JPH05509057A - Space transportation structure and robot planetary work method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Space transportation structure and robot planetary work method technical field The present invention provides a space transportation structure for robot planetary work in which robots work on planets. (STA).

In other respects, the invention relates to a method of space transportation for such operations.

In yet another and more particular respect, the invention is particularly adapted for planetary exploration flights. The present invention relates to STA and methods.

In still other and more particular respects, the invention provides for various planetary landing sites on each flight; For example, a short period of loosely coupled flights to a local, regional or global location. Provides an architecture and method for implementing.

According to yet another aspect, the present invention is suitable for various sensors, cameras, seismic devices and sampling devices. Various robot operating platforms using other payloads such as for ring work etc. Provides planetary exploration by form.

In still other and more particular respects, the present invention provides a planetary geological sampling robot. STAs and methods specifically adapted for the collection and return of stained samples to Earth. Regarding the law.

Conventional technology Robotic exploration of planetary surfaces, especially the Moon and Mars, is a global challenge for two reasons: There is currently great interest in the scientific community. First, the latest information on human travel, especially to Mars. Near-term cost assessments exceed the financial capacity of a country, or group of countries as well. is clear. Second, artificial intelligence, miniaturization of electrical and mechanical devices and scientific There have been technological advances in sensor performance over the past few years. In proportion to these advances, The cost and mechanical equipment required to collect complex scientific data with these new sensors Substantial reduction in the computational power required to perform artificial intelligence functions to control was there.

Done during appointment planning with today's innovative robotics program requirements and capabilities. be appropriately designed and operated based on a comparison of scientific exploration requirements and capabilities. Artificially intelligent robots were used six times between 1969 and 1972 for two reasons. Direct, pre-planned scientific research conducted during the successful apocalypse lunar exploration It appears that almost all of them were successfully executed.

First, throughout appointments and other programs during that period, NASA Methods of scientific investigation on the surface of the planet based on human dexterity and ability in place and developed the technology. Robots then challenge human dexterity and abilities. They had not developed to the point where they could fight.

Second, today, with the advances mentioned above, several mobile robot platforms are , with appropriate sensors, it is not only possible to replicate specific human characteristics; , sensors available today often have comparable functionality in human form. "Superhuman" with performance and quality that far exceeds performance and quality. (superhuman).” And these alternative platforms and sensors are Requires far less environmental protection, operational support, and consumable materials.

Therefore, these new technological capabilities can be used to develop low-cost, reliable planetary surface exploration. It is highly desirable to apply the method. Such methods have been approved by scientific research The methods and techniques apply not only to a flexible and movable responsive platform on the surface. Includes upcoming reliable space transportation equipment that is both affordable and low-cost.

Disclosure of invention Therefore, it is an object of the present invention to provide a space transport structure (STA) for robotic planetary operation. It is to be.

Another object of the invention is to provide a transportation method for carrying out such robotic planetary operations. Is Rukoto.

Yet another object of the invention is to provide a space transport structure particularly adapted for robotic exploration of planets. (Space Transport Architecture).

Yet another and more particular object of the invention is to perform planetary geophysical exploration of space. An object of the present invention is to provide a transportation structure and method.

Still other and still more particular objects of the invention are planetary geophysical samples and Space transportation structures and methods for robotically collecting pulls and returning them to Earth It is to provide law.

These and other, still further and more particular objects of the invention relate to the drawings. It will be apparent to those skilled in the art from the following detailed description of the invention, which is provided. be.

Brief description of the drawing FIG. 1 shows a representative assembly of the space transportation structure of the present invention according to one embodiment of the present invention. Partial cutaway view of the assembled components; FIG. 2 is a schematic diagram of the configuration requirements of the assembled STA of FIG. 1; FIG. 3 shows an alternative to utilizing the STA and method of the present invention to perform robotic planetary work. A diagram showing a typical flight scenario.

Figure 4 for performing robot planetary surface operations at local, regional and global landing sites. A diagram showing typical orbital mechanics applications of; Figure 5 distributes multiple robot actuated platforms at multiple locations on the planet. Diagram illustrating a typical flight scenario utilizing the STA and method of the present invention: Figure 6 shows a typical flight scenario including planetary geological sample collection and return to Earth. FIG.

