阅读说明：本技术 多功能巡视器半物理仿真系统及方法 (Multifunctional patrol instrument semi-physical simulation system and method ) 是由 何俊 李�杰 高峰 于 2020-05-22 设计创作，主要内容包括：本发明提供了一种多功能巡视器半物理仿真系统和方法,包括运动跟随装置、六维力传感器单元、模拟地外星表地形沙盘以及通讯接口单元；所述运动跟随装置对巡视器的运动进行跟随,并进行负载调节；所述六维力传感器单元连接在运动跟随装置的末端,进行反馈负载信息；所述模拟地外星表地形沙盘用于模拟目标星环境；通讯接口单元将移动跟随装置中的七个驱动自由度的控制对外开放,完成与地外星表巡视器样机的协调通讯。真实地再现巡视器在地外星表着陆以及在低重力环境中行进的情况,并且拥有系统刚度高,响应快,运动跟随和负载调节的精度好的优点,是可以完成包括巡视器着陆、低重力行进以及轮土力学模拟等的多功能半物理仿真系统。(The invention provides a semi-physical simulation system and a semi-physical simulation method for a multifunctional patroller, which comprise a motion following device, a six-dimensional force sensor unit, a sand table for simulating the terrain of an extraterrestrial star and a communication interface unit; the motion following device follows the motion of the patrol device and adjusts the load; the six-dimensional force sensor unit is connected to the tail end of the motion following device and feeds back load information; the simulated extraterrestrial star surface terrain sand table is used for simulating a target star environment; the communication interface unit opens the control of seven driving degrees of freedom in the mobile following device to the outside, and completes the coordination communication with the sample machine of the extra-terrestrial star watch patrol instrument. The multifunctional semi-physical simulation system truly reproduces the conditions of the rover landing on the extraterrestrial star surface and the rover traveling in the low-gravity environment, has the advantages of high system rigidity, quick response and good precision of motion following and load adjustment, and can complete the multifunctional semi-physical simulation system including the rover landing, the low-gravity traveling, the wheel soil mechanics simulation and the like.)

1. A multifunctional tour device semi-physical simulation system is characterized by comprising a motion following device, a six-dimensional force sensor unit, a simulated extraterrestrial star terrain sand table and a communication interface unit;

the motion following device follows the motion of the patrol device and adjusts the load;

the six-dimensional force sensor unit is connected to the tail end of the motion following device and feeds back load information;

the simulated extraterrestrial star surface terrain sand table is used for simulating a target star environment;

the communication interface unit opens the control of seven driving degrees of freedom in the mobile following device to the outside, and completes the coordination communication with the sample machine of the extra-terrestrial star watch patrol instrument.

2. The semi-physical simulation system of the multifunctional patrol instrument as recited in claim 1, wherein the motion following device comprises a six-degree-of-freedom operating arm and a servo slide rail, and a base of the six-degree-of-freedom operating arm is fixedly connected to a base of the servo slide rail to form a motion of a moving platform which integrally follows and controls the servo slide rail to move.

3. The multifunctional patroller semi-physical simulation system according to claim 2, wherein the six-degree-of-freedom manipulator is in the form of a serial mechanical arm, and the end is provided with a first mechanical interface connected with a six-position force sensor.

4. The semi-physical simulation system of the multifunctional patrol instrument as claimed in claim 2, wherein the servo slide rail is a single-degree-of-freedom slide rail, is driven by a servo motor, can realize accurate position control, and is provided with a second mechanical interface for fixedly connecting a six-degree-of-freedom operating arm on the mobile platform.

5. The semi-physical simulation system of the multifunctional patrol instrument as recited in claim 2, wherein the six-dimensional force sensor unit is fixedly connected to the tail end of a six-degree-of-freedom operating arm of the motion following device, so that the measurement of three-dimensional force and three-dimensional moment can be realized.

6. The multifunctional rover semi-physical simulation system according to claim 5, wherein the six-dimensional force sensor unit is provided with a universal third mechanical interface for connecting a prototype of an extraterrestrial star rover.

