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WO2018029840A1 - Sonde - Google Patents

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Publication number
WO2018029840A1
WO2018029840A1 PCT/JP2016/073673 JP2016073673W WO2018029840A1 WO 2018029840 A1 WO2018029840 A1 WO 2018029840A1 JP 2016073673 W JP2016073673 W JP 2016073673W WO 2018029840 A1 WO2018029840 A1 WO 2018029840A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
housing
plate
spacecraft
top plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/073673
Other languages
English (en)
Japanese (ja)
Inventor
ジョン ウォーカー
敏郎 清水
利樹 田中
大輔 古友
裕 工藤
清菜 宮本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ispace Inc
Original Assignee
Ispace Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ispace Inc filed Critical Ispace Inc
Priority to PCT/JP2016/073673 priority Critical patent/WO2018029840A1/fr
Priority to PCT/JP2017/028682 priority patent/WO2018030368A1/fr
Publication of WO2018029840A1 publication Critical patent/WO2018029840A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/16—Extraterrestrial cars
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00

Definitions

  • the present invention relates to a spacecraft.
  • Spacecraft used for lunar or planetary exploration activities are known.
  • a spacecraft there is a space exploration vehicle that can travel on the moon surface or on the planet (see Patent Document 1), and US Mars Rover is known.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a probe that can be searched even if it is downsized.
  • the spacecraft according to the first aspect of the present invention is a spacecraft that can travel, the wheels, the first camera that is arranged in the direction in which the spacecraft can travel, and the spacecraft that travels.
  • This configuration makes it possible to confirm whether or not stones are caught in the wheels.
  • the spacecraft according to the second aspect of the present invention is the spacecraft according to the first aspect, and the resolution of the first camera is higher than the resolution of the second camera.
  • This configuration allows the field of view in the direction of travel to be viewed with higher resolution, so that obstacles in the direction of travel can be easily found.
  • a spacecraft according to a third aspect of the present invention is the spacecraft according to the first or second aspect, and includes a plurality of processors, and the spacecraft can travel in both the front and rear directions.
  • a camera As a camera, it has a front camera arranged toward the front and a rear camera arranged toward the rear, and the front camera and the rear camera are respectively connected to separate processors.
  • the spacecraft can be moved either forward or backward while viewing the image of either the front camera or the rear camera.
  • a probe according to a fourth aspect of the present invention is the probe according to any one of the first to third aspects, and is connected to the first camera or the second camera via a serial or parallel interface.
  • a camera controller, and a communication controller for communicating the camera controller requests and obtains video data from the camera at a predetermined frame rate, and compresses the obtained video data by hardware encoding.
  • the communication controller transmits the compressed data.
  • moving image data captured by the probe camera can be transferred to the ground station, and the operator operating the probe can view the moving image data on the earth.
  • the first camera or the second camera need not always be turned on, and only needs to operate when moving image data is requested, so that power consumption can be suppressed.
  • a probe according to a fifth aspect of the present invention is the probe according to any one of the first to fourth aspects, and includes a casing, and the casing includes a substrate and a Teflon (registered trademark) layer or A quartz glass layer; and a metal film provided between the substrate and the Teflon layer or the quartz glass layer.
  • the casing includes a substrate and a Teflon (registered trademark) layer or A quartz glass layer; and a metal film provided between the substrate and the Teflon layer or the quartz glass layer.
  • a probe according to a sixth aspect of the present invention is the probe according to the fifth aspect, and an indium oxide bell layer is provided on the Teflon layer or the quartz glass layer.
  • a probe according to a seventh aspect of the present invention is the probe according to any one of the first to sixth aspects, comprising a housing and an electronic device, wherein the housing includes a side plate, The top plate to which the electronic device is fixed is provided, and a heat insulating material is provided between the side plate and the top plate.
  • a probe according to an eighth aspect of the present invention is the probe according to the seventh aspect, and the electronic device is provided on the back of the top board.
  • a spacecraft according to a ninth aspect of the present invention is the spacecraft according to any one of the first to eighth aspects, wherein the spacecraft is exposed from the top plate of the housing and the top surface of the housing.
  • the heat generated from the battery can be released from the top plate of the housing to the outer space to suppress the temperature rise of the battery.
  • a probe according to a tenth aspect of the present invention is the probe according to any one of the first to ninth aspects, and includes a housing, and the front plate and / or the rear plate of the housing is formed from a bottom plate. It leans to the inside of the spacecraft over the top plate.
