CN104724304A - Space photoelectric location-awareness wireless control accurate release device and release method - Google Patents
Space photoelectric location-awareness wireless control accurate release device and release method Download PDFInfo
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- CN104724304A CN104724304A CN201510098141.6A CN201510098141A CN104724304A CN 104724304 A CN104724304 A CN 104724304A CN 201510098141 A CN201510098141 A CN 201510098141A CN 104724304 A CN104724304 A CN 104724304A
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Abstract
The invention discloses a space photoelectric location-awareness wireless control accurate release device which comprises multiple sets of photoelectric sensors, a photoelectric support, wireless control devices, release devices, landers, measuring devices and a high tower. The photoelectric support is erected on a tower arm of the high tower, and the multiple sets of photoelectric sensors are arranged on different positions of the photoelectric support and send photoelectric trigger signals to the wireless control devices; the wireless control devices send release control signals and measuring trigger signals to the release devices and the measuring devices respectively, the release devices release the landers after receiving the release control signals sent by the wireless control devices, and the measuring devices measure the motion speed and posture changes after receiving the measuring trigger signals sent by the wireless control devices. By means of the space photoelectric location-awareness wireless control accurate release device and release method, the separation release of the landers and a dropping device under specified conditions is achieved, and accurate landing speed and postures are obtained, so that assessment can be conducted on the stability of the landers and the performance of landing supports.
Description
Technical field
The present invention relates to a kind of spatial light electric position cognitive radio and control accurate method for releasing, particularly the experimental set-up of the accurate Co ntrolled release of a kind of speed and test method, belong to spacecraft ground test field.
Background technology
In moon exploration activity, the safe landing of lander on lunar surface is a key link of task-cycle.Due in the final landing moment, lander likely falls with certain vertical speed, horizontal velocity and attitude, landing impact energy is absorbed by landing support, and provide support stable effect for lander, once landing support destroys in impact process, or topple in the rotation of pitch orientation, the rover of carrying will be made to work, cause the failure of whole moon landing detection mission.In order to the cushion characteristic of the stability and landing support of verifying lander, need to carry out the Landing Buffer test adopting high tower to throw in lander, so need to carry out accurate release control with the last landing mission of Reality simulation lander at moonscape to lander.
The form that existing input control setup adopts mechanism to unlock, by trigger mechanism action of pulling pin, when fork moves to placement position, the exceptionally straight pull-out of steel rope is pulled pin, and release mechanism action realizes being separated of lander and fork.The cut to lengthen of this technical controlling steel rope unlocks opportunity, low precision, there is certain time-delay in the unlocking motion of the release mechanism be made up of many bars, and the release mechanism parts that lander is subsidiary more after being separated with fork, affect the motion of lander to a certain extent, survey precision cannot meet the requirement of moon landing far away.
Summary of the invention
Technical purpose of the present invention is: overcome the deficiencies in the prior art, provide a kind of spatial light electric position cognitive radio and control accurate method for releasing, achieve lander and delivery device and be separated release under specified requirements, to obtain accurate landing speed and attitude, thus the stability of lander and the performance of landing support are assessed.
Technical solution of the present invention:
A kind of spatial light electric position cognitive radio controls accurate release gear, it is characterized in that comprising: organize opto-electronic pickup, photoelectric support, control device of wireless, release gear, lander, measurement mechanism and high tower more;
Photoelectric support, is erected in high tower tower arm for laying opto-electronic pickup;
Organize opto-electronic pickup more, be arranged on the diverse location on photoelectric support respectively, measure the swing position of lander in real time, when lander swings to the opto-electronic pickup of diverse location, corresponding opto-electronic pickup sends opto-electronic trigger signal to control device of wireless;
Control device of wireless, according to the energizing signal that the opto-electronic pickup received sends, sends release control signal to release gear, sends measurement triggering signal to measurement mechanism simultaneously;
Release gear, connects lander and high tower fork, and after receiving the release control signal that control device of wireless sends, release lander;
Measurement mechanism, after receiving the measurement triggering signal of control device of wireless transmission, measures kinematic velocity and the attitudes vibration of lander in real time;
Lander is arranged on the fork below high tower tower arm.
High tower comprises tower body, tower arm, winch, fork;
Tower arm is positioned at the top of tower body, and can move up and down along tower body; Fork hangs on below tower arm, and is connected with lander by release gear; Winch is positioned at bottom tower body, and for by lander pull-up, extended position is positioned at the left side of all opto-electronic pickups.
