ELECTRICALLY CHARGED LUNAR REGOLITH COLLECTION DEVICES FOR LUNAR ROVERS

A lunar rover includes a body, at least one collection device configured to collect lunar regolith, and a power supply. In some examples, the collection device includes at least one wall defining an opening and at least one plate positioned in the opening. The power supply is configured to apply a voltage difference across the collection device. In some examples, the lunar rover further includes a movable arm including an end connected to the body and another end connected to the collection device, at least one polarity sensor configured to detect a polarity of lunar regolith adjacent to the lunar rover, and a controller configured to control the power supply to apply a voltage difference across the collection device based on the detected polarity of the lunar regolith adjacent to the lunar rover. Other examples of lunar rovers are also disclosed.

INTRODUCTION

The present disclosure relates to electrically charged lunar regolith collection devices for lunar rovers, and more particularly to collection devices having one or more plates therein and/or movable collection devices.

Lunar rovers are vehicles designed to move across the surface of the moon. When lunar rovers move on the surface of the moon, dust particles known as lunar regolith may be kicked up by the motion of the wheels of the rovers. Lunar regolith is typically sharp and jagged due to the moon having no natural weathering process for smoothing edges of the particles.

SUMMARY

An lunar rover includes a body, at least one collection device adjacent to the body and configured to collect lunar regolith, and a power supply. The at least one collection device includes at least one wall defining an opening and at least one plate positioned in the opening. The power supply is electrically connected to the at least one plate of the collection device and configured to apply a voltage difference across the at least one plate, thereby attracting lunar regolith into the at least one collection device.

In other features, the at least one collection device has a funnel shape with the opening tapering from a first end to a second end opposing the first end.

In other features, the at least one plate includes a steel wool mesh.

In other features, the at least one plate includes a first mesh plate having perforations and a second mesh plate having perforations, the first mesh plate and the second mesh plate are spaced apart from each other, and the perforations of the second mesh plate are smaller than the perforations of the first mesh plate.

In other features, the first mesh plate is adjacent to the first end of the opening in the collection device, and the second mesh plate is adjacent to the second end of the opening in the collection device.

In other features, the power supply is configured to apply a first voltage difference across the first mesh plate and a second voltage difference across the second mesh plate, and the second voltage difference is larger than the first voltage difference.

In other features, the at least one plate has a conical shape.

In other features, the at least one collection device includes a conduit extending through the at least one conical-shaped plate, and the conduit is configured to transport lunar regolith downward from the at least one conical-shaped plate to a bottom portion of the at least one collection device.

In other features, the lunar rover further includes at least one polarity sensor configured to detect a polarity of lunar regolith adjacent to the lunar rover.

In other features, the lunar rover further includes a controller in communication with the at least one polarity sensor. The controller is configured to control the power supply to adjust a polarity of the voltage difference applied across the at least one plate of the collection device based on the detected polarity of the lunar regolith adjacent to the lunar rover.

In other features, the lunar rover further includes a controller in communication with the at least one polarity sensor. The controller is configured to receive a signal from the at least one polarity sensor indicative of a charge of the lunar regolith adjacent to the lunar rover, determine a density of the lunar regolith adjacent the lunar rover based on the received signal, and control the power supply to adjust the voltage difference applied across the at least one plate of the collection device based on the determined density of the lunar regolith adjacent the lunar rover.

In other features, the lunar rover further includes at least one component sensitive to lunar regolith coupled to the body. The at least one collection device is coupled to the body adjacent to the at least one component.

An lunar rover includes a body, at least one collection device configured to collect lunar regolith, a movable arm including a first end connected to the body and a second opposing end connected to the at least one collection device, at least one polarity sensor configured to detect a polarity of lunar regolith adjacent to the lunar rover, a power supply electrically connected to the at least one collection device, and a controller in communication with the at least one polarity sensor and the power supply. The controller is configured to control the power supply to apply a voltage difference across the at least one collection device based on the detected polarity of the lunar regolith adjacent to the lunar rover, thereby attracting lunar regolith to the at least one collection device.

In other features, the controller is in communication with the movable arm. The controller is configured to receive a signal from the at least one polarity sensor, and in response to receiving the signal, adjust the movable arm from a first position to a second position.

In other features, the at least one collection device includes at least one wall defining an opening and at least one mesh plate positioned in the opening, and the controller is configured to control the power supply to apply the voltage difference across the at least one mesh plate, thereby attracting lunar regolith into the at least one collection device.