  • This configuration can reduce the rate at which sunlight reflected on the lunar surface hits the front plate and the rear plate, so that the temperature rise of the spacecraft can be suppressed.
  • a probe according to an eleventh aspect of the present invention is a probe according to any one of the first to tenth aspects, and includes a housing and a solar cell arranged obliquely on the housing. .
  • This configuration makes it possible to increase the exclusive area ratio of the outer surface of the solar cell housing, and to arrange a large number of solar cells within a limited area.
  • a probe according to a twelfth aspect of the present invention is the probe according to the eleventh aspect, further comprising a charge / discharge circuit to which power generated by the solar cell is supplied, and penetrating the casing.
  • a hole is provided, and wiring from the solar cell is connected to a charge / discharge circuit in the casing through a through hole provided in the casing.
  • This configuration eliminates the need to provide a space for fixing the wiring on the outer surface of the housing, so that many solar cells can be arranged within a limited area.
  • a probe according to a thirteenth aspect of the present invention is the probe according to any one of the first to twelfth aspects, further comprising a solar cell disposed on the casing, wherein the solar cell is disposed.
  • the surface of the case is tilted to the inside of the spacecraft from the bottom plate to the top plate.
  • This configuration makes it possible to efficiently receive light from the sun, thus increasing the amount of power generation.
  • the probe according to the fourteenth aspect of the present invention is the probe according to the thirteenth aspect, wherein the inclination of the surface of the casing on which the solar cell is arranged is the latitude at which the probe is to be arranged. It is decided according to.
  • This configuration sets the solar cell inclination according to the maximum elevation angle of the sun, so that the amount of power generation can be increased.
  • a probe according to a fifteenth aspect of the present invention is the probe according to any one of the first to fourteenth aspects, and has a motor provided on the wheel and a cone-shaped convex portion near the center.
  • the convex portion is fitted in the second hole in a state where the back surface of the clamp and the hub are opposed to each other.
  • FIG. 27 is a cross-sectional view of the hub HB when cut along the DD cross section of FIG. 26. It is sectional drawing of the clamp HC when it cuts in CC section of FIG.
  • the spacecraft is used for lunar exploration activities as an example.
  • the spacecraft according to the present embodiment can also be used for search activities for planets, asteroids, and other satellites.
  • search activities for planets, asteroids, and other satellites.
  • FIG. 1 is a schematic diagram showing an outline of an exploration system according to this embodiment.
  • the exploration system S includes an exploration device (also referred to as a rover) R that explores the lunar surface LS, and a transport ship (also referred to as a lander) L that transports the exploration device to the moon MN.
  • a ground station E provided on the earth ET.
  • the spacecraft R according to the present embodiment is an unmanned spacecraft as an example, and can travel on the moon surface.
  • the probe R can communicate with the transport ship L.
  • the transport ship L can communicate with the ground station. Thereby, the spacecraft E can be controlled from the ground station E.
  • FIG. 2 is a perspective view showing an outline of the spacecraft according to the present embodiment.
  • the spacecraft R according to the present embodiment includes a housing HS, shafts LSF and RSF provided in the housing HS, wheels FW1 and RW1 connected to a shaft RSF (not shown), Wheels FW2 and RW2 connected to the shaft LSF are provided.
  • the spacecraft R includes a distance sensor DS provided on the front surface of the casing, and a first antenna AT1 and a second antenna AT2 provided on the top plate of the casing HS.
  • the distance sensor DS measures a distance from an object on the moon (for example, an obstacle such as a rock).
  • the probe R according to the present embodiment has no difference in driving mechanism between the case of traveling in the direction in which the distance sensor DS is provided and the case of traveling in the opposite direction.
  • the direction where the distance sensor DS is provided is assumed to be the front, and the opposite direction is assumed to be the rear.
  • the spacecraft R includes a front camera FC, a rear camera BC, a right side camera RC, and a left side camera LC.
  • the front camera FC, the rear camera BC, the right-side camera RC, and the left-side camera LC have a lens and an imaging unit that captures an object using light incident from the lens. As shown in FIGS. 13A and 13C described later, the probe R can move back and forth, but cannot move left and right.
  • the front camera FC and the rear camera BC are an example of a first camera arranged in a direction in which the spacecraft R can travel.