Opto-electronic pickup comprises 3 groups of opto-electronic pickups K1, K2, K3, and opto-electronic pickup K1, K2, K3 comprise 1 transmitter module and 1 receiver module respectively;
The transmitter module of opto-electronic pickup K1, K2, K3 sends laser beam to receiver module in real time.
Photoelectric support is the support of 2 L shape structures, is arranged on fork both sides respectively for laying transmitter module and the receiver module of opto-electronic pickup; Opto-electronic pickup K1, K2, K3 are arranged on the cross bar of the photoelectric support being parallel to tower arm, and position is adjustable; Opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, and opto-electronic pickup K1 and K3 is arranged on the left and right sides of opto-electronic pickup K2.
Control device of wireless realizes the quick transmission of multi-path signal, and control device of wireless comprises the first control unit, the second control unit, the 3rd control unit; First control unit comprises again three the switch J1, the J2 that connect, J3, remote control transceiver and power supplys; Initial condition, switch J1, J2 are in off-state, and switch J3 is in closure state; First control unit receives the energizing signal that opto-electronic pickup K1, K2, K3 send, and trigger switch J1, J2 are closed respectively, and switch J3 disconnects; When triggering J1, J2 and closing, switch J1, J2, J3 close simultaneously, and the first control unit internal circuit is connected, and send release control signal and measurement triggering signal in a wireless form to the second control unit and multiple stage the 3rd control unit by remote control transceiver;
Second control unit, the 3rd control unit will receive release control signal and measurement triggering signal is forwarded to release gear and measurement mechanism.
Release gear adopts hangs cartridge clip or Fire load.
Measurement mechanism adopts high-speed camera.
Control a method for releasing for accurate release gear based on spatial light electric position cognitive radio, comprise step as follows:
(1) in high tower tower arm, install photoelectric support, photoelectric support is arranged in fork both sides, and the cross bar of support is along tower arm direction;
(2) 3 groups of opto-electronic pickups K1, K2, K3 are installed on the cross bar of photoelectric support successively, opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, opto-electronic pickup K1 and K3 is arranged on the both sides of opto-electronic pickup K2, opto-electronic pickup K1 is near tower body direction, opto-electronic pickup K3 away from tower body direction, by the laser beam conducting between the sending module of opto-electronic pickup K1, opto-electronic pickup K2, opto-electronic pickup K3 and receiver module;
(3) after lander is connected with release gear, with winch by lander pull-up, pull-up is to the left side of opto-electronic pickup K1;
(4) winch stay cord is discharged, fork is to lower swing, above lander, fork runs to opto-electronic pickup K1 position, cut off the laser beam between the transmitter module of opto-electronic pickup K1 and receiver module, opto-electronic pickup K1 sends energizing signal to control device of wireless, and trigger switch J1 closes;
(5) above lander, fork runs to releasing position, i.e. opto-electronic pickup K2 position, cut off the laser beam between the transmitter module of opto-electronic pickup K2 and receiver module, opto-electronic pickup K2 sends energizing signal to control device of wireless, and trigger switch J2 closes;
(6) switch J1, J2, J3 in control device of wireless close simultaneously, and control device of wireless transmission release control signal is to release gear and send measurement triggering signal to measurement mechanism;
(7) release gear release lander, simultaneous measuring apparatus measures kinematic velocity and the attitudes vibration of lander in real time;
(8) fork continues to swing, above lander, fork runs to opto-electronic pickup K3 position, cut off the laser beam between the transmitter module of opto-electronic pickup K3 and receiver module, opto-electronic pickup K3 sends energizing signal to control device of wireless, and trigger switch J3 disconnects;
(9) switch J1, J2 in control device of wireless are closed, J3 disconnects, and control device of wireless quits work.
The present invention's beneficial effect is compared with prior art:
(1) the present invention adopts 3 groups of opto-electronic pickups as signal enabling device; achieve the function of actuation signal pre-trigger, triggering and closedown respectively; have and prevent misoperation; the advantage of open circuit protection after signal rapid reaction and single trigger, present invention achieves the release of lander under ad-hoc location, advantage is that control accuracy is high simultaneously; be quick on the draw; discharge safe and reliable, synchronously can carry out measurement wireless trigger, and obtain accurate landing speed and attitude.
(2) the present invention adopts opto-electronic pickup to be fixed on design on photoelectric support, has sensor station adjustable, thus regulates releasing position, and easy to operate advantage, commonality is comparatively strong, greatly saves design cost, is easy to promote.
(3) the present invention adopts wireless receiving and dispatching control setup to realize transmission and the reception of signal, has " multicast " and remotely-controlled advantage.
(4) advantages such as the present invention adopts mechanical mechanism or Fire load to realize the release of lander, and have and be separated response soon, synchronism is good, and additional structure is few.
