CN107161357A - A kind of via Self-reconfiguration Method of restructural spacecraft - Google Patents
A kind of via Self-reconfiguration Method of restructural spacecraft Download PDFInfo
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- CN107161357A CN107161357A CN201710285383.5A CN201710285383A CN107161357A CN 107161357 A CN107161357 A CN 107161357A CN 201710285383 A CN201710285383 A CN 201710285383A CN 107161357 A CN107161357 A CN 107161357A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
The present invention relates to a kind of via Self-reconfiguration Method of restructural spacecraft, with hard objectives configuration, restructural spacecraft each unit cell is classified；Initial configuration itself " thawing ", forms neutral configuration；Neutral configuration is reconstructed, and obtains target configuration, completes via Self-reconfiguration operation.Multiple functions, variform cell are combined, are connected with each other by the cell of difference in functionality, to build the restructural spacecraft with difference in functionality and shape, the via Self-reconfiguration operation of this restructural spacecraft is adapted to a variety of environment and in-orbit task.
Description
Technical field
The invention belongs to spacecraft field, it is related to a kind of via Self-reconfiguration Method of restructural spacecraft.
Background technology
Compared with Traditional Space satellite, restructural spacecraft has many advantages：Adaptability, economy, reliability and expansion
Malleability.The reconstructed module of restructural spacecraft is referred to as cell, constantly separated by each cell, displacement, to fetch realize it is overall
The change of shape and function, changes the space structure of itself, so that system Step wise approximation ideal configuration, completes different appoint
Business.
For the reconstruct of restructural spacecraft, its key issue is a kind of fortune for designing pin from initial configuration to target configuration
Dynamic planning, sponsor inputs the initial configuration of restructural spacecraft, and provides the target configuration for particular task, is quickly found out
Reconstruct path between arbitrary configuration, determines the order for the cell and its connection disconnection for needing to connect in restructuring procedure or disconnecting
, motion planning of each cell from initial configuration to target configuration is drawn by via Self-reconfiguration strategy.
Existing via Self-reconfiguration algorithm is generally consistent for unit cell shapes, the consistent isomorphism modular robot of function.From
Restructing algorithm is mostly, based on the interchangeability between modular robot isomorphism module, to implement and be relatively easy to.But based on isomorphism
The modularization robot allomeric function of module is more single, it is impossible to which satisfaction is actually needed.
For space restructural spacecraft, it is different that it is mainly characterized by the function of each cell of restructural spacecraft, shape.
The purpose so designed is so that the effect of each cell is targeted, and restructural spacecraft carries out special for different tasks
Determine the assembling of cell.Multiple functions, variform cell are combined, are connected with each other by the cell of difference in functionality, to build
Restructural spacecraft with difference in functionality and shape, the via Self-reconfiguration operation of this restructural spacecraft is adapted to a variety of environment
With in-orbit task.
The content of the invention
The technical problem to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of via Self-reconfiguration Method of restructural spacecraft, pin
To the self-construction based on isomeric space restructural spacecraft, a kind of new via Self-reconfiguration planing method is proposed.
Technical scheme
A kind of via Self-reconfiguration Method of restructural spacecraft, it is characterised in that step is as follows：
Step 1：To expect a border cell of target configuration as initiating searches point and growing point, from initiating searches point
Target configuration is traveled through by BFS BFS methods, cell is numbered and is classified, and records each cell to growth
The searching route of point, while recording the annexation and the attitude information of cell of all cells in target configuration；Finally, by gained
Annexation formation breadth First tree, as referring to neutral configuration；The classification of the cell is：According to search cell when
Between order, the assemble sequence of cell is from high to low；
Step 2：The configuration of spacecraft to be reconstructed is resolved into neutral configuration, with the configuration marginal surface of spacecraft to be reconstructed
A non-joint cell as initiating searches point, while being used as root cells root；
Search procedure：The configuration of spacecraft to be reconstructed is traveled through by BFS BFS methods from initiating searches point, is searched
Rope is to the non-joint cell farthest with root cells distance, by one end of the signaling searched to root cells；This process is repeated,
And will assembling grade identical cell assembling one " chain " shape of formation；
Then, a plurality of " chain " is ranked up from high to low according to assembling hierarchal order, neutral configuration is obtained after sequence；
Step 3：The growing point operated using the cell of the highest assembling grade in neutral configuration as formation reconfiguration, it is then right
Neutral configuration is scanned for；
Search procedure：" chain " of time high assembling grade in neutral configuration is searched, by the cell in " chain " according to step
The access path of rapid 1 record and the posture information of cell, cell to be assembled are connected in the target configuration being made up of growing point；
This process is repeated, until the cell in neutral configuration all moves into target configuration, restructuring procedure is completed.