  • the right side camera RC and the left side camera LC are an example of a second camera arranged in a direction other than the direction in which the spacecraft can travel.
  • FIG. 3 is a front view of the spacecraft according to the present embodiment as viewed from the front. As shown in FIG. 3, the wheel FW1 is connected to the shaft RSF, and the wheel FW2 connected to the shaft LSF is connected.
  • FIG. 4 is a side view of the spacecraft according to the present embodiment as viewed from the left side.
  • the directions of the lenses LF and LB of the front camera FC and the rear camera BC, which are the first cameras, are directed downward from the horizontal. Thereby, the obstacle on the moon surface in the running direction can be visualized.
  • FIG. 5 is a top view of the spacecraft according to the present embodiment as viewed from above.
  • the solar cells M7-1 to M7-4, M8 to M8-5, M9-1 to M9-5, M10-1 to M10- are also applied to the right side plate RP on the right side of the housing HS.
  • M11-1 to M11-5, and M12-1 to M12-5 are provided.
  • the solar cells are arranged obliquely. Thereby, the exclusive area rate in the housing
  • the housing HS has a top plate TP, a front plate FP, a rear plate BP, a right side plate RP, a left side plate LP, and a bottom plate DP (not shown).
  • the right side plate RP or the left side plate LP may be collectively referred to as a side plate.
  • the plates PL1, PL2, PL3, and PL4 are fixed to the top plate TP in a state where they are exposed from the top plate TP of the housing HS. That is, the surface is exposed to the outside by connecting to the top plate TP of the housing HS.
  • FIG. 6 is a schematic diagram of the AA cross section of FIG.
  • the spacecraft according to the present embodiment searches outside the equator of the moon. That is, it is assumed that sunlight is incident on the spacecraft R at an angle. For this reason, as shown in FIG. 6, the electronic device is provided in the back of the top plate, and the electronic device is being fixed to the top plate TP. Thereby, since reflected light when sunlight reflects on the ground such as the lunar surface LS does not hit the top plate TP, the electronic device is provided on the back of the top plate to prevent the temperature of the electronic device from rising. can do.
  • a battery board BB on which a battery which is one of electronic devices is mounted is fixed to the back surface of the plate PL1 via support columns P1-1 and P1-2.
  • the plate PL1 has a convex cross section, and is fitted into an opening provided in the top plate TP of the housing HS.
  • the battery which is one of the electronic devices, is fixed to the top plate TP.
  • an adhesive material (gel) GL1 having high thermal conductivity is sandwiched between the battery board BB and the back surface of the top plate TP. Thereby, the heat generated in the battery can be efficiently transmitted to the plate PL1, and the heat dissipation effect can be improved.
  • a power supply board PUB on which a power supply controller, which is one of electronic devices, is mounted is fixed to the back surface of the plate PL2 via support columns P2-1 and P2-2.
  • the plate PL2 has a convex cross section, and is fitted in an opening provided in the top plate TP of the housing HS.
  • the power supply controller that is one of the electronic devices is fixed to the top plate TP.
  • an adhesive material (gel) GL2 having high thermal conductivity is sandwiched between the power supply board PUB and the back surface of the top plate TP. Thereby, the heat generated by the power supply controller can be efficiently transmitted to the plate PL2, and the heat dissipation effect can be improved.
  • a motor board MCB on which a motor controller which is one of electronic devices is mounted is fixed to the back surface of the plate PL3 via support columns P3-1 and P3-2.
  • the plate PL3 has a convex cross section, and is fitted into an opening provided in the top plate TP of the housing HS.
  • the motor controller which is one of the electronic devices is fixed to the top plate TP.
  • an adhesive (gel) GL3 having a high thermal conductivity is sandwiched between the motor board MCB and the back surface of the top plate TP. Thereby, the heat generated by the motor controller can be efficiently transmitted to the plate PL3, and the heat dissipation effect can be improved.
  • a camera board CB on which a camera controller which is one of electronic devices is mounted is fixed to the back surface of the plate PL4 via support columns P4-1 and P4-2.
  • the plate PL4 has a convex cross section, and is fitted into an opening provided in the top plate TP of the housing HS.
  • the camera controller which is one of the electronic devices is fixed to the top plate TP.