Accompanying drawing explanation
Fig. 1 is test structure schematic diagram of the present invention;
Fig. 2 is energizing signal principle schematic of the present invention;
Fig. 3 is control device of wireless of the present invention composition schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described in detail.
The object of the invention is the problem of modelling solving lander final landing state.For lander in the process of moon landing, driving engine is that vertical speed is not more than 4m/s to the control ability of the speed of lander, horizontal velocity is not more than 1m/s, in ground experiment, adopt pendulum principle and free-falling body principle to obtain the landing speed of lander, lander, in the release of pendulum nadir, moves with the horizontal velocity of 1m/s, under gravity, meet the requirement of horizontal velocity and vertical speed in the moment of landing simultaneously.The deviation on release opportunity will affect landing speed and the attitude of lander, when landing conditions is favourable, will affect the Performance Assessment of landing support, when landing conditions is severe, likely to the injury of landing support product destructiveness, all can have a strong impact on the Development Schedule of model.
As shown in Figure 1, 2, 3, a kind of spatial light electric position of the present invention cognitive radio controls accurate release gear, comprises and organizes opto-electronic pickup, photoelectric support, control device of wireless, release gear, lander, measurement mechanism and high tower more;
Photoelectric support, is erected in high tower tower arm for laying opto-electronic pickup;
Organize opto-electronic pickup more, be arranged on the diverse location on photoelectric support respectively, measure the swing position of lander in real time, when lander swings to the opto-electronic pickup of diverse location, corresponding opto-electronic pickup sends opto-electronic trigger signal to control device of wireless;
Control device of wireless, according to the energizing signal that the opto-electronic pickup received sends, sends release control signal to release gear, sends measurement triggering signal to measurement mechanism simultaneously;
Release gear, connects lander and high tower fork, and after receiving the release control signal that control device of wireless sends, release lander; Release gear adopts hangs cartridge clip or Fire load.
Measurement mechanism, after receiving the measurement triggering signal of control device of wireless transmission, measures kinematic velocity and the attitudes vibration of lander in real time; Measurement mechanism adopts high-speed camera.
Lander is arranged on the fork below high tower tower arm.
High tower
High tower comprises tower body, tower arm, winch, fork;
Tower arm is suspended on tower body side, and can move up and down along tower body; Fork is installed on below tower arm, and is connected with lander by release gear; Winch is positioned at bottom tower body, and for by lander pull-up, extended position is positioned at the left side of all opto-electronic pickups.
Opto-electronic pickup
Opto-electronic pickup comprises 3 groups of opto-electronic pickups K1, K2, K3, and opto-electronic pickup K1, K2, K3 comprise 1 transmitter module and 1 receiver module respectively;
The transmitter module of opto-electronic pickup K1, K2, K3 sends laser beam to receiver module in real time.
Photoelectric support
Photoelectric support is the support of 2 L shape structures, is arranged on fork both sides respectively for laying transmitter module and the receiver module of opto-electronic pickup; Opto-electronic pickup K1, K2, K3 are arranged on the cross bar of the photoelectric support being parallel to tower arm, and position is adjustable; Opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, and opto-electronic pickup K1 and K3 is arranged on the left and right sides of opto-electronic pickup K2.
Control device of wireless
Control device of wireless realizes the quick transmission of multi-path signal, and control device of wireless comprises the first control unit, the second control unit and multiple stage the 3rd control unit;
First control unit comprises again three the switch J1, the J2 that connect, J3, remote control transceiver and power supplys; Initial condition, switch J1, J2 are in off-state, and switch J3 is in closure state; First control unit receives the energizing signal that opto-electronic pickup K1, K2, K3 send, and trigger switch J1, J2 are closed respectively, and switch J3 disconnects; When triggering J1, J2 and closing, switch J1, J2, J3 close simultaneously, and the first control unit internal circuit is connected, and send release control signal and measurement triggering signal in a wireless form to the second control unit and multiple stage the 3rd control unit by remote control transceiver;
Second control unit, the 3rd control unit will receive release control signal and measurement triggering signal is forwarded to release gear and measurement mechanism.