In other features, the at least one mesh plate includes a steel wool mesh.

In other features, the at least one mesh plate includes a first mesh plate having perforations and a second mesh plate having perforations, the perforations of the second mesh plate are smaller than the perforations of the first mesh plate, the controller is configured to control the power supply to apply a first voltage difference across the first mesh plate and a second voltage difference across the second mesh plate, and the second voltage difference is larger than the first voltage difference.

In other features, the at least one collection device includes at least one wall defining an opening and at least one conical-shaped plate positioned in the opening.

In other features, the at least one collection device includes a conduit extending through the at least one conical-shaped plate, and the conduit is configured to transport lunar regolith downward from the at least one conical-shaped plate to a bottom portion of the at least one collection device.

In other features, the at least one collection device includes a mesh plate at least partially surrounding a perimeter of the body.

DETAILED DESCRIPTION

When a lunar rover operates on the surface of the moon, charged dust particles or charged lunar regolith are kicked up by the motion of the wheels of the rover and/or other disturbances caused by the rover. The charged dust particles may be attracted to and adhere to different components of the rover. Such components may include, for example, critical components sensitive to the particles such as electrical/electronic components (e.g., controllers, batteries, converters, etc.), mechanical components (e.g., radiators, chassis, axles, wheels, etc.), etc. Additionally, lunar regolith is abrasive due to its sharp and jagged edges. As such, lunar regolith kicked up by rover and/or other disturbances may cause undesirable wear and tear on such components.

Dust traps (also referred to as collection devices herein) according to the present disclosure include solutions to attract, collect and neutralize charged lunar regolith. For example, collection devices herein may be electrically charged with a voltage difference (e.g., a voltage potential) to attract lunar regolith. In various embodiments, the collection devices may include one or more electrified mesh plates (e.g., formed of perforated plates, steel wool plates, etc.), solid plates, etc. positioned within an interior space or opening of the devices. Additionally, in some embodiments, the collection devices may be coupled adjacent to and/or movable (e.g., via a movable arm, etc.) to a position adjacent to critical components of lunar rovers. As a result, the collection devices may attract, collect and neutralize at least a portion of the charged lunar regolith in the vicinity of the devices and the critical components, thereby preventing such lunar regolith from interacting with the components.

Referring now toFIG.1, a lunar rover100having multiple lunar regolith collection devices coupled thereto is shown. As shown, the lunar rover100generally includes a body102, wheels104(e.g., four wheels, etc.) coupled to the body102, components106,108coupled to the body102and susceptible to lunar regolith, a power supply110, a controller112in communication with the power supply110, a sensor114in communication with the controller112, and multiple lunar regolith collection devices116. The components106,108may include, for example, various types of critical components such as electrical/electronic components (e.g., controllers, batteries, converters, etc.), mechanical components (e.g., radiators, chassis, axles, wheels, etc.), etc.

The power supply110applies a voltage difference across the collection devices116as further explained herein. For example, the power supply110(e.g., components therein) may be controlled by the controller112to apply the same or different voltage differences across the collection devices116, and more specifically across components of the collection devices116. In various embodiments, the power supply110may include, for example, one or more batteries, one or more voltage regulators, etc.

The sensor114detects various parameters of lunar regolith in the area of the lunar rover100and/or parameters of components of the lunar rover100. For example, the sensor114may be a polarity sensor for detecting a polarity of lunar regolith adjacent to the lunar rover100. In other examples, the sensor114may be a temperature sensor for monitoring temperature of components (e.g., the batteries, etc.) of the lunar rover100, and/or for monitoring ambient temperature near the lunar rover100. Although the rover100ofFIG.1is shown as including one, centrally located sensor114, it should be appreciated that the rover100may include multiple sensors (e.g., polarity sensors, temperature sensors, etc.) positioned near the collection devices116, components of the rover100, etc.

The collection devices116ofFIG.1may be positioned on or near the body102and adjacent to the components106,108and/or other sensitive/critical components of the rover100. For example, one or more of the collection devices116may be coupled to the body102near the component106, the component108(e.g., a radiator of the rover100), the power supply110, the controller112, etc. In some examples, the collection devices116may be fixed in a position (e.g., embedded in the body102) or movable. For instance, one or more of the collection devices116may be detachably coupled (e.g., via one or more mechanical devices) to the body102, thereby allowing the collection devices116to move from one position to another position if desired. Although the rover100ofFIG.1is shown as including ten collection devices116positioned on the body102, it should be appreciated that the rover100may include more or less collection devices positioned at different locations on or near the body102if desired.