Preferred modes for carrying out the invention As used herein, the term "planet" includes planets, moons, asteroids, and planets. .

The term "Earth Launch Vehicle" or rELV" means that the payload cannot be carried into a suborbital space orbit or or low Earth orbit (rLE).

”) means a rocket that can be launched to Such ELV is affected by wind, rain, disturbance , dynamic atmospheric effects such as ice, shear and lightning, and pressure and pressure during Earth's rise. and constructed to resist thermal effects. Is ELV 2 or more “tiers”? Each stage contains a rocket system capable of during the ascent phase of the launch sequence, thus reducing the rocket's dead weight. reduce These stages can be mounted in tandem on the outside of the core first stage or It is tightened with a string (strap-on). Most of the E LV was developed between 1950 and 1960 and is a suborbital space orbit or LE. A replica of an intercontinental ballistic missile (ICBMS) designed to launch a payload to or are derivative works.

The term ``space vehicle'' refers to radiation from the sun and the impact of my new specific material. Passed as a space vehicle because it simply follows relatively stationary conditions in space such as Typically consists of main engine, attitude control, guidance and communication equipment, fuel supply, etc. In other words, it means a rocket vehicle that contains. Such STVs are based on planetary transit orbits and L, including planetary orbit insertion and possibly configured for planetary descent and ascent operations. It will be used to carry payloads from EO to other space orbits. A typical STV is U.S. Pat. No. 4.896,848 and U.S. Pat. No. 4.664,343. Viking Orbiter, Peacekeever Stage IV, and satellites shown Includes satellite transfer vehicles. , the invention According to the presently preferred embodiment of the STA, the ELV-STV component of the filed on January 30, 1990, entitled “Integrated Guided Launch System and Integrated Guidance Launch System.” It is disclosed in pending United States patent application S/N 472,395.

The term "planetary lander" is distributed from the STV in planetary orbit to the landing on the surface of the plant. means a device for carrying a payload that carries a Singer January landing capsule and Suborbital vehicles such as maneuverable vehicles, e.g. adapted STVs or planetary drop vehicles. The rocket known as LEAP-I was developed in the Landing and Landing or SDI program. Includes Quell "Light Space Projectile".

The robotic work platform used in accordance with the present invention is illustratively movable and and fixed platform. An example of a mobile platform is the April 1990 “Mars Exploration Miniro” at Vision 21-Symposium in Cleveland, Ohio Including the rover described in the paper titled ``The Rover.'' Many papers cited here Ru. Still other examples of mobile rovers include "Lobby" developed by JPL.

An example of a fixed robotic work platform is the NAS for the Mars Science Station. Peptide used in rMESURJ and USSR Mars probe proposed by A. Contains a tatrometer.

From the above, notable examples of each component of the STA of the present invention already exist and the present invention There is no need for the development of significant additional skills to carry out the It is obvious to those who have. Further, it is understood that the invention is for illustrative purposes only. and without limitation as to the scope of the invention as defined by the appended claims. This means that the invention is not limited to such examples.

Briefly, the present invention allows me to create space transportation structures (S) for robotic operations on planets. TA). STA is a place designed to carry Space Vehicle Vehicles (STV). Ball Launch Vehicle (ELV) and related payros to Low Earth Orbit (LEO) It consists of a code. The Space Transfer Vehicle (STV) carried by the ELV is transport the payloads into LEO planetary orbit and transport these payloads into at least one It is made to be distributed for landing at the location of the planetary exploration site. at least one A planetary lander will be carried by STV. The lander has multiple robotic actuation platforms. to carry the platform and deploy these platforms at the location of the exploration site. It will be done. Multiple robot-actuated platforms are carried by each of the landers. .

In one embodiment of the invention, the STV consists of at least two stages, the first stage (S TV-1) is for insertion into transplanetary orbit and is the second stage 5T. V-2 is for planetary orbit insertion.

According to still other embodiments, 5TV-2 can be used for planetary descent, planetary landings, and platform landings. form deployment.