Spatial light electric position cognitive radio controls a method for releasing for accurate release gear, comprises step as follows:
(1) in high tower tower arm, install photoelectric support, photoelectric support is arranged in fork both sides, and the cross bar of support is along tower arm direction;
(2) 3 groups of opto-electronic pickups K1, K2, K3 are installed on the cross bar of photoelectric support successively, opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, opto-electronic pickup K1 and K3 is arranged on the both sides of opto-electronic pickup K2, opto-electronic pickup K1 is near tower body direction, opto-electronic pickup K3 away from tower body direction, by the laser beam conducting between the sending module of opto-electronic pickup K1, opto-electronic pickup K2, opto-electronic pickup K3 and receiver module;
(3) after lander is connected with release gear, with winch by lander pull-up, pull-up is to the left side of opto-electronic pickup K1;
(4) winch stay cord is discharged, fork is to lower swing, above lander, fork runs to opto-electronic pickup K1 position, cut off the laser beam between the transmitter module of opto-electronic pickup K1 and receiver module, opto-electronic pickup K1 sends energizing signal to control device of wireless, and trigger switch J1 closes;
(5) above lander, fork runs to releasing position, i.e. opto-electronic pickup K2 position, cut off the laser beam between the transmitter module of opto-electronic pickup K2 and receiver module, opto-electronic pickup K2 sends energizing signal to control device of wireless, and trigger switch J2 closes;
(6) switch J1, J2, J3 in control device of wireless close simultaneously, and control device of wireless transmission release control signal is to release gear and send measurement triggering signal to measurement mechanism;
(7) release gear release lander, simultaneous measuring apparatus measures kinematic velocity and the attitudes vibration of lander in real time;
(8) fork continues to swing, above lander, fork runs to opto-electronic pickup K3 position, cut off the laser beam between the transmitter module of opto-electronic pickup K3 and receiver module, opto-electronic pickup K3 sends energizing signal to control device of wireless, and trigger switch J3 disconnects;
(9) switch J1, J2 in control device of wireless are closed, J3 disconnects, and control device of wireless quits work.
The content be not described in detail in specification sheets of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (8)
1. spatial light electric position cognitive radio controls an accurate release gear, it is characterized in that comprising: organize opto-electronic pickup, photoelectric support, control device of wireless, release gear, lander, measurement mechanism and high tower more;
Photoelectric support, is erected in high tower tower arm for laying opto-electronic pickup;
Organize opto-electronic pickup more, be arranged on the diverse location on photoelectric support respectively, measure the swing position of lander in real time, when lander swings to the opto-electronic pickup of diverse location, corresponding opto-electronic pickup sends opto-electronic trigger signal to control device of wireless;
Control device of wireless, according to the energizing signal that the opto-electronic pickup received sends, sends release control signal to release gear, sends measurement triggering signal to measurement mechanism simultaneously;
Release gear, connects lander and high tower fork, and after receiving the release control signal that control device of wireless sends, release lander;
Measurement mechanism, after receiving the measurement triggering signal of control device of wireless transmission, measures kinematic velocity and the attitudes vibration of lander in real time;
Lander is arranged on the fork below high tower tower arm.
2. a kind of spatial light electric position cognitive radio according to claim 1 controls accurate release gear, it is characterized in that: described high tower comprises tower body, tower arm, winch, fork;
Tower arm is suspended on tower body side, and can move up and down along tower body; Fork is installed on below tower arm, and is connected with lander by release gear; Winch is positioned at bottom tower body, and for by lander pull-up, extended position is positioned at the left side of all opto-electronic pickups.
3. a kind of spatial light electric position cognitive radio according to claim 2 controls accurate release gear, it is characterized in that: described opto-electronic pickup comprises 3 groups of opto-electronic pickups K1, K2, K3, opto-electronic pickup K1, K2, K3 comprise 1 transmitter module and 1 receiver module respectively;
The transmitter module of opto-electronic pickup K1, K2, K3 sends laser beam to receiver module in real time.
4. a kind of spatial light electric position cognitive radio according to claim 3 controls accurate release gear, it is characterized in that: described photoelectric support is the support of 2 L shape structures, being arranged on fork both sides respectively for laying transmitter module and the receiver module of opto-electronic pickup; Opto-electronic pickup K1, K2, K3 are arranged on the cross bar of the photoelectric support being parallel to tower arm, and position is adjustable; Opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, and opto-electronic pickup K1 and K3 is arranged on the left and right sides of opto-electronic pickup K2.
5. a kind of spatial light electric position cognitive radio according to claim 4 controls accurate release gear, it is characterized in that: described control device of wireless realizes the quick transmission of multi-path signal, control device of wireless comprises the first control unit, the second control unit and multiple stage the 3rd control unit;
First control unit comprises again three the switch J1, the J2 that connect, J3, remote control transceiver and power supplys; Initial condition, switch J1, J2 are in off-state, and switch J3 is in closure state; First control unit receives the energizing signal that opto-electronic pickup K1, K2, K3 send, and trigger switch J1, J2 are closed respectively, and switch J3 disconnects; When triggering J1, J2 and closing, switch J1, J2, J3 close simultaneously, and the first control unit internal circuit is connected, and send release control signal and measurement triggering signal in a wireless form to the second control unit and multiple stage the 3rd control unit by remote control transceiver;
Second control unit, the 3rd control unit will receive release control signal and measurement triggering signal is forwarded to release gear and measurement mechanism.
