving of steering driving mechanism, be put into the state of pivot stud, then, under the driving of the driver train of advancing, carry out pivot stud action.In the time that the lunar rover vehicle will be surveyed abrupt slope or the more region of aerolite, the lunar surface sample collection analytical equipment that cosmonaut can control on the lunar rover vehicle by operating control handle 3 is surveyed.
Two, independently make an inspection tour detection mode
As shown in Figure 3, after cosmonaut's Returning ball, the lunar rover vehicle switches to autonomous tour detection mode.First,, for alleviating lunar rover vehicle weight, cosmonaut, before leaving lunar surface, pulls down the devices relevant to cosmonaut such as service on buses or trains seat 13, life support system 4, instrument display station 14, control handle 3 from the lunar rover vehicle; In order to provide energy to the lunar rover vehicle, charge to power supply 11, the flexible sun wing 18 of the lunar rover vehicle is launched; Then, send instruction by ground station, by relay communication, the high gain antenna 10 on the lunar rover vehicle receives instruction, processes by central computer 5, controls the driver train on the lunar rover vehicle; Under the driving of driver train, wheel 1 rotates, thereby makes car body advance, retreat or turn; The lunar surface sample collection analytical equipment that ground station also can control on the lunar rover vehicle is simultaneously carried out work, and lunar surface sample is proceeded to survey.
Three, robot is driven detection mode
As shown in Figure 4, under robot is driven and surveyed, robot can pass through operating control handle 3, and on the central computer 5 that instruction is passed to, and by the analysis of central computer 5, controls on the one hand driver train and moves the lunar rover vehicle and can realize at lunar surface and moving; On the other hand, can control the work of lunar surface sample collection analytical equipment, utilize binocular vision system, two mechanical arms cooperatively interact, collaborative work, the lunar soil collecting is delivered to sample analyser analysis, and the photo data then by high gain antenna, sampled data and camera being photographed is passed ground back.Drive while surveying when robot, the lunar rover vehicle can be considered travelling comfort problem, quickening moving velocity that can be relative, and can on road conditions and rugged lunar surface thereof, travel, expand like this investigative range and improved cruise duration.
In sum, the present invention has following advantage:
1, for the detection mode of the lunar rover vehicle: this manned lunar rover vehicle has cosmonaut's driving model, independently make an inspection tour detection mode and robot drives three kinds of detection modes of detection mode, and three kinds of detection modes have ensured variety and the integration of function.Cosmonaut can directly drive the lunar rover vehicle and travel at lunar surface, expands search coverage; In the time that cosmonaut returns to ground, this lunar rover vehicle can be proceeded to make an inspection tour and survey, and has extended the life-span of the lunar rover vehicle; And this lunar rover vehicle can be realized robot driving detection, robot is driven while detection, and the lunar rover vehicle can be considered travelling comfort problem, quickening moving velocity that can be relative, and can on road conditions and rugged lunar surface thereof, travel, expanded like this investigative range and improved cruise duration.
2, for manned lunar rover vehicle chassis design: adopt two sectional type chassis design, two sections of chassis can freely be assembled and separate, in emission process, two sections of chassis can be taken apart, reduce emission space; Arrive after lunar surface, can, by two sections of chassis assemblings, after assembling, make the lunar rover vehicle there is the ability of original place detection and sample analysis, when in case of emergency, rear chassis can be separated with anterior chassis, reduces waste of power, make car body fast running to safety zone, be convenient to cosmonaut's escape.
3, for lunar surface sample analysis: manned lunar rover vehicle afterbody is equipped with lunar surface sample analyser, lunar surface sample analyser can directly carry out research and analysis to lunar surface sample on the spot, then pass through antenna equipment, to analyze data back ground, carry out sample analysis on the spot and can alleviate cosmonaut's work capacity, survey and offer convenience to lunar surface.
4,, for sample collection and detection: manned lunar rover vehicle afterbody is provided with double mechanical arms, double mechanical arms has five degree of freedom; On the one hand, double mechanical arms can meet the needs of unmanned probing, and in the time that the lunar rover vehicle carries out unmanned tour detection, the lunar rover vehicle can be thrown in double mechanical arms to lunar surface, and lunar surface is surveyed; On the other hand, double mechanical arms is more flexible, can realize a mechanical arm and capture sample, and another mechanical arm carries out boring mill processing to sample and waits operation.
5, manned lunar rover vehicle afterbody is provided with binocular vision system, adopts three-dimensional imaging principle, makes staff carry out lunar surface detection at ground station's mechanical arm of remote operation more intuitively.
Those skilled in the art should be understood that the present invention can not depart from the spirit or scope of the present invention with many other concrete forms realizations.Although described embodiments of the invention, should understand the present invention and should not be restricted to these embodiment, within the spirit and scope of the invention that those skilled in the art can define as appended claims, make and changing and amendment.
Claims (8)
1. a multi-functional manned lunar rover vehicle, is characterized in that, comprises chassis, and central computer, antenna equipment, service on buses or trains station part and lunar surface sample collection analytical equipment are installed on described chassis, wherein,
Ground station and lunar surface lander by described antenna equipment to described central computer transmit operation instruction and carry out the transmission of data information;
Described service on buses or trains seat part comprises control handle, cosmonaut or robot by described operating handle to central computer transmit operation instruction;
Described central computer is according to the instruction of described ground station or described lunar surface lander or described cosmonaut or the transmission of described robot, and driver train and the described lunar surface sample collection analytical equipment controlled on described chassis are carried out work.