The collection devices116may be any suitable devices for collecting lunar regolith. For example, each of the collection devices116includes at least one component (e.g., a wall, a plate, etc.) that is at least partially formed of electrically conductive material. For example, and as further explained herein, any one of the collection devices116may include one or more perforated plates, steel wool plates, solid plates, etc. that are electrified to attract charged lunar regolith. In various embodiments, each of the collection devices116ofFIG.1may have the same configuration. In other examples, some of the collection devices116may have a different configuration.

For example,FIG.2illustrates an example collection device216employable as any one of the collection devices116ofFIG.1. As shown, the collection device216generally includes walls220,222,224defining an opening226, and three mesh plates228,230,232coupled between the walls220,222. Although not shown inFIG.2, the collection device216includes other walls (e.g., front and back side walls) coupled between the walls220,222(e.g., side walls) and the wall224(e.g., a bottom wall) to form a substantially enclosed device having an inlet234for allowing lunar regolith to enter. In various embodiments, the side walls and/or the bottom wall may be one continuous piece of material or multiple pieces of material coupled together.

In the embodiment ofFIG.2, the side walls220,222are angled inward toward each other. With this configuration, the collection device216has a funnel shape with the opening226tapering from one end (near top portions of the side walls220,222) to another, opposing end (near the bottom portions of the side walls220,222), as shown inFIG.2.

The mesh plates228,230,232are spaced apart from each other and positioned in the opening226. More specifically, the mesh plate228is positioned adjacent one end (e.g., near the top portions of the side walls220,222) of the opening226, the mesh plate232is positioned adjacent another end (e.g., near the bottom portions of the side walls220,222) of the opening226, and the mesh plate230is positioned between the mesh plates228,232.

As shown inFIG.2, the mesh plates228,230,232have different thicknesses relative to each other. For example, the mesh plate228has a greater width than the mesh plates230,232. Additionally, the mesh plate230has a greater width than the mesh plate232. In such examples, each mesh plate228,230,232may have a different charge density due to (in part) the differing thicknesses.

Although the collection device216is shown as including three, particularly arranged mesh plates228,230,232having different thicknesses, it should be appreciated that in other embodiments the collection device216(and/or any other collection device herein) may include more or less mesh plates having the same or different thicknesses. For example, the collection device216may include one mesh plate, two mesh plates, five mesh plates, etc. of the same or different thicknesses. In some embodiments, the collection device216(and/or any other collection devices herein) may include only non-mesh plates (e.g., solid plates, etc.), and/or a mixture of both non-mesh plates and mesh plates.

Additionally, each mesh plate228,230,232includes perforations. For example, each plate may have a random distribution of perforations, or a uniform distribution of perforations (or a mix of both). For instance, the uniform distribution may include perforations arranged in lines, perforations arranged in equally spaced patterns, etc. Additionally, the perforations may have an irregular shape or a regular shape (or a mix of both). For example, the perforations may be circular, square, hexagonal, triangular, etc. In some example embodiments, the perforations may have a circular shape, and a diameter in a range of about 1 μm to about 100 μm. The range may scale with dimensions of the rover100ofFIG.1and/or components therein.

FIGS.3-5illustrate examples of the mesh plates228,230,232ofFIG.2. Each mesh plate228,230,232includes a base342,442,542defining circular perforations344,444,544, respectively. As shown, the perforations344of the plate228are arranged in offset lines and have a uniform distribution, the perforations444of the plate230are arranged in symmetrical lines and have a uniform distribution, and the perforations544of the plate232have a random distribution.

In the example ofFIGS.3-5, the perforations344,444,544of the plates228,230,232have different sizes. For example, the perforations544of the mesh plate232are smaller (e.g., in diameter) than the perforations344,444of the mesh plates228,230, and the perforations444of the mesh plate230are smaller (e.g., in diameter) than the perforations344of the mesh plate228. As one example, the perforations544may have a diameter of about 1 μm, the perforations444may have a diameter of about 10 μm, and the perforations344may have a diameter of about 100 μm. In such examples, particles of lunar regolith smaller than about 100 μm may pass through the mesh plate228(via the perforations344), particles of lunar regolith smaller than about 10 μm may pass through the mesh plate230(via the perforations444), and particles of lunar regolith smaller than about 1 μm may pass through the mesh plate232(via the perforations544). As such, smaller particles of lunar regolith collected in the collection device216are allowed to fall deeper into the collection device216while the larger particles of lunar regolith are filtered and collected at the appropriate mesh plate228,230,232.