6. a kind of spatial light electric position cognitive radio according to claim 1 controls accurate release gear, it is characterized in that: described release gear adopts hangs cartridge clip or Fire load.
7. a kind of spatial light electric position cognitive radio according to claim 1 controls accurate release gear, it is characterized in that: described measurement mechanism adopts high-speed camera.
8. control a method for releasing for accurate release gear based on spatial light electric position cognitive radio according to claim 1, it is characterized in that step is as follows:
(1) in high tower tower arm, install photoelectric support, photoelectric support is arranged in fork both sides, and the cross bar of support is along tower arm direction;
(2) 3 groups of opto-electronic pickups K1, K2, K3 are installed on the cross bar of photoelectric support successively, opto-electronic pickup K2 is placed in correspondence position when fork is rocked to vertical, opto-electronic pickup K1 and K3 is arranged on the both sides of opto-electronic pickup K2, opto-electronic pickup K1 is near tower body direction, opto-electronic pickup K3 away from tower body direction, by the laser beam conducting between the sending module of opto-electronic pickup K1, opto-electronic pickup K2, opto-electronic pickup K3 and receiver module;
(3) after lander is connected with release gear, with winch by lander pull-up, pull-up is to the left side of opto-electronic pickup K1;
(4) winch stay cord is discharged, fork is to lower swing, above lander, fork runs to opto-electronic pickup K1 position, cut off the laser beam between the transmitter module of opto-electronic pickup K1 and receiver module, opto-electronic pickup K1 sends energizing signal to control device of wireless, and trigger switch J1 closes;
(5) above lander, fork runs to releasing position, i.e. opto-electronic pickup K2 position, cut off the laser beam between the transmitter module of opto-electronic pickup K2 and receiver module, opto-electronic pickup K2 sends energizing signal to control device of wireless, and trigger switch J2 closes;
(6) switch J1, J2, J3 in control device of wireless close simultaneously, and control device of wireless transmission release control signal is to release gear and send measurement triggering signal to measurement mechanism;
(7) release gear release lander, simultaneous measuring apparatus measures kinematic velocity and the attitudes vibration of lander in real time;
(8) fork continues to swing, above lander, fork runs to opto-electronic pickup K3 position, cut off the laser beam between the transmitter module of opto-electronic pickup K3 and receiver module, opto-electronic pickup K3 sends energizing signal to control device of wireless, and trigger switch J3 disconnects;
(9) switch J1, J2 in control device of wireless are closed, J3 disconnects, and control device of wireless quits work.
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| CN201510098141.6A CN104724304A (en) | 2015-03-05 | 2015-03-05 | Space photoelectric location-awareness wireless control accurate release device and release method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022318A (en) * | 2015-06-30 | 2015-11-04 | 北京空间机电研究所 | Wireless control system for ignition drop-test of initiating explosive device |
| CN105785378A (en) * | 2016-04-05 | 2016-07-20 | 中国科学院南海海洋研究所 | Launching method for seabed subbottom observation platform |
| CN106226665A (en) * | 2016-08-30 | 2016-12-14 | 武汉科迪奥电力科技有限公司 | High-voltage transmission line insulator distributed electric field detector and detecting system |
| CN111392074A (en) * | 2020-02-28 | 2020-07-10 | 深圳市乾行达科技有限公司 | Landing buffer device test system |
-
2015
- 2015-03-05 CN CN201510098141.6A patent/CN104724304A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105022318A (en) * | 2015-06-30 | 2015-11-04 | 北京空间机电研究所 | Wireless control system for ignition drop-test of initiating explosive device |
| CN105785378A (en) * | 2016-04-05 | 2016-07-20 | 中国科学院南海海洋研究所 | Launching method for seabed subbottom observation platform |
| CN106226665A (en) * | 2016-08-30 | 2016-12-14 | 武汉科迪奥电力科技有限公司 | High-voltage transmission line insulator distributed electric field detector and detecting system |
| CN111392074A (en) * | 2020-02-28 | 2020-07-10 | 深圳市乾行达科技有限公司 | Landing buffer device test system |
| CN111392074B (en) * | 2020-02-28 | 2022-01-14 | 深圳市乾行达科技有限公司 | Landing buffer device test system |
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Application publication date: 20150624 |
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