7. The semi-physical simulation system of the multifunctional rover according to claim 2, wherein the simulated extraterrestrial star terrain sand table is a rectangular unstructured terrain sand table constructed according to an experimental target environment and is arranged in parallel on one side of the servo slide rail.

8. The semi-physical simulation method for the multifunctional patrol instrument is characterized by comprising the patrol instrument landing simulation experiment step, wherein the patrol instrument landing simulation experiment step comprises the following steps:

firstly, fixedly connecting an extraterrestrial star patrolling device model machine with a multifunctional patrolling device semi-physical simulation system through a mechanical machine interface of a six-position force sensor module, and handing over all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to an extraterrestrial star patrolling device model machine controller for coordination control through a communication interface module;

step two, through the analysis of the simulation working condition, a six-degree-of-freedom operating arm in the driving motion following device adjusts the extraterrestrial star watch patrol machine model to a proper height and keeps suspended;

step three, through the analysis of the simulation working condition, a servo slide rail in the driving motion following device adjusts the extraterrestrial star watch patrolling machine model machine to be above or laterally above a target landing area in the simulated extraterrestrial star watch terrain sand table;

driving an extraterrestrial ephemeris patrol device to complete landing simulation on the simulated extraterrestrial ephemeris terrain sand table according to a landing track by controlling a six-degree-of-freedom operating arm in the motion following device, and partially eliminating or compensating the gravity load according to the requirement in the process;

collecting data of various sensors in the extraterrestrial star watch patrolling device prototype and the multifunctional patrolling device semi-physical simulation system and using the data for post-processing and analysis in the landing simulation process;

and step six, after the extraterrestrial star watch patrol instrument model machine is placed on the ground again, opening a mechanical interface, integrally adjusting the multifunctional patrol instrument semi-physical simulation system to the initial state, and finishing the semi-physical simulation experiment.

9. The semi-physical simulation method of the multifunctional patrol instrument according to claim 8, further comprising a low gravity traveling simulation experiment step, wherein the low gravity traveling simulation experiment step comprises:

firstly, fixedly connecting an extraterrestrial star patrolling device model with a multifunctional patrolling device semi-physical simulation system through a mechanical interface of a six-position force sensor module, and handing all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to a extraterrestrial star patrolling device model controller for coordination control through a communication interface module;

step two, driving a six-degree-of-freedom operating arm in the motion following device to adjust the extraterrestrial star watch patrol machine model machine to a proper height and keep the extraterrestrial star watch patrol machine model machine suspended;

thirdly, through analysis of simulation working conditions, a servo slide rail in the driving motion following device adjusts a prototype of the extraterrestrial star watch patrolling device to be above a section of the simulated extraterrestrial star watch terrain sand table, and then the prototype is placed on the simulated extraterrestrial star watch terrain sand table to ensure that all wheels of the prototype are in contact with the sand table;

step four, driving a six-degree-of-freedom mechanical arm in the motion following device to partially eliminate the gravity load through analyzing the simulation working condition;

step five, under the condition that the gravity load is partially eliminated, driving a prototype of the extraterrestrial star watch patrolling device to advance along the terrain of the simulated extraterrestrial star watch terrain sand table, driving a motion following device to follow the motion of the prototype in the process, and recording data of various sensors in the extraterrestrial star watch patrolling device and the multifunctional patrolling device semi-physical simulation system for subsequent processing and analysis in the process;

and step six, after the extraterrestrial star watch patrol instrument model machine is placed on the ground again, opening a mechanical interface, integrally adjusting the multifunctional patrol instrument semi-physical simulation system to the initial state, and finishing the semi-physical simulation experiment.