2. according to the multi-functional manned lunar rover vehicle claimed in claim 1, it is characterized in that, described chassis comprises anterior chassis and rear chassis, between described anterior chassis and described rear chassis, removably connects; The both sides on described anterior chassis are respectively arranged with two wheels, and the both sides of described rear chassis are respectively arranged with a wheel.
3. according to the multi-functional manned lunar rover vehicle claimed in claim 2, it is characterized in that, on the wheel in described anterior chassis and described rear chassis, be provided with described driver train, described driver train comprises steering driving mechanism and the driver train of advancing.
4. according to the multi-functional manned lunar rover vehicle claimed in claim 1, it is characterized in that, be also provided with power supply on described chassis, described power supply provides electric energy for the each equipment on the described multi-functional manned lunar rover vehicle.
5. according to the multi-functional manned lunar rover vehicle claimed in claim 4, it is characterized in that, be also provided with the flexible sun wing on described chassis, the described flexible sun wing is connected with described battery, and is described battery charging.
6. according to the multi-functional manned lunar rover vehicle claimed in claim 1, it is characterized in that, described antenna equipment comprises high gain antenna and low-gain antenna, described ground station is realized with described central computer and is carried out communication by described high gain antenna, and described lunar surface lander is by described low-gain antenna and carry out communication with described central computer.
7. according to the multi-functional manned lunar rover vehicle claimed in claim 1, it is characterized in that, described lunar surface sample collection analytical equipment comprises binocular vision system, mechanical arm and lunar surface sample analyser, and described binocular vision system, mechanical arm and lunar surface sample analyser are all connected with described central computer; Under the control of described central computer, described mechanical arm matches with described binocular vision system and obtains the sample on lunar surface and send in described lunar surface sample analyser, and described lunar surface sample analyser is transferred to described ground station or described lunar surface lander by analyzing the data that obtain by described central computer.
8. according to the multi-functional manned lunar rover vehicle claimed in claim 7, it is characterized in that, described mechanical arm adopts double mechanical arms, and each described double mechanical arms all has five degree of freedom.
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| CN104554821A (en) * | 2015-01-06 | 2015-04-29 | 上海宇航系统工程研究所 | Layout-optimized manned lunar vehicle |
| CN104554820A (en) * | 2015-01-06 | 2015-04-29 | 上海宇航系统工程研究所 | Semi-closed split manned lunar vehicle |
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| CN104554820A (en) * | 2015-01-06 | 2015-04-29 | 上海宇航系统工程研究所 | Semi-closed split manned lunar vehicle |
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| CN106198100B (en) * | 2016-08-01 | 2018-10-02 | 昆明理工大学 | A kind of multi-joint lunar surface material sniffing robot |
| CN106444751A (en) * | 2016-09-17 | 2017-02-22 | 哈尔滨理工大学 | Movement control system for manned moon rover |
| RU176098U1 (en) * | 2017-04-17 | 2017-12-28 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Mobile robotic planet rover for carrying out transport and technological work |
| RU180696U1 (en) * | 2017-04-17 | 2018-06-21 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Geological exploration mobile robotic planet rover |
| CN108639380A (en) * | 2018-03-29 | 2018-10-12 | 北京空间技术研制试验中心 | Lunar surface sniffing robot |
| CN109367823A (en) * | 2018-11-09 | 2019-02-22 | 北京空间技术研制试验中心 | Landing buffer lunar surface accommodation integrated with walking |
| CN110014434A (en) * | 2019-04-19 | 2019-07-16 | 昆明理工大学 | A kind of lunar base construction robot |
| CN110155372A (en) * | 2019-05-22 | 2019-08-23 | 冯辰 | A kind of manned patrol car of the moon |
| CN110155372B (en) * | 2019-05-22 | 2020-12-04 | 冯辰 | Manned inspection vehicle for moon |
| CN111015620A (en) * | 2019-11-25 | 2020-04-17 | 北京空间飞行器总体设计部 | Flying and walking integrated robot suitable for weak gravity star-watch detection |
| CN111015620B (en) * | 2019-11-25 | 2021-09-03 | 北京空间飞行器总体设计部 | Flying and walking integrated robot suitable for weak gravity star-watch detection |
| CN112847363A (en) * | 2021-01-06 | 2021-05-28 | 中国人民解放军国防科技大学 | Auxiliary operation robot outside lunar surface cabin and control method thereof |
| CN112722331A (en) * | 2021-01-27 | 2021-04-30 | 东南大学 | Interaction device and interaction control method of lunar manned mobile vehicle system |
| CN113044247A (en) * | 2021-03-05 | 2021-06-29 | 上海智能制造功能平台有限公司 | Extraterrestrial planet landing device |
| CN117246531A (en) * | 2023-10-31 | 2023-12-19 | 四川美术学院 | Man-machine interaction and operation method and device of manned lunar vehicle |
| CN117246531B (en) * | 2023-10-31 | 2024-03-29 | 四川美术学院 | Man-machine interaction and operation method and device of manned lunar vehicle |
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