面向地外天体探测的机器人能源自主补给系统设计与集成试验  

Design and Integrated Experiment of a Robot Energy Autonomous Supply System for Extraterrestrial Exploration

作　　者：刘天宇 李泰博 胡能浩 刘红卫[1] LIU Tianyu;LI Taibo;HU Nenghao;LIU Hongwei(National Innovation Institute of Defense Technology,Academy of Military Sciences,Beijing 100071,China)

机构地区：[1]军事科学院国防科技创新研究院,北京100071

出　　处：《载人航天》2024年第5期600-610,共11页Manned Spaceflight

摘　　要：远离地球进行地外天体探测的机器人系统,在无人条件下长期执行任务需要自我维持。借鉴自然界生态圈的运行机制,提出了机器人生态圈概念,给出了基于突变点检测和无线充电的机器人能源补给方案,并进行了地面试验验证。移动机器人通过激光雷达信息和突变点检测算法识别能源补给系统的标志物,实现了精确对接,并以非接触方式完成了能源传输。试验结果表明,该方案能够完成机器人的无人自主能源补给,可用于地外天体探测、设施建造等任务。The robotic system for extraterrestrial exploration,operating far from Earth,requires self⁃sustenance in unmanned conditions over extended periods.Drawing inspiration from the ecological functioning of natural ecosystems,the concept of a robot ecosphere was proposed.A solution for ro⁃bot energy supply based on mutation point detection and wireless charging was put forward and then validated through ground⁃based experiments.The mobile robots utilized lidar information and muta⁃tion point detection algorithms to identify markers of the energy supply system,enabling precise doc⁃king and non⁃contact energy transfer.Experimental results demonstrated that this approach could en⁃able autonomous energy supply for robots,making it suitable for tasks such as extraterrestrial body exploration and facility construction.

关 键 词：地外天体探测 机器人生态圈 能源自主补给 突变点检测 地面试验系统 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]