10. The semi-physical simulation method of the multifunctional patrol instrument according to claim 8, further comprising a soil-in-wheel contact simulation experiment step, wherein the soil-in-wheel contact simulation experiment step comprises:

firstly, fixedly connecting a single-wheel experiment unit model machine of the extraterrestrial star watch patrolling device with a multifunctional patrolling device semi-physical simulation system through a mechanical machine interface of a six-position force sensor module, and handing all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to a single-wheel experiment unit model machine controller of the extraterrestrial star watch patrolling device for coordination control through a communication interface module;

step two, the driving motion following device places a single-wheel experiment unit prototype of the extraterrestrial star watch patrol device on a flat area in the simulated extraterrestrial star watch terrain sand table;

thirdly, through the analysis of the simulation working condition, a six-degree-of-freedom mechanical arm in the driving motion following device adjusts the pressure load of a single-wheel experiment unit prototype of the extraterrestrial star watch patrolling device;

step four, under the condition of keeping pressure load, driving a single-wheel experiment unit prototype of the external star catalogue patrol instrument to advance along the terrain of the simulated extraterrestrial star catalogue terrain sand table, driving a motion following device to follow the motion of the prototype in the process, and recording the data of the single-wheel experiment unit prototype of the external star catalogue patrol instrument and various sensors in the multifunctional patrol instrument semi-physical simulation system for subsequent processing and analysis in the process;

step five, adjusting the pressure load of a single-wheel experiment unit prototype of the extraterrestrial star watch patrolling device, and repeating the step four until sufficient experiment data within the range of the pressure load to be measured are obtained;

and step six, after the single-wheel experiment unit model machine of the extraterrestrial star watch patroller is placed on the ground again, opening a mechanical interface, integrally adjusting the semi-physical simulation system of the multifunctional patroller to the initial state, and finishing the semi-physical simulation experiment.

Technical Field

The invention relates to the technical field of semi-physical simulation, in particular to a multifunctional patrolling device semi-physical simulation system and method.

Background

With the gradual development of deep space exploration engineering in China, the development of extraterrestrial star watch patrollers becomes the most important ring in the engineering in the field. The patrol instrument is a complex system, the facing environment is a complex and unknown environment, and in order to ensure that the patrol instrument can normally run on the surface of a target star, it is extremely important to develop semi-physical simulation on a prototype before launching. Meanwhile, in the field of extraterrestrial star catalogue detection, the development of a large-scale patrol instrument with multiple traveling modes is becoming a new trend. The requirements are also put forward on the semi-physical simulation system, and the simulation of various traveling modes and the simulation of various working conditions can be completed.

Most of the existing semi-physical simulation systems for the inspection tour are limited to single-function simulation systems, such as a system for performing low-gravity simulation or a system for verifying the mechanical property of the earth. The existing low-gravity simulation system for the inspection tour mainly adopts a suspension mode to carry out gravity unloading, and the working condition that the equipment is often huge and can be simulated is concentrated on the verification of the moving performance of low-gravity running and autonomous navigation. The existing system for verifying the mechanical property of the soil wheel mainly takes the form of a single-wheel advancing system and has the characteristic of single function.

The patent document CN105252539B, which is closer to the present application, discloses a control system and method for suppressing vibration of a parallel platform based on an acceleration sensor, which includes three parallel branches, each of which includes a three-phase ac servo motor, a reducer, a driving rod, and a driven rod; the three-phase alternating current servo motor is arranged on the fixed platform and distributed in an equilateral triangle shape, the three-phase alternating current servo motor is connected with the speed reducer, the speed reducer is connected with the driving rod through the rotating shaft, the other end of the driving rod is connected with the driven rod through the rotating shaft, the other end of the driven rod is connected with the movable platform through the rotating shaft, and the movable platform is in an equilateral triangle shape; the incremental encoder is adopted to test the position of the active joint, the acceleration sensor is adopted to detect the acceleration of the movable platform and the active rod of the parallel platform, and the controller is comprehensively designed according to the position information and the acceleration information of the active joint to inhibit the vibration of the parallel platform in the motion process or the self-excited vibration during point positioning.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a multifunctional patrolling device semi-physical simulation system and method.