Although the plates228,230,232ofFIGS.3-5are shown with a particular number of the perforations344,444,544arranged in a particular manner, it should be appreciated that in other embodiments the plates228,230,232may include a different number of perforations, different sized and/or shaped perforations, a different distribution, etc. For example,FIG.6illustrates another example mesh plate628that is employable as any one of the mesh plates228,230,232ofFIG.2. As shown, the mesh plate628includes a collection of thin wires644(only a portion of which is shown inFIG.6for clarity) crossing each other to form a mesh configuration.

In other embodiments, the mesh plates disclosed herein may include a steel wool mesh or another suitable electrically conductive mesh material. For example,FIG.7another example collection device716employable as any one of the collection devices116ofFIG.1. The collection device716ofFIG.7is substantially similar to the collection device216ofFIG.2but includes a steel wool mesh. Specifically, and as shown inFIG.7, the collection device716generally includes the walls220,222,224and the opening226ofFIG.2, and a steel wool mesh plate728coupled between the walls220,222. Although the collection device716ofFIG.7is shown as only including one layer of the steel wool mesh, it should be appreciated that additional layers of steel wool mesh and/or another electrically conductive material may be employed in some embodiments. For example, the collection device716may include three layers of steel wool mesh spaced apart from each other in a similar manner as the mesh plate228,230,232ofFIG.2.

The steel wool mesh plate728includes a collection of thin wires randomly positioned across the collection device716. The thin wires define randomly distributed perforations of different sizes and shapes to collect lunar regolith of different sizes and shapes.

Referring back toFIG.1, the power supply110may be electrically connected to any one of the plates, mesh, etc. disclosed herein (e.g., the mesh plates228,230,232,628ofFIGS.2-6, the mesh plate728ofFIG.7, etc.) and apply a voltage difference across such plates, mesh, etc. For example, and with reference toFIG.2, the power supply110ofFIG.1is electrically connected to each mesh plate228,230,232and applies a voltage difference across each mesh plate228,230,232. More specifically, the power supply110ofFIG.2is electrically connected to the mesh plates228,230,232via voltage regulators236,238,240, respectively. The voltage regulators236,238,240may be external to and electrically connected to the power supply110(as shown inFIG.2) or components of the power supply110(and internal to the power supply110). In either case, each voltage regulator236,238,240may be individually controlled by the controller112(ofFIG.1) to provide a desired voltage across its associated plate228,230,232.

The power supply110may apply the same voltage difference across each mesh plate228,230,232or different voltage differences across one or more of the mesh plates228,230,232. For example, in some embodiments, the power supply110may apply one voltage difference across the mesh plate228(via the regulator236), another voltage difference across the mesh plate230(via the regulator238), and yet another voltage difference across the mesh plate232(via the regulator240). In some examples, the voltage difference across the mesh plate232(the thinnest plate) may be larger than the voltage differences across the mesh plates228,230, and the voltage difference across the mesh plate230may be larger than the voltage difference across the mesh plate228. As such, in this example, the mesh plate232(which is positioned deepest into the opening226of the collection device216) has the largest applied voltage difference and charge density (relative to the other plates228,230) to attract lunar regolith collected in the collection device216. As a result, lunar regolith collected in the collection device216is drawn further into the collection device216and inhibited from escaping the collection device216.

In various embodiments, the power supply110(and/or the voltage regulator236,238,240) may be controlled to selectively apply, adjust, etc. a polarity of the voltage difference across any one of the collection devices, plates, mesh, etc. disclosed herein. For example, and with reference toFIGS.1-2, the controller112may receive a signal from the sensor114(e.g., a polarity sensor) indicating the polarity of the lunar regolith adjacent the lunar rover100. Then, the controller112may control the power supply110(and/or the voltage regulator236,238,240) to selectively apply, adjust, etc. a polarity of the voltage differences applied across the mesh plates228,230,232based on the detected polarity of the lunar regolith adjacent to the lunar rover100. In such examples, the mesh plates228,230,232may have an opposite charge to the prevailing charge of the lunar regolith. As the dust particles attach to the mesh plates228,230,232, the charge of the dust particles is neutralized by the plates228,230,232, and the dust particles may then fall against the plates and/or fall further into the collection device216.