In a preferred embodiment of the invention, the STA includes multiple landers and the STVs include different landers. each of said landers to land at a planetary exploration site location; . In still other embodiments, the STA is a planetary ascent rocket carried by a lander. including. The planetary ascent rocket (PVA) is the Earth return vehicle (ERV) and the planetary orbit rocket. They are made to rendezvous on the road. In a preferred embodiment, ERV is STV It is one with

In yet other embodiments, the STA is adapted for geophysical exploration of planets. child in the configuration, at least one of the robot work platforms is grounded to the PAV. The PAV is made to obtain and supply the qualitative samples and the PAV transfers the samples to the ERV. made to supply.

According to another example, I launch a payload consisting of multiple planetary landers from Earth. each lander will carry multiple robotic planetary working platforms. Providing a way to perform supporting robot planetary tasks. Payload is in planetary orbit and the lander will be distributed to land at multiple locations on the planet. After landing , multiple robotic platforms will be deployed from each lander at each of the exploration locations. .

According to another embodiment of the method, the geological sample of the planet is Earth return rocket collected from the platform by at least one of the (vehicle).

Similar reference numerals are then used to identify similar elements in several figures. 1 and 2 depict the structure of the components showing the STA. I'm there. The ELV, illustratively the Delta II, has a first stage 11, a second stage 12 and propulsion. Consists of increased solid rocket motor 13, 5TV-1,14 and 5TV-2,1 5 is carried on the ELVIO within a protective payload fairing 16.

As shown in Figure 2, a number of landing craft 17 are carried by 5TV-2, 15. . Illustratively, 5TV-1,14 is disclosed in the °848 and '343 patents mentioned above. The STV shown and 5TV-2 is the NASA Mars Viking Orbiter. It is. Lander 17 was a vision by David P. Miller of JPL. Multiple controlled robot small robots of the type described in the 2I Symposium paper. Consisting of multiple Rockwell LEAP-13TV rockets supporting the aircraft.

FIG. 3 shows a typical flight using the STAs of FIGS. 1 and 2 according to the method of the present invention. Illustrate a row scenario. EALV sends SDA to LEO3 by Earth Launch 31 Promote to 2. STV is supported by EALV and carries related payloads to LEO3 2 to a planetary orbit 33 and a planetary orbit 34. The lander arrives at planet 36. Distributed by STV to landing trajectory 35 for landing.

Referring to Figure 4, which illustrates the application of planetary orbit mechanics, the inclination of the planet's orbit remains constant. or a desired combination of landing locations. Thus, the planet The trajectory 41 leads to a "local" landing site 42, i.e. to the maximum number of working platforms. Provide a single specific location for landing. The number of platforms is orbital 4 1 by proper selection of slope, launch window and other recognized factors. is maximized by minimizing the energy requirement to reach. higher orbit 43 is area 45, for example, E area 3, land area 4, from I to 4,000 km on the planet's surface. 4, and each landing site was chosen to have 43 orbits, with each landing site following the orbit 43 due to the rotation of the planet. accommodate a variable number of platforms distributed near the same track 43 path; .

The "overall" landing site 46 is provided by selecting a polar or high inclination orbit 47. It will be done. This orbit has the highest energy condition, therefore, due to planetary rotation below orbit 47. have the lowest combined launch mass of the lander and platform to be distributed; .

Figure 5 also shows a flight scenario for distributing multiple platforms across the entire landing site. Illustrate the story. 5TA51 was launched from Earth 52 and 5TV53 was Carrying a number of landers 54 through a planetary transit orbit 55 and inserting them into a planetary orbit 56 Achieve. Multiple landing crafts 57a to 57e are sent to multiple landing sites by 5TV53. distributed.

Multiple robotic actuation platforms at each landing site, e.g. small ropers 58 to achieve the ultimate flight purpose, such as visual, seismic, geological and chemical surveys. will be deployed.

FIG. 6 illustrates a typical flight scenario for geological exploration on Planet 61. 1 or that More than 5 TAB2 will be launched from Earth, and each STA will carry one or more It is carrying 5TV63 which distributes lander 64 to the star location. Landing craft 64 is 64a It is an STV capable of achieving planetary descent as shown. 1 or more The upper platform 65 collects geological samples that are returned to the lander 66. Confusion Star Ascent Vehicle (PAV) 67, e.g. LEAP-1, as shown by 67a transport the sample to a planetary orbit. Meanwhile, a similar ELV62a was used to return to Earth. One or more STVs acting as rockets (ERVs), 68 from Earth And it was a launch into planetary orbit 69. PAV67a-67c are in planetary orbit 69 The ERV68 then collects the sample and fills the sample container with the ERV68. The sample container was returned to LEO70 and the sample container was transferred from the LE070 to the high altitude of my collection. A parachute is released toward an aircraft 72 into the Earth's atmosphere for a return 71 .