The invention provides a multifunctional patroller semi-physical simulation system which comprises a motion following device, a six-dimensional force sensor unit, a simulated extraterrestrial star terrain sand table and a communication interface unit, wherein the motion following device is connected with the six-dimensional force sensor unit through a communication interface;

the motion following device follows the motion of the patrol device and adjusts the load;

the six-dimensional force sensor unit is connected to the tail end of the motion following device and feeds back load information;

the simulated extraterrestrial star surface terrain sand table is used for simulating a target star environment;

the communication interface unit opens the control of seven driving degrees of freedom in the mobile following device to the outside, and completes the coordination communication with the sample machine of the extra-terrestrial star watch patrol instrument.

Preferably, the motion following device comprises a six-degree-of-freedom operating arm and a servo slide rail, wherein a base of the six-degree-of-freedom operating arm is fixedly connected to a base of the servo slide rail, so that the motion following device integrally follows a moving platform for controlling the servo slide rail to move.

Preferably, the six-degree-of-freedom manipulator arm is in the form of a serial mechanical arm, and the end is provided with a first mechanical interface connected with a six-position force sensor.

Preferably, the servo slide rail is a single-degree-of-freedom slide rail, accurate position control can be realized by driving of a servo motor, and a second mechanical interface for fixedly connecting a six-degree-of-freedom operating arm is arranged on the mobile platform.

Preferably, the six-dimensional force sensor unit is fixedly connected to the tail end of a six-degree-of-freedom operating arm of the motion following device, so that the measurement of three-dimensional force and three-dimensional moment can be realized.

Preferably, the six-dimensional force sensor unit is provided with a universal third mechanical interface for connecting a sample machine of the extraterrestrial star patrolling device.

Preferably, the simulated extraterrestrial star surface terrain sand table is a rectangular unstructured terrain sand table constructed according to an experimental target environment and is arranged on one side of the servo slide rail in parallel.

The invention provides a semi-physical simulation method of a multifunctional patrol instrument, which comprises a patrol instrument landing simulation experiment step, wherein the patrol instrument landing simulation experiment step comprises the following steps:

firstly, fixedly connecting an extraterrestrial star patrolling device model machine with a multifunctional patrolling device semi-physical simulation system through a mechanical machine interface of a six-position force sensor module, and handing over all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to an extraterrestrial star patrolling device model machine controller for coordination control through a communication interface module;

step two, through the analysis of the simulation working condition, a six-degree-of-freedom operating arm in the driving motion following device adjusts the extraterrestrial star watch patrol machine model to a proper height and keeps suspended;

step three, through the analysis of the simulation working condition, a servo slide rail in the driving motion following device adjusts the extraterrestrial star watch patrolling machine model machine to be above or laterally above a target landing area in the simulated extraterrestrial star watch terrain sand table;

driving an extraterrestrial ephemeris patrol device to complete landing simulation on the simulated extraterrestrial ephemeris terrain sand table according to a landing track by controlling a six-degree-of-freedom operating arm in the motion following device, and partially eliminating or compensating the gravity load according to the requirement in the process;

collecting data of various sensors in the extraterrestrial star watch patrolling device prototype and the multifunctional patrolling device semi-physical simulation system and using the data for post-processing and analysis in the landing simulation process;

and step six, after the extraterrestrial star watch patrol instrument model machine is placed on the ground again, opening a mechanical interface, integrally adjusting the multifunctional patrol instrument semi-physical simulation system to the initial state, and finishing the semi-physical simulation experiment.

Preferably, the semi-physical simulation method for the multifunctional patrol instrument further comprises a low-gravity traveling simulation experiment step, wherein the low-gravity traveling simulation experiment step comprises:

firstly, fixedly connecting an extraterrestrial star patrolling device model with a multifunctional patrolling device semi-physical simulation system through a mechanical interface of a six-position force sensor module, and handing all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to a extraterrestrial star patrolling device model controller for coordination control through a communication interface module;

step two, driving a six-degree-of-freedom operating arm in the motion following device to adjust the extraterrestrial star watch patrol machine model machine to a proper height and keep the extraterrestrial star watch patrol machine model machine suspended;