Beneficial effect
The via Self-reconfiguration Method of a kind of restructural spacecraft proposed by the present invention, with hard objectives configuration, restructural spacecraft
Each unit cell is classified；Initial configuration itself " thawing ", forms neutral configuration；Neutral configuration is reconstructed, and obtains target configuration,
Complete via Self-reconfiguration operation.Multiple functions, variform cell are combined, are connected with each other by the cell of difference in functionality, with structure
The restructural spacecraft with difference in functionality and shape is built, the via Self-reconfiguration operation of this restructural spacecraft is adapted to a variety of rings
Border and in-orbit task.
Brief description of the drawings
Fig. 1 represents via Self-reconfiguration schematic diagram
Fig. 2 represents target configuration
Fig. 3 represents breadth first search tree
Fig. 4 represents to refer to neutral configuration
Fig. 5 represents initial configuration
Fig. 6 represents initial configuration formation neutral configuration
Fig. 7 represents neutral configuration
Fig. 8 represents initial configuration formation neutral configuration
Fig. 9 represents restructural spacecraft 3D quality reconstruction figures
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
To achieve the above object, step is specifically included as follows：
1st, hard objectives configuration, restructural spacecraft each unit cell is classified；
2nd, initial configuration itself " thawing ", forms neutral configuration；
3rd, neutral configuration is reconstructed, and obtains target configuration, completes via Self-reconfiguration operation.
The first step：Hard objectives configuration, is each cell grade of restructural spacecraft
In order to obtain neutral configuration, first have to analyze desired target configuration, the assembling according to cell is suitable
Each cell is classified by sequence.The purpose of this step is the assemble sequence for calculating each cell in target configuration, is joined
Neutral configuration is examined, is that second step restructural spacecraft is melted into neutral configuration from initial configuration and prepared.
For being smoothed out for the 3rd step restructuring procedure, first, a border cell of target configuration is found as starting
Searching point, while being used as growing point.Target configuration is traveled through from initiating searches point by BFS (BFS), cell is entered
Line number, and searching route of each cell to growing point is recorded, while recording the annexation of all cells in target configuration
With the attitude information of cell.Finally, by the annexation of gained formation breadth First tree, as referring to neutral configuration.
Test pattern search is carried out to target configuration, the process of search can also regard the mistake assembled to target configuration as
Journey, produces search dendrogram by search result and determines different assembling ranks.For referring to neutral configuration, same assembling grade is thin
Annexation between born of the same parents does not consider first, only considers cell and upper one assembling grade and the annexation of next assembling grade, because
This is in reconstruct part, and the assemble sequence of same assembling grade cell need not rearrange, if according to assembling grade order by
It is high to Low successively by it is each assembling grade in signaling into target configuration relevant position, the think of of this hierarchical reconfiguration
Want to be effectively reduced cell in the slow sorting operation of neutral configuration, improve reconstruct efficiency.
Second step：Initial configuration itself " thawing ", forms neutral configuration
Purpose is adjustment initial configuration, forms it into neutral configuration, is that the 3rd step reconstructed operation is prepared.Neutral configuration is
Formed on the basis of the reference neutral configuration obtained by the first step.Concrete operations are as follows.