Additionally, the power supply110(and/or the voltage regulator236,238,240) may be controlled to selectively apply, adjust, etc. a voltage difference across any one of the collection devices, plates, mesh, etc. disclosed herein. For example, and with continued reference toFIGS.1-2, the controller112may receive a signal from the sensor114(e.g., a polarity sensor) indicating the charge of the lunar regolith adjacent to the lunar rover100. The controller112may then determine a density of the lunar regolith adjacent to the lunar rover100based on the received signal. For example, the controller112may estimate the density (e.g., parts per million, etc.) of dust particles adjacent to the lunar rover100based (in part) on the collective charge of the lunar regolith, a known amount of charge of a typical dust particle, and a known detection area (e.g., a volume) of the sensor114.

Then, the controller112may control the power supply110(and/or the voltage regulator236,238,240) to selectively apply, adjust, etc. a voltage difference across the mesh plates228,230,232ofFIG.2based on the determined density of the lunar regolith adjacent the lunar rover100. For example, if the determined density is above a defined threshold, the controller112may control the power supply110to apply a defined voltage difference across one or more of the mesh plates228,230,232, to increase the voltage difference across one or more the mesh plates228,230,232, etc. In other examples, if the determined density is below the defined threshold (or another defined threshold), the controller112may control the power supply110to apply another defined voltage difference across one or more the mesh plates228,230,232, to decrease, remove, etc. the voltage difference across one or more the mesh plates228,230,232, etc. In this way, time-variable voltage differences may be applied, adjusted, etc. across the mesh plates228,230,232, to control a speed, direction, etc. of a flow of the lunar dust particles, and therefore control where the lunar regolith is accumulated on the lunar rover100.

Although the features of the power supply110and the controller112are described above with reference to the collection device216and the mesh plates228,230,232, it should be appreciated that the same features may be applied to other collection devices and/or plates disclosed herein, including the mesh plate628ofFIG.6, the collection device716and the steel wool mesh plate728ofFIG.7, etc.

In various embodiments, the collection devices disclosed herein may be configured and/or include one or more components to effectively dispose of the collected lunar regolith. For example, any one of the collection devices may include one or more plates having a shape for encouraging collected lunar regolith to fall towards a bottom portion of the collection device, to collect in designated areas along the plate(s) of the collection device, etc.

FIG.8illustrates one example collection device816employable as any one of the collection devices116ofFIG.1. The collection device816ofFIG.8is substantially similar to the collection device216ofFIG.2but includes conical-shaped plates. Specifically, and as shown inFIG.8, the collection device816generally includes the walls220,222,224and the opening226ofFIG.2, and three conical-shaped plates828,830,832coupled between the walls220,222. The example ofFIG.8, the conical-shaped plates828,830,832may include solid plates, mesh plates (e.g., similar to the mesh plates228,230,232,628ofFIGS.2-6), steel wool mesh, etc. Additionally, the conical-shaped plates828,830,832may be electrified to have a voltage difference as explained herein.

As shown inFIG.8, each conical-shaped plate828,830,832includes an apex (or vertex) positioned near a middle portion between the side walls220,222and sides extending downward from the apex towards the side walls220,222. In this manner, lunar regolith may contact the conical-shaped plates828,830,832thereby neutralizing the charge of the lunar regolith particles. The particles may then fall along the plates828,830,832towards the side walls220,222and collect in crevices defined by the plates828,830,832and the side walls220,222. The collected lunar regolith particles may then be disposed of at a later time by turning the collection device816to allow the neutralized lunar regolith particles to fall out of the collection device816.

In various embodiments, the plates828,830,832may define one or more openings near the side walls220,222. With this arrangement, collected and neutralized lunar regolith particles may fall downward through the openings and to a bottom portion of the collection device816for disposal at a later time (as explained above).

FIG.9illustrates another example collection device916employable as any one of the collection devices116ofFIG.1. The collection device916ofFIG.9is substantially similar to the collection device816ofFIG.8but includes different configured conical-shaped plates. Specifically, and as shown inFIG.9, the collection device916generally includes the walls220,222,224and the opening226ofFIG.2, three conical-shaped plates928,930,932coupled between the walls220,222, and a conduit948extending through the plates928,930,932. In the example ofFIG.9, the conical-shaped plates928,930,932may include solid plates, mesh plates (e.g., similar to the mesh plates228,230,232,628ofFIGS.2-6), steel wool mesh, etc. Additionally, the conical-shaped plates928,930,932may be electrified to have a voltage difference as explained herein.