  • an adhesive (gel) GL4 having a high thermal conductivity is sandwiched between the camera board CB and the back surface of the top plate TP. Thereby, the heat generated by the camera controller can be efficiently transmitted to the plate PL4, and the heat dissipation effect can be improved.
  • a communication board RB on which a communication controller that is one of electronic devices is mounted is fixed to the back surface of the plate PL5 via support columns P5-1 and P5-2.
  • the plate PL5 has a convex cross section, and is fitted into an opening provided in the rear plate BP of the housing HS.
  • the communication controller which is one of the electronic devices is fixed to the rear plate BP.
  • an adhesive (gel) GL4 having a high thermal conductivity is sandwiched between the camera board CB and the back surface of the top plate TP. Thereby, the heat generated by the camera controller can be efficiently transmitted to the plate PL4, and the heat dissipation effect can be improved.
  • FIG. 7 is a perspective view showing the structure of the plate PL4.
  • a camera board CB on which a camera controller is mounted and a plate PL4 are connected via four columns P4-1 to P4-4.
  • four holes HE1 to HE4 for fixing the plate PL4 to the top plate TP with screws are provided.
  • assembly can be simplified by packaging.
  • FIG. 8 is a table showing an example of the heat radiation amount for each plate and the paint color of the exposed surface (surface) of the plate.
  • the reflectance and absorption rate of light differ depending on the color. Therefore, the color of the exposed surface of the plate on which the electronic device is mounted is set so that the greater the heat dissipation amount of the electronic device, the higher the light reflectance and the lower the absorption rate.
  • the plates PL1 and PL4 to which the heat radiation source having a large heat radiation amount is fixed have, for example, a white paint color on the exposed surface (surface).
  • White has high light reflectivity and low absorptance, so it can suppress the temperature rise of the plates PL1 and PL4 even when exposed to sunlight, and can suppress the temperature rise of the battery and camera controller with large heat dissipation. it can.
  • the plates PL2 and PL3 to which the heat radiation source having a small heat radiation amount is fixed have, for example, a black painted color on the exposed surface (surface). Black has low light reflectivity and high absorption, so when sunlight is applied, it promotes the temperature rise of the plates PL2 and PL3, and makes the temperature of the battery and camera controller with a small amount of heat dissipation moderate. Can do.
  • the front plate FP and the rear plate BP of the housing HS are inclined inward of the spacecraft R from the bottom plate DP to the top plate TP.
  • the ratio which the sunlight reflected on the moon surface hits the front board FP and the back board BP can be reduced, the temperature rise of the spacecraft R can be suppressed.
  • FIG. 9 is a schematic view of the BB cross section of FIG.
  • the right side plate RP and the left side plate LP of the housing HS are inclined inward of the spacecraft R from the bottom plate DP to the top plate TP.
  • the ratio which the sunlight reflected on the lunar surface hits the right side board RP and the left side board LP can be reduced, the temperature rise of the spacecraft R can be suppressed.
  • a heat insulating material HI-1 is provided between the right side plate RP and the top plate TP, and the heat insulating material HI-1 is fixed to the top plate TP with bolts B1.
  • a heat insulating material HI-2 is provided between the left side plate LP and the top plate TP, and the heat insulating material HI-2 is fixed to the top plate TP with bolts B2.
  • the heat insulating materials HI-1 and HI-2 according to the present embodiment are, for example, engineering plastics, for example, ULTEM (registered trademark) of amorphous thermoplastic polyetherimide (PEI) resin.
  • FIG. 10 is a schematic diagram showing the visual field range of the camera in the horizontal direction.
  • the front view range FHV is the view range of the front camera FC
  • the rear view range BHV is the view range of the rear camera BC
  • the right view range RHV is the view range of the right camera RC
  • the left view range LHV is the left camera.
  • LC viewing range As shown in FIG. 10, the front visual field range FHV and the right side visual field range RHV partially overlap, and the front visual field range FHV and the left side visual field range LHV partially overlap.
  • the rear visual field range BHV and the right side visual field range RHV partially overlap, and the rear visual field range BHV and the left side visual field range LHV partially overlap. Thereby, 360 degrees around can be seen in the horizontal direction.
  • FIG. 11 is a schematic diagram showing the field of view of the camera in the AA section of FIG.
  • the front vertical visual field range FVV is a vertical visual field range of the front camera FC
  • the rear vertical visual field range is a vertical visual field range of the rear camera BC.