thirdly, through analysis of simulation working conditions, a servo slide rail in the driving motion following device adjusts a prototype of the extraterrestrial star watch patrolling device to be above a section of the simulated extraterrestrial star watch terrain sand table, and then the prototype is placed on the simulated extraterrestrial star watch terrain sand table to ensure that all wheels of the prototype are in contact with the sand table;

step four, driving a six-degree-of-freedom mechanical arm in the motion following device to partially eliminate the gravity load through analyzing the simulation working condition;

step five, under the condition that the gravity load is partially eliminated, driving a prototype of the extraterrestrial star watch patrolling device to advance along the terrain of the simulated extraterrestrial star watch terrain sand table, driving a motion following device to follow the motion of the prototype in the process, and recording data of various sensors in the extraterrestrial star watch patrolling device and the multifunctional patrolling device semi-physical simulation system for subsequent processing and analysis in the process;

and step six, after the extraterrestrial star watch patrol instrument model machine is placed on the ground again, opening a mechanical interface, integrally adjusting the multifunctional patrol instrument semi-physical simulation system to the initial state, and finishing the semi-physical simulation experiment.

Preferably, the semi-physical simulation method for the multifunctional patrol instrument further comprises a soil-turning contact simulation experiment step, wherein the soil-turning contact simulation experiment step comprises:

firstly, fixedly connecting a single-wheel experiment unit model machine of the extraterrestrial star watch patrolling device with a multifunctional patrolling device semi-physical simulation system through a mechanical machine interface of a six-position force sensor module, and handing all driving freedom degrees in the multifunctional patrolling device semi-physical simulation system to a single-wheel experiment unit model machine controller of the extraterrestrial star watch patrolling device for coordination control through a communication interface module;

step two, the driving motion following device places a single-wheel experiment unit prototype of the extraterrestrial star watch patrol device on a flat area in the simulated extraterrestrial star watch terrain sand table;

thirdly, through the analysis of the simulation working condition, a six-degree-of-freedom mechanical arm in the driving motion following device adjusts the pressure load of a single-wheel experiment unit prototype of the extraterrestrial star watch patrolling device;

step four, under the condition of keeping pressure load, driving a single-wheel experiment unit prototype of the external star catalogue patrol instrument to advance along the terrain of the simulated extraterrestrial star catalogue terrain sand table, driving a motion following device to follow the motion of the prototype in the process, and recording the data of the single-wheel experiment unit prototype of the external star catalogue patrol instrument and various sensors in the multifunctional patrol instrument semi-physical simulation system for subsequent processing and analysis in the process;

step five, adjusting the pressure load of a single-wheel experiment unit prototype of the extraterrestrial star watch patrolling device, and repeating the step four until sufficient experiment data within the range of the pressure load to be measured are obtained;

and step six, after the single-wheel experiment unit model machine of the extraterrestrial star watch patroller is placed on the ground again, opening a mechanical interface, integrally adjusting the semi-physical simulation system of the multifunctional patroller to the initial state, and finishing the semi-physical simulation experiment.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention can truly reproduce the conditions of the patrol instrument landing on the extraterrestrial star watch and advancing in the low gravity environment, and has the advantages of high system rigidity, quick response, and good precision of motion following and load adjustment.

2. The invention can complete a multifunctional semi-physical simulation system comprising patrolling device landing, low-gravity traveling, wheel soil mechanics simulation and the like. By adopting a corresponding experimental method, the invention can carry out semi-physical simulation on the processes and is suitable for the inspection device with the characteristics of multimode advancing and large-range inspection.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic diagram of a semi-physical simulation system of the multifunctional patrol instrument in the embodiment of the invention.

The figures show that: a motion following device 1; a six-dimensional force sensor unit 2; a sample machine 3 of the extraterrestrial star watch patrol device; simulating an extraterrestrial star terrain sand table 4; a six-degree-of-freedom operation arm 5 in the motion following device; the movement follows the servo slide 6 in the device.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.