As shown inFIG.9, each conical-shaped plate928,930,932includes an apex (or vertex) positioned near a middle portion between the side walls220,222and sides extending upward from the apex towards the side walls220,222. In this manner, lunar regolith may contact the conical-shaped plates928,930,932thereby neutralizing the charge of the lunar regolith particles. The particles may then fall downward along the plates928,930,932towards the apex, and into the conduit948. The conduit948may then transport the collected particles downward from the plates928,930,932to a bottom portion of the collection device916. At this point, the particles may collect in the bottom portion of the collection device916for disposal at a later time (as explained above). In some embodiments, the bottom wall224may include a door that opens via user control and/or via a controller to allow the collected particles to fall out of the collection device916.

In various embodiments, the lunar rovers disclosed herein may include one or more movable arms (e.g., movable levers, etc.) for moving lunar regolith collection devices of the rovers from one position to another position.

For example,FIG.10illustrates a lunar rover1000substantially similar to the lunar rover100ofFIG.1but includes a movable arm for moving a lunar regolith collection device. Specifically, the lunar rover1000generally includes the body102, the wheels104, the power supply110, and the sensor114(e.g., a polarity sensor) ofFIG.1. As shown, the rover1000further includes a movable arm1060, a lunar regolith collection device1016electrically connected to the power supply110, and a controller1012in communication with the power supply110, the sensor114, and the movable arm1060. While not shown inFIG.10, the rover1000may also include one or more sensitive/critical components as explained herein.

The collection device1016may be any one of the collection devices disclosed herein, such any one of the collection devices116,216,716,816,916ofFIGS.1-2and7-9). In some embodiments, the collection device1016may include at least one solid or mesh component (e.g., a wall, a plate, a mesh, etc.) that is at least partially formed of electrically conductive material.

As shown inFIG.10, the movable arm1060is connected between the body102and the collection device1016. For example, the movable arm1060includes an end1062connected to the body102and another opposing end1064connected to the collection device1016via a connector1066. In such examples, the connector1066may be one or more electrically conductive wires and/or any other suitable device to support the collection device1016and relay power from the power supply110(via an optional voltage regulator) to the collection device1016. The movable arm1060may be any suitable material for supporting the collection device1016, such as metal (e.g., aluminum, steel, etc.), plastic, a combination of metal and plastic, etc.

In various embodiments, the movable arm1060may be controlled to move the collection device1016from one position to another position. For example, the controller1012may control movement of the arm1060to raise and lower the collection device1016connected thereto. In such examples, the controller1012may control an actuator, a motor, etc. to move the arm1060.

For instance, the controller1012may receive a signal from the sensor114indicating an amount of lunar regolith adjacent to the lunar rover1000. In such examples, the signal from the sensor114may be indicative of a polarity of charged dust particles adjacent to the lunar rover1000and thereby indicating a presence of lunar regolith. In other examples, the signal from the sensor114may be used by the controller1012to estimate a density (e.g., parts per million, etc.) of dust particles adjacent to the lunar rover1000as explained herein.

Then, the controller1012may adjust the movable arm1060based on the received signal from the sensor114. For example, the controller1012may receive a signal from the sensor114indicating a large presence of lunar regolith adjacent to the lunar rover1000, and lower the movable arm1060from a high position to a low position in response to the received signal. In such examples, the controller1012may lower the movable arm1060if the amount of lunar regolith or the time duration of detected lunar regolith is greater than a defined threshold. Additionally, the controller1012may receive another signal from the sensor114indicating the absence of or a small amount of lunar regolith adjacent to the lunar rover1000, and raise the movable arm1060from the low position to the high position in response to the received signal. In such examples, the controller1012may raise the movable arm1060if the presence of lunar regolith or the time duration of detected lunar regolith is below the defined threshold (or another defined threshold).

Although the lunar rover1000ofFIG.10is shown as having one movable arm1060and one collection device1016, it should be appreciated that the lunar rover1000may include more than one movable arm and/or collection device in other embodiments. For example, the rover1000may include multiple collection devices connected to the movable arm1060, multiple movable arms each having at least one collection device connected thereto, etc. In such examples, each collection device and/or movable arm may be individually or collectively controlled by the controller1012as explained herein.

Additionally, the controller1012may control the power supply110in a similar manner as explained above relative toFIGS.1-2. For example, the controller1012may control the power supply110(and/or the voltage regulator) to selectively apply, adjust, etc. a voltage difference across the collection device1016and/or components (e.g., a mesh plate, a steel wool mesh, etc.) of the collection device1016. Such control may be based on, for example, a detected polarity of lunar regolith adjacent to the lunar rover1000, a determined density of lunar regolith adjacent to the lunar rover1000, etc.