  • the front vertical visual field range FVV includes wheels FW1 and FW2.
  • wheels RW1 and RW2 are included in the rear vertical visual field range BVV.
  • both the front camera FC and the rear camera BC are in the field of view above the horizontal line L1.
  • FIG. 12 is a schematic diagram showing the field of view of the camera in the BB cross section of FIG.
  • the right vertical visual field range RVV is a vertical visual field range of the right-side camera RC
  • the left vertical visual field range is a vertical visual field range of the left-side camera LC.
  • the right vertical visual field range RVV includes wheels FW1 and RW1. Thereby, it can be confirmed whether or not stones are sandwiched between the wheels FW1 and RW1.
  • the left vertical visual field range LVV includes wheels FW2 and RW2. Thereby, it can be confirmed whether or not stones are sandwiched between the wheels FW2 and RW2.
  • both the right side camera RC and the left side camera LC are in the field of view above the horizontal line L2.
  • the resolution of the first camera such as the front camera FC and the rear camera BC is higher than the resolution of the second camera such as the right side camera RC and the left side camera LC. That is, the resolution of the camera in the traveling method (the method in which the wheel advances) is higher than the resolution of the side camera. Thereby, since the visual field range in the traveling direction can be seen with higher resolution, an obstacle or the like in the traveling direction can be easily found.
  • FIG. 13A is a schematic diagram illustrating a first movement mode of the spacecraft R.
  • FIG. 13B is a schematic diagram illustrating a second movement mode of the spacecraft R.
  • FIG. 13C is a schematic diagram showing directions in which the spacecraft R cannot move.
  • FIG. 13D is a schematic diagram illustrating a third movement mode of the spacecraft R. As shown to FIG. 13A, it can move to back and front, and as shown to FIG. 13B, it can turn on the spot. However, as shown in FIG.
  • FIG. 14 is a schematic block diagram showing the configuration of the spacecraft R according to the present embodiment.
  • the probe R includes a battery BAT and a power supply controller that controls the battery BAT.
  • the spacecraft R includes a motor MT, a gear box GB, and a motor controller MC that controls the motor MT and the gear box GB.
  • the spacecraft R is connected to the front camera FC, the right side camera RC, the first camera controller CMC1 that controls the front camera FC and the right side camera RC, and the first camera controller CMC1 via wiring.
  • 1 communication controller CC1 and 1st antenna AT1 connected to 1st communication controller CC1 are provided.
  • the first camera controller CMC1 includes a first processor PC1.
  • the spacecraft R is connected to the rear camera BC, the left camera LC, the second camera controller CMC2 for controlling the rear camera BC and the left camera LC, and the second camera controller CMC2 via wiring.
  • 2 communication controller CC2 and 2nd antenna AT2 connected to 2nd communication controller CC2.
  • the second camera controller CMC2 includes a second processor PC2.
  • the front camera FC is connected to the first processor PC1
  • the rear camera BC is connected to the second processor PC2. That is, the front camera and the rear camera are connected to separate processors.
  • the other processor can operate. Therefore, either the front camera FC or the rear camera BC can be operated. Can be transferred to the ground station E. Therefore, the spacecraft R can be moved either forward or backward while viewing the image of either the front camera FC or the rear camera BC.
  • FIG. 15 is a schematic diagram showing a hardware configuration of the first camera controller CMC1.
  • the front camera FC is connected to an A / D converter AD1
  • the A / D converter AD1 is connected to the serial interface SI1 of the first camera controller CMC1 via a flat cable.
  • the serial interface SI1 is an interface compliant with, for example, MIPI (Mobile Industry Processor Interface) standard.
  • the right side camera RC is connected to the A / D converter AD2, and the A / D converter AD2 is connected to the parallel interface PI1 of the first camera controller CMC1 via a flat cable.
  • the first camera controller CMC1 is connected to the front camera FC or the right camera RC via a serial or parallel interface.
  • the first camera controller CMC1 requests and acquires moving image data from the front camera FC and the right side camera RC at a predetermined frame rate, and compresses the acquired moving image data by hardware encoding.
  • the compressed data is transferred to the first communication controller CC1.
  • the first communication controller CC1 transmits the compressed data from the first antenna AT1 to the transport ship (lander) L. Thereafter, the compressed data is transferred from the transport ship (lander) L to the ground station E.