Any one non-joint cell of initial configuration marginal surface is found as initiating searches point, while being used as root cells
(root).BFS is carried out to initial configuration, the non-joint cell farthest with root cells distance is found, it is thin by what is found
Born of the same parents are moved to one end of root cells.Aforesaid operations are repeated, and according to the assembling grade of the cell obtained in the first step, mutually equal
Level cell carries out assembling and forms " chain " shape.To be formed in several grades, neutral configuration with reference to being included in neutral configuration
Corresponding a plurality of " chain ".All cells are all moved to behind root cells side in initial configuration, can be formed a plurality of " chain ".Will
A plurality of " chain " is ranked up from high to low according to assembling hierarchal order, and neutral configuration is obtained after sequence.
It is incomplete same melting the neutral configuration partly obtained with being classified the reference neutral configuration that part is obtained.Two
The assembling grade of individual configuration is identical, simply in every layer cell the difference that puts in order, but this has no effect on reconstruction strategy
Operation, is known, the cellular level in one " chain " is identical by step 1, and grade identical cell is assembled etc. in target configuration
Level is identical.Therefore cell is moved according to the grade of itself to neutral configuration correspondence assembling grade, without considering same levels cell
Put in order, only they need to be in turn connected into " chain " shape.
3rd step：Neutral configuration is reconstructed, and obtains target configuration, completes via Self-reconfiguration
The purpose of this step is that neutral configuration is reconstructed into final target configuration, first, by second step " thawing part "
The highest assembling grade (the i.e. first assembling grade) that obtained neutral configuration finds the inside is used in the life of formation reconfiguration operation
Long point.Then neutral configuration is scanned for, finds the chain of time high assembling grade in neutral configuration, the cell in chain is pressed
The access path and the posture information of cell recorded according to the first step, is connected to cell to be assembled the target structure being made up of growing point
In type, until whole cells in the assembling grade complete aforesaid operations.Finally, according to annexation original in target configuration
All cells are attached, and adjust posture.Aforesaid operations are iteratively repeated, until the cell in neutral configuration is all moved into
Target configuration, restructuring procedure is completed.
Specific embodiment
The first step：Initial configuration is set, is each cell numbering of restructural spacecraft
For the via Self-reconfiguration algorithm of concise explanation this patent, via Self-reconfiguration Policy description is carried out using simplified 2D examples,
Assuming that each square represents different types of cell, and at least four directions set interface, can not replace each other, wherein (a)
For initial configuration, (b) is target configuration, it is necessary to which initial configuration (a) is reconstructed into target configuration (b) by via Self-reconfiguration strategy.
In order to obtain neutral configuration, first have to analyze desired target configuration, the assembling according to cell is suitable
Each cell is classified by sequence.The purpose of this step is the assemble sequence for calculating each cell in target configuration, is joined
Neutral configuration is examined, is that second step restructural spacecraft is melted into neutral configuration from initial configuration and prepared.
In order to avoid being smoothed out for the 3rd step restructuring procedure, a border cell for finding target configuration searches as starting
Suo Dian, while as growing point, from border cell 1 as initiating searches point, No. 1 cell turns into growing point.Pass through breadth First
Search for (BFS), travel through target configuration, cell is numbered, and record searching route of each cell to growing point, remember simultaneously
Record the annexation and the attitude information of cell of all cells in target configuration.Finally, by the annexation formation range of gained
Numbering and the numbering of cell in target configuration are corresponded in preferential tree, figure, and No. 1 cell is as top cell, in middle structure
Number of degrees highest, the reference neutral configuration being correspondingly formed are assembled in type.
Test pattern search is carried out to target configuration, the process of search can also regard the process of assembling as, tied by search
Fruit produces search dendrogram and determines different assembling ranks.For referring to the company between neutral configuration, same assembling grade cell
Connect relation not consider first, only consider cell and upper one assembling grade and the annexation of next assembling grade, therefore in reconstructing part
Point, as long as according to the order of assembling grade from high to low successively by each signaling assembled in grade phase into target configuration
Position is answered, the thought of this hierarchical reconfiguration is effectively reduced cell in the slow sorting operation of neutral configuration, improved
Reconstruct efficiency.