FIGS.11-12illustrates another example lunar rover1100having movable arms for moving lunar regolith collection devices. The lunar rover1100ofFIGS.11-12is substantially similar to the lunar rover1000ofFIG.10but includes multiple movable arms and a collection device in the form of a mesh plate. More specifically, the lunar rover1100generally includes the body102, the wheels104, movable arms1160,1166, and a mesh plate (e.g., a skirt)1116. While not shown inFIGS.11-12, the rover1100may also include a power supply, a controller, one or more sensors, and one or more sensitive/critical components as explained above relative toFIGS.1and10.

As shown, the mesh plate1116is positioned about a perimeter of the rover1100. More specifically, the mesh plate1116surrounds a perimeter of the body102as shown best inFIG.12. In the example ofFIGS.11-12, the mesh plate1116entirely surrounds the perimeter of the body102. In other embodiments, the mesh plate1116may partially extend about the perimeter of the body102such that the mesh plate1116only partially surrounds the perimeter of the body102. In either case, the mesh plate1116may serve as protection of the rover1100by attracting collecting and neutralizing charged dust particles disturbed by movement of the wheels104.

The mesh plate1116ofFIGS.11-12is at least partially formed of electrically conductive material. For example, inFIGS.11-12, the mesh plate1116includes a collection of thin wires1144(only a portion of which is shown inFIG.12for clarity) crossing each other to form a mesh configuration. In other examples, the mesh plate1116may include an electrically conductive base defining perforations as explained herein. In still other examples, the rover1100may include a solid, electrically conductive plate instead of or in addition to the mesh plate1116.

As shown inFIGS.11-12, the movable arms1160,1166are connected between the body102and the mesh plate1116. For example, each movable arm1160,1166includes an end connected to the body102and another opposing end connected to the mesh plate1116via connectors1164,1166. In such examples, the connectors1164,1166may be one or more electrically conductive wires and/or any other suitable device to support the mesh plate1116and relay power from the power supply to the mesh plate1116. The movable arms1160,1166may be any suitable material for supporting the mesh plate1116, such as metal (e.g., aluminum, steel, etc.), plastic, a combination of metal and plastic, etc.

The movable arms1160,1166may be controlled to move the mesh plate1116in a similar manner as explained above relative to the movable arm1060ofFIG.10. For example, the controller may receive a signal from the sensor indicating an amount of lunar regolith adjacent to the lunar rover1100, and then control movement of the arms1160,1166to raise and lower the mesh plate1116connected thereto, as explained above.

Additionally, the mesh plate1116may be electrified via the power supply in a similar manner as explained above. For example, the controller may control the power supply (and/or the voltage regulator) to selectively apply, adjust, etc. a voltage difference across the mesh plate1116. Such control may be based on, for example, a detected polarity of lunar regolith adjacent to the lunar rover1100, a determined density of lunar regolith adjacent to the lunar rover1100, etc.

FIG.13is a block diagram of power system components of any one of the lunar rovers disclosed herein. As shown inFIG.13, a power system1300includes a power supply1310and a controller1312. The power supply1310provides power to the controller1312for operation of the controller1312, and may selectively provide power to one or more collection devices1316via one or more voltage regulators1336. For example, the controller1312may receive a signal from one or more polarity sensors1314indicative of a polarity and/or density of lunar regolith adjacent a lunar rover, and then control each voltage regulator1336to apply a specified voltage difference to its associated collection device1316and/or components thereof. Additionally, the controller1312may control one or more (optional) movable arms1360to move the collection device(s)1316as desired based on the received signal.

FIG.13also illustrates one or more temperature sensors1370. The temperature sensor(s)1370may be used for monitoring temperature of components of the lunar rover, such as batteries, etc. AlthoughFIG.13illustrates one example embodiment of components of the power system1300, other embodiments may include more or less components, components in different connection arrangements, etc.

As shown inFIG.13, the controller1312includes computer-executable instructions1380. The computer-executable instructions1380may be stored in memory associated with the controller1312, stored in other memory that is accessed by the controller1312to execute the computer-executable instructions1380, etc. For example, the computer-executable instructions1380may include instructions for controlling voltages applied to the collection device(s)1316and/or components thereof, controlling movement of the arm(s)1360, etc. Example processes for controlling applied voltages and movement of the arm(s)1360, which may be stored in the computer-executable instructions1380, are described further below with reference toFIGS.14-16.