  • the moving image data photographed by the front camera FC and the right-side camera RC of the spacecraft R can be transferred to the ground station, and the operator who operates the spacecraft R can view the moving image data on the earth.
  • the operator who operates the spacecraft R can see the image of the moon on the earth.
  • the front camera FC and the right-side camera RC do not need to be always turned on like the USB camera, and need only operate when requesting moving image data, thereby reducing power consumption. Can do.
  • FIG. 16 is a schematic diagram showing a hardware configuration of the second camera controller CMC2.
  • the rear camera BC is connected to an A / D converter AD3, and the A / D converter AD3 is connected to the serial interface SI2 of the second camera controller CMC2 via a flat cable.
  • the serial interface SI2 is an interface compliant with, for example, MIPI (Mobile Industry Processor Interface) standard.
  • the left side camera LC is connected to the A / D converter AD4, and the A / D converter AD4 is connected to the parallel interface PI2 of the second camera controller CMC2 via a flat cable.
  • the second camera controller CMC2 is connected to the rear camera BC or the left camera LC via a serial or parallel interface.
  • the second camera controller CMC2 requests and acquires moving image data from the rear camera BC and the left camera LC at a predetermined frame rate, and compresses the acquired moving image data by hardware encoding.
  • the compressed data is transferred to the second communication controller CC2.
  • the second communication controller CC2 transmits the compressed data from the second antenna AT2 to the transport ship (lander) L. Thereafter, the compressed data is transferred from the transport ship (lander) L to the ground station E.
  • FIG. 17 is a schematic diagram illustrating an outline of a cross section of the housing HS.
  • the housing HS includes a substrate 1, a metal film (here, a silver film as an example) 2 deposited on the substrate 1, and a Teflon layer provided on the metal film 2.
  • the substrate is, for example, carbon fiber reinforced plastic (Carbon Fiber Reinforced Plastics: hereinafter referred to as CFRP).
  • CFRP Carbon Fiber Reinforced Plastics
  • sunlight can be reflected by the metal film 2 and the heat of the housing HS can be emitted from the Teflon layer 3 as infrared rays by radiation.
  • a quartz glass layer may be used instead of the Teflon layer 3.
  • the housing HS includes an indium oxide tin (Indium Tin Oxide: hereinafter referred to as ITO) layer 4 provided on the Teflon layer 3.
  • ITO Indium Tin Oxide
  • ITO is a transparent conductive film.
  • FIG. 18 is a flowchart illustrating an example of a process flow relating to coating of the casing on the front plate FP, the rear plate BP, the top plate TP, and the bottom plate DP.
  • Step S101 First, the CFRP plate is processed.
  • a CFRP plate is cut out to a predetermined size, and an opening for fitting a distance sensor is made.
  • CFRP is cut out to a predetermined size, and an opening for fitting the plate PL5 is made.
  • CFRP is cut out to a predetermined size, and openings for fitting the plates PL1 to PL4 are made.
  • CFRP is cut out to a predetermined size.
  • Step S102 silver is deposited on the CFRP plate in a vacuum.
  • Step S103 Teflon powder is sprayed onto the silver deposition surface. As a result, Teflon particles on the beads adhere to the silver deposition surface.
  • Step S104 Next, the temperature is raised and Teflon is melted and baked. As a result, the Teflon particles are melted and connected to each other, and the surface of the Teflon layer becomes flat.
  • Step S105 ITO is deposited in vacuum. Thereby, the front plate FP, the rear plate BP, the top plate TP, and the bottom plate DP are obtained.
  • FIG. 19 is a schematic diagram showing the left side plate LP before coating.
  • the left side plate LP is provided with through holes H1 to H6 for drawing wirings connected to the solar cell into the housing HS. ing.
  • casing HS is similarly provided in the left side plate LP.
  • FIG. 20 is a diagram illustrating an example of the configuration of the power controller PU.
  • the solar cells are connected in series for each column by wiring, and the wiring is drawn into the housing HS from, for example, the through holes H1 to H6 shown in FIG. Connected.
  • each wiring from the solar cell is connected to the anodes of the corresponding diodes D1 to D12 and rectified.
  • the cathodes of the diodes D1 to D12 are respectively connected to the charge / discharge circuit CDC, and the current rectified by the diodes D1 to D12 is input to the charge / discharge circuit CDC.
  • the wiring from the solar cell is connected to the charge / discharge circuit CDC in the housing HS through the through holes H1 to H6 provided in the housing HS.