Second step：Initial configuration is melted, neutral configuration is formed
Purpose is adjustment initial configuration, and its target is that the initial configuration of restructural spacecraft is resolved into neutral configuration.In
Between configuration be that the reference neutral configuration obtained by the first step is formed.Concrete operations are as follows.
A non-joint cell of initial configuration marginal surface is found as initiating searches point, while being used as root cells
(root).The each cell of initial configuration obtains reference numeral by step 1, and No. 8 cells of selection are used as initiating searches point.To initial
Configuration carries out BFS, the non-joint cell farthest with No. 8 root cells distances is found, by the signaling found to root
One end of cell, the cell that where the dotted line signifies that has been removed.Aforesaid operations are repeated, and according to the cellular level obtained before,
Same levels cell is put together to form " chain " shape.With reference in neutral configuration include several grades, neutral configuration
In to be formed corresponding a plurality of " chain ".All cells are all moved to behind root cells side in initial configuration, can be formed a plurality of
" chain ".A plurality of " chain " is ranked up from high to low according to assembling hierarchal order, neutral configuration is obtained after sequence.
It is incomplete same melting the neutral configuration partly obtained with being classified the reference neutral configuration that part is obtained.Two
The assembling grade of individual configuration is identical, simply in every layer cell the difference that puts in order, but this has no effect on reconstruction strategy
Operation, is known, the cellular level in one " chain " is identical by step 1, and grade identical cell is assembled etc. in target configuration
Level is identical.Therefore cell is moved according to the grade of itself to neutral configuration correspondence assembling grade, without considering same levels cell
Put in order, only they need to be in turn connected into " chain " shape.
3rd step：Formation reconfiguration is carried out by neutral configuration, target configuration is formed
The purpose of this step is that neutral configuration is reconstructed into final target configuration.Find and possess in neutral configuration first
The assembling grade of removable kinetocyte, and numbering highest assembling grade is found wherein, the cell in the assembling grade is weighed
Structure is operated, according to the cell movement path recorded in the first step, by signaling into the target configuration being made up of growing point,
According to annexation and attitude information of the cell recorded in step 1 in target configuration, adjust cell pose and treated with surrounding
Connection cell is attached.Aforesaid operations are until all signalings to target configuration, via Self-reconfiguration signal repeatedly.
Claims (1)
1. a kind of via Self-reconfiguration Method of restructural spacecraft, it is characterised in that step is as follows：
Step 1：A border cell to expect target configuration passes through as initiating searches point and growing point from initiating searches point
BFS BFS methods travel through target configuration, and cell is numbered and is classified, and records each cell to growing point
Searching route, while recording the annexation and the attitude information of cell of all cells in target configuration；Finally, by the company of gained
Relation formation breadth First tree is connect, as referring to neutral configuration；The classification of the cell is：It is suitable according to the time for searching cell
Sequence, the assemble sequence of cell is from high to low；
Step 2：The configuration of spacecraft to be reconstructed is resolved into neutral configuration, with the one of the configuration marginal surface of spacecraft to be reconstructed
Individual non-joint cell is as initiating searches point, while being used as root cells root；
Search procedure：The configuration of spacecraft to be reconstructed is traveled through by BFS BFS methods from initiating searches point, is searched
The farthest non-joint cell with root cells distance, by one end of the signaling searched to root cells；This process is repeated, and will
Assemble grade identical cell assembling one " chain " shape of formation；
Then, a plurality of " chain " is ranked up from high to low according to assembling hierarchal order, neutral configuration is obtained after sequence；
Step 3：The growing point operated using the cell of the highest assembling grade in neutral configuration as formation reconfiguration, then to centre
Configuration is scanned for；
Search procedure：" chain " of time high assembling grade in neutral configuration is searched, the cell in " chain " is remembered according to step 1
The access path of record and the posture information of cell, cell to be assembled are connected in the target configuration being made up of growing point；Repeat
This process, until the cell in neutral configuration all moves into target configuration, restructuring procedure is completed.
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