FIG.14illustrates an example control process1400for controlling a voltage difference applied across a lunar regolith collection device of a lunar rover, to attract lunar regolith to the device based on a detected polarity of the lunar regolith. The process1400may be performed by any one of the controllers disclosed herein, such as the controller112ofFIG.1.

The control process1400may start when the controller is powered-on and/or at another suitable time. As shown inFIG.14, control begins at1402, where the controller controls a power supply (e.g., a voltage regulator of or associated with the power supply) to apply a neutral voltage (e.g., a ground voltage) to the collection device. For example, the power supply may be controlled to apply a neutral voltage to a connector (e.g., a terminal) of the collection device, a connector of a mesh plate of the collection device, etc. Control then proceeds to1404, where the controller obtains a polarity of lunar regolith adjacent the lunar rover. The polarity of the lunar regolith may be obtained by, e.g., the polarity sensor114ofFIG.1.

At1406, the controller determines whether the detected polarity of the lunar regolith (e.g., lunar dust) is positive. If so, the controller controls the power supply to apply a negative voltage to the collection device at1408, to attract the lunar regolith (e.g., because the applied negative voltage is opposite to the detected positive voltage of the lunar regolith). If the controller determines at1406that the detected polarity of the lunar regolith is negative (e.g., not positive), the controller controls the power supply to apply a positive voltage to the collection device at1410, to attract the lunar regolith. For example, the power supply may be controlled to apply a negative or positive voltage to another connector (e.g., another terminal) of the collection device, another connector of the mesh plate of the collection device, etc.

Control may then end as shown inFIG.14or return for further evaluation. For example, control may return to1404to again obtain a polarity of lunar regolith adjacent the lunar rover.

FIG.15illustrates an example control process1500for adjusting a voltage difference applied across a lunar regolith collection device of a lunar rover based on a determined density of lunar regolith. The process1500may be performed by any one of the controllers disclosed herein, such as the controller112ofFIG.1.

The control process1500may start when the controller is powered-on and/or at another suitable time. As shown inFIG.15, control begins at1502, where the controller controls a power supply (e.g., a voltage regulator of or associated with the power supply) to apply a voltage difference across the collection device, a mesh plate of the collection device, etc. Control then proceeds to1504, where the controller receives a signal from a polarity sensor.

At1506, the controller determines a density of lunar regolith based on the received signal. For example, the received signal from the polarity sensor may indicate a charge of the lunar regolith adjacent to the lunar rover. The controller may then estimate a density of the lunar regolith adjacent to the lunar rover based (in part) on the charge of the lunar regolith, a known amount of charge of a typical dust particle, and a known detection area (e.g., a volume) of the sensor. Control then proceeds to1508.

At1508, the controller determines whether the determined density is above a first threshold. If so, the controller controls the power supply to increase the voltage difference across the collection device, the mesh plate of the collection device, etc. at1510. This may provide a stronger attraction of the lunar regolith to the collection device. If no at1508, control proceeds to1512.

At1512, the controller determines whether the determined density is below a second threshold. In such examples, the second threshold may be lower than the first threshold of1508. If not, control returns to1504. If so, control proceeds to1514where the controller controls the power supply to decrease the voltage difference across the collection device, the mesh plate of the collection device, etc. In doing so, energy of the power supply (e.g., a battery) may be conserved. Control then returns to1504.

FIG.16illustrates an example control process1600for controlling a movable arm of lunar rover. The process1600may be performed by any one of the controllers disclosed herein, such as the controller1012ofFIG.10.

The control process1600may start when the controller is powered-on and/or at another suitable time. As shown inFIG.16, control begins at1602, where the controller receives a signal from a polarity sensor. Control then proceeds to1604, where the controller determines a density of lunar regolith based on the received signal as explained herein.

At1606, the controller determines whether the determined density is above a threshold. If so, control proceeds to1608. Otherwise, control proceeds to1612.

At1608, the controller determines whether the movable arm is in a low position. If so, control returns to1602. Otherwise, control proceeds to1610where the controller lowers the movable arm to its low position. For example, the controller may control an actuator, a motor, etc. to lower the movable arm as desired. Control then returns to1602.

At1612, the controller determines whether the movable arm is in its low position. If not, control returns to1602. If yes, control proceeds to1614where the controller lifts (e.g., raises, etc.) the movable arm to its high position. For example, the controller may control the actuator, the motor, etc. to raise the movable arm as desired. Control then returns to1602.