  • the charge / discharge circuit CDC charges the battery BAT using the input current.
  • the charge / discharge circuit CDC supplies power to other electronic devices using the power of the battery BAT.
  • FIG. 21 is a flowchart showing an example of a process of creating the right side plate RP or the left side plate LP which is a side plate.
  • Step S201 First, CFRP is cut into a predetermined size, and a through hole is opened in the CFRP plate.
  • Step S202 Next, the through hole provided in the CFRP plate is masked. Thereby, it can avoid that a through-hole is obstruct
  • Step S203 silver is deposited on the CFRP plate in a vacuum.
  • Step S204 Teflon powder is sprayed onto the silver deposition surface. As a result, Teflon particles on the beads adhere to the silver deposition surface.
  • Step S205 Next, the temperature is raised and the Teflon is melted and baked. As a result, the Teflon particles are melted and connected to each other, and the surface of the Teflon layer becomes flat.
  • Step S206 ITO is deposited in vacuum.
  • Step S207 Next, the masking attached in Step S202 is taken.
  • Step S208 a heat-resistant and cold-resistant polyimide film is stuck on the ITO.
  • the polyimide film is, for example, Kapton (registered trademark).
  • Step S209 the solar cell is fixed on the polyimide film. Thereby, the right side plate RP or the left side plate LP which is a side plate is obtained.
  • FIG. 22 is a schematic diagram of a front view of the probe R at a predetermined latitude where the probe R is arranged.
  • the surface of the housing on which the solar cells are arranged (in this embodiment, the right side surface and the left side surface as an example) is inclined inward of the spacecraft R from the bottom plate DP to the top plate TP. ing. Thereby, since the light from the sun can be received efficiently, the power generation amount can be increased.
  • the right side surface and the left side surface which are the surfaces of the housing where the solar cells are disposed, are inclined at an angle at which the power generation capacity from when the sun rises to when it sinks is maximized at the latitude where the spacecraft R is to be disposed. Yes. Specifically, as shown in FIG. 22, when the maximum elevation angle of the sun at the latitude where the spacecraft R is to be arranged is ⁇ 1 degree, the angle at which the power generation capacity from when the sun rises until it sinks is maximum is ⁇ 1. Therefore, the inclination of the right side surface and the left side surface from the horizontal plane is set to ⁇ 1 degree.
  • FIG. 23 is a schematic diagram of a front view of the spacecraft R when the latitude where the spacecraft R is to be arranged is higher than that in FIG.
  • the maximum elevation angle ⁇ 2 of the sun at the latitude where the spacecraft R is to be arranged becomes smaller than ⁇ 1.
  • the angle at which the power generation capacity from when the sun rises until it sinks becomes ⁇ 2, which is larger than ⁇ 1, so the inclination of the right side surface and the left side surface from the horizontal plane is set to ⁇ 2 degrees.
  • FIG. 24 is a schematic diagram of a front view of the spacecraft R when the latitude where the spacecraft R is to be arranged is lower than in the case of FIG.
  • the maximum elevation angle ⁇ 3 of the sun at the latitude where the spacecraft R is to be arranged becomes larger than ⁇ 1.
  • the angle at which the power generation capacity from when the sun rises until it sinks becomes ⁇ 3 smaller than ⁇ 1, so the inclination of the right side surface and the left side surface from the horizontal plane is set to ⁇ 3 degrees.
  • the inclination of the surface (here, the right side surface and the left side surface) of the casing on which the solar cell is disposed is determined according to the latitude at which the spacecraft R is to be disposed. Specifically, the higher the latitude at which the spacecraft R is to be arranged, the smaller the maximum elevation angle of the sun, so the inclination of the right side RP and the left side from the horizontal plane increases. Thereby, since the inclination of the solar cell is set according to the maximum elevation angle of the sun, the amount of power generation can be increased.
  • FIG. 25 is an exploded perspective view of the wheel FW2.
  • the wheel FW2 includes a motor MT, a motor slave SV, a bearing BR1, a bearing spacer BS, a bearing BR2, a motor housing MH, a bearing hold plate BHP, a clamp HC, a hub HB, and a wheel WL2.
  • the motor MT is inserted into the motor slave SV, the rotation shaft of the motor MT is inserted into the first hole HL in FIG. 26 of the hub HB, and the rotation shaft of the motor MT is clamped to the hub HB by the clamp HC.