Alternatively, in other embodiments of the invention, the 5TV63 can be used as a PAV and as an ERV. Contains an ERV that acts as a

Describe my invention clearly so that a person skilled in the art can understand and put it into practice. Having described the present invention and disclosed the presently preferred embodiment of the invention, I request the following.

abstract Space transportation structure for robot work on planets (Architecture-1STA). The ST A lowers the Space Transfer Vehicle (STV) (15) and associated payload (17). An Earth Launch Vehicle (ELV) designed to carry the Earth into orbit (LEO). It will be. The Space Transfer Vehicle (STV) carried by the ELV (l　O) is related payload from LEO to planetary orbit and at least one planetary exploration site. to distribute these payloads (17) from planetary orbit to land in position. be done. At least one planetary lander (17) will be carried by an STV. landing craft (17) carries a plurality of robot-actuated platforms (58) and A platform is placed at the location of the exploration site. Multiple robot work programs A platform (58) is carried by each of the lander (58).

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Claims (12)

[Claims] 1. Space transportation structure (STA) for robot work to perform automated work on the planet Leave it behind. (a) Space Transfer Vehicle (STV) and associated payload to low Earth orbit (L) The Earth Launch Vehicle (ELV) was designed to carry the Earth to Earth (EO); (b) carry the relevant payload from LEO to planetary orbit and reduce said payload; designed to be distributed from planetary orbit to land at at least one planetary exploration location , space transport vehicle (STV) carried by the front ELV; (c) multiple robots; carrying the platform working platform and distributing the platform to the location; at least one planetary lander carried by said STV; (d) from a plurality of robotic work platforms carried by said lander; A space transportation structure characterized by: 2. The STV has at least two stages, i.e. for insertion into the planetary transit brightness. from the first stage (STV-1) and the upper stage for planetary orbit insertion (STV-2). The space transportation structure according to claim 1, characterized in that: 3. The lander is adapted for planetary descent, planetary landing, and platform deployment. Space transportation according to claim 2, characterized in that it is STV-2 structure. 4. The STV is configured to carry and distribute STV-1 and multiple landers. The space transportation structure according to claim 2, characterized in that it consists of STV-2. 5. The lander is adapted for planetary descent, planetary landing, and bratform deployment. Claims characterized in that they include at least one STV (STV-3) Space transportation structure described in Section 4. 6. including a plurality of landers and the STV lands at different planetary exploration site locations; Claim 1, characterized in that: The space transportation structure described in Section 1. 7. comprising a planetary ascent rocket (PVA) carried by the lander. A space transportation structure according to claim 1. 8. The PVA will rendezvous with the Earth Return Vehicle (ERV) in planetary orbit. 8. The space transportation structure according to claim 7, characterized in that the space transportation structure is constructed by: 9. The universe according to claim 1, characterized in that the STV includes an ERV. transportation structure. 10. (a) at least one of said robotic actuation platforms is a geological site; to obtain a pull and supply it to said PAV; and (b) said PAV is adapted to supply said sample to said ERV; The universe according to claim 8, adapted for geophysical exploration of planets, transportation structure. 11. In the robot planetary work execution method for performing automatic work on the planet, (a) (i) a plurality of planetary landers; (ii) consisting of each lander supporting multiple robotic planetary work platforms; Launching the payload from Earth, (b) inserting said payload into planetary orbit; and (c) landing at multiple locations on said planet. distributing the lander to land; (d) disposing said plurality of platforms from each said lander at said respective locations; A robot planetary work execution method characterized by comprising the following steps. 12. (a) producing a planetary geological sample on at least one of said platforms; and (b) transporting said sample from said platform to an Earth return rocket. The method according to claim 11, further comprising the step of transferring How to perform bot planet work.