  • FIG. 26 is a front view of the hub HB as seen from the direction of the arrow A1 in FIG. As shown in FIG. 26, it has the 1st hole HL and the notch CO connected to the said 1st hole HL.
  • FIG. 27 is a cross-sectional view of the hub HB when cut along the DD cross section of FIG. As shown in FIG. 27, the hub HB has a cone-shaped projection PJ near the center. As described above, the hub HB has the cone-shaped convex portion PJ near the center, and communicates with the first hole HL in which the rotation shaft of the motor MT is fitted in the convex portion PJ and the first hole HL. Has cutout CO.
  • FIG. 28 is a cross-sectional view of the clamp HC taken along the CC cross section of FIG.
  • the rotating shaft of the motor MT is inserted from the front surface FS side, and the hub HB is on the back surface RS side.
  • the clamp HC has a second hole HL2 whose diameter gradually decreases from the rear surface RS toward the front surface FS.
  • the convex portion PJ is fitted in the second hole HL2 with the back surface RS of the clamp HC and the hub HB facing each other.
  • the notch CO is narrowed
  • the contour around the first hole HL of the hub HB is narrowed
  • the rotation shaft of the motor MT is strongly restrained. .
  • the motor MT is fixed, if an excessive force is applied to the rotating shaft of the motor MT in the rotating shaft direction, the motor MT suddenly stops rotating.
  • the electronic device is not fixed to the top plate, but the electronic device may be disposed on the back surface of the front plate FP or the rear plate BP, or the electronic device may be disposed on the back surface of the bottom plate DP.
  • an electronic device can be provided on the back side of the surface where sunlight does not enter, and an increase in temperature of the electronic device can be prevented.
  • the heat generated from the electronic device can be released from the top plate TP of the housing HS to the outer space to suppress the temperature rise of the electronic device.
  • both the front plate FP and the rear plate BP of the housing are inclined to the inside of the spacecraft R from the bottom plate DP to the top plate TP. Good.
  • both the right side plate RP and the left side plate LP of the housing are inclined inward of the spacecraft R from the bottom plate DP to the top plate TP, but only one of them is inclined. Also good.
  • the wheel FW1 is included in both the field of view of the front camera FC that is one of the first cameras and the field of view of the right-side camera RC that is one of the second cameras.
  • the present invention is not limited to this, and the wheel FW1 may be included only in one field of view.
  • the other wheels FW2, RW1, RW2. In this way, it is only necessary to see the wheels with at least one of the cameras. Thereby, it can be confirmed whether the wheel is not clogged with stones.
  • the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage.
  • various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment.
  • constituent elements over different embodiments may be appropriately combined.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Studio Devices (AREA)

Abstract

Une sonde selon la présente invention, qui peut se déplacer, comprend : des roues; une première caméra disposée de manière à faire face à une direction dans laquelle la sonde peut se déplacer; et une seconde caméra disposée de manière à faire face à une direction autre que la direction dans laquelle la sonde peut se déplacer. L'objectif de la première caméra et/ou de la seconde caméra est orienté de manière à faire face à une direction vers le bas par rapport à la direction horizontale, et les roues sont incluses dans le champ visuel de la première caméra et/ou le champ visuel de la seconde caméra.
PCT/JP2016/073673 2016-08-10 2016-08-10 Sonde Ceased WO2018029840A1 (fr)

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PCT/JP2017/028682 WO2018030368A1 (fr) 2016-08-10 2017-08-08 Sonde, procédé de fabrication d'élément de sonde et procédé de fabrication de sonde

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CN110626523A (zh) * 2019-10-18 2019-12-31 中国矿业大学(北京) 月球区域观测与通信系统及弹跳装置
CN112249367A (zh) * 2020-10-13 2021-01-22 哈尔滨工业大学 一种小行星探测机动巡视装置

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CN108725845B (zh) * 2018-08-16 2020-11-24 重庆大学 着陆缓冲与隔振一体化悬架
CN109484673B (zh) * 2018-12-24 2022-04-22 深圳航天东方红海特卫星有限公司 一种载荷平台分离式遥感微小卫星构型及其装配方法

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CN112249367A (zh) * 2020-10-13 2021-01-22 哈尔滨工业大学 一种小行星探测机动巡视装置

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