Microgravity simulation experiment system and experiment method of unfolding mechanism

Abstract

The invention relates to the technical field of spacecraft simulation experiments, and provides a microgravity simulation experiment system and experiment method of an unfolding mechanism. The experiment system comprises a cable winding mechanism which comprises a cable winding and unwinding device, a detector and a pull wire, the cable winding and unwinding device is arranged on the ground, one end of the pull wire is connected with the cable winding and unwinding device, and the cable winding and unwinding device can take up and release the pull wire; the detector is used for detecting the speed of releasing the pull wire by the cable take-up and pay-off equipment; the bottom of the suspension unmanned aerial vehicle is provided with a guide wheel set, and the other end of the pull wire penetrates through the guide wheel set and is used for being connected with a to-be-tested unfolding mechanism; the observation unmanned aerial vehicle carries a camera device; the control center is electrically connected with the cable take-up and pay-off equipment, the detector and the camera device; when the suspension unmanned aerial vehicle carries the unfolding mechanism to fly to a preset height and hover, the cable take-up and pay-off equipment can release the pull wire, so that the unfolding mechanism freely falls and is gradually unfolded, and a camera device on the observation unmanned aerial vehicle shoots the freely falling unfolding mechanism.

Description

Technical Field

[0001] This application relates to the field of spacecraft simulation experiment technology, and in particular to a microgravity simulation experiment system and method for a deployment mechanism. Background Technology

[0002] With the rapid development of aerospace technology and the increasing frequency of human space activities, the requirements for spacecraft functions and performance are constantly improving. Due to the constraints of the envelope size of the launch vehicle fairing, large deployable spacecraft structures (such as large solar panels, antennas, trusses, and capture nets) are usually in a retracted state during the launch phase. After the spacecraft enters orbit and completes fairing separation, they are deployed in orbit to their working configuration through a complex deployment mechanism.

[0003] To ensure high reliability and attitude accuracy during the on-orbit deployment of such deployment mechanisms, it is necessary to conduct deployment performance verification under fully simulated microgravity conditions on the ground. Currently, the main technical means for simulating microgravity environments on the ground include parabolic flight zero-gravity aircraft and free-fall zero-gravity test chambers.

[0004] However, the limited space within a weightless aircraft cabin and the constraints of flight attitude make it difficult to accommodate the significant movements of large deployment mechanisms during deployment and their enormous size after full deployment. Similarly, the effective internal space of the weightless test chamber is also limited, making it difficult to meet the spatial requirements for the full deployment of large deployment mechanisms. Therefore, existing ground-based microgravity simulation technologies are insufficient in terms of space carrying capacity, testing costs, testing time, and ease of operation to effectively meet the ground verification needs of large spacecraft deployment mechanisms. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides a microgravity simulation experimental system and experimental method for an unfolding mechanism.

[0006] The first aspect of this application provides a microgravity simulation experimental system for a deploying mechanism, comprising:

[0007] A cable winding mechanism includes a cable winding and unwinding device, a detector, and a traction line. The cable winding and unwinding device is installed on the ground, and one end of the traction line is connected to the cable winding and unwinding device. The cable winding and unwinding device can retract and release the traction line. The detector is used to detect the speed at which the cable winding and unwinding device releases the traction line.

[0008] A suspended drone is equipped with a guide wheel assembly at its bottom. The other end of the traction line passes through the guide wheel assembly and is used to connect to the deployment mechanism to be tested.

[0009] The observation drone is equipped with a camera device;

[0010] The control center is electrically connected to the cable retraction equipment, the detector, and the camera device;

[0011] When the suspended UAV carrying the deployment mechanism flies to a preset height and hovers, the cable retraction device can release the traction line to allow the deployment mechanism to fall freely and gradually unfold. The camera device on the observation UAV captures the free-falling deployment mechanism.

[0012] Optionally, the cable retraction device includes a base, retraction wheels, and a motor;

[0013] The gathering wheel is rotatably mounted on the base, the motor is connected to the gathering wheel in a transmission connection, and one end of the traction line is fixedly connected to the gathering wheel;

[0014] The motor drives the take-up wheel to rotate in a first direction to wind the traction line, or to rotate in a second direction opposite to the first direction to release the traction line;

[0015] The detector collects the rotational speed of the retracting wheel, the motor is electrically connected to the control center, and the control center controls the output power of the motor according to the measurement data of the detector so that the weightlessness of the unfolding mechanism is within a preset range.

[0016] Optionally, the cable reel-in / reel-out device further includes a guiding mechanism, which is located downstream of the reel-in and opposite to it, for guiding the release path of the traction cable.

[0017] Optionally, the guiding mechanism includes a base and two guide wheels rotatably mounted on the base. The base is connected to the side of the base and is positioned opposite to the gathering wheel. The two guide wheels are arranged vertically, forming a guiding channel between them, and the traction line passes through the guiding channel.

[0018] Optionally, the guide wheel assembly includes a mounting base and at least one guide wheel. The mounting base is mounted on the bottom side of the suspended UAV, the guide wheel is rotatably connected to the bottom side of the mounting base, and the traction line is wound around the guide wheel.

[0019] Optionally, the mounting base is provided with two guide wheels, which are arranged vertically. The outer circumferential surface of each guide wheel is recessed to form a guide groove, and the guide grooves of the two guide wheels form a guide channel, through which the traction line passes.

[0020] The second aspect of this application provides a microgravity simulation experiment method for a deploying mechanism, comprising the following steps:

[0021] Preparation steps: Connect one end of the traction line to the cable winding and unwinding device, and the other end through the guide wheel assembly to connect to the deployment mechanism. Control the suspended drone to carry the deployment mechanism to fly to the preset height and hover. Control the observation drone to fly to the side of the suspended drone.

[0022] The simulation process involves controlling the cable reeling device to release the traction line, causing the unfolding mechanism to fall freely. Simultaneously, the unfolding mechanism gradually unfolds, and the camera device captures the free-falling unfolding mechanism.

[0023] The analysis steps involve: real-time acquisition of the release speed data of the traction line by a detector; the control center receiving the speed data and calculating the weightlessness of the deployment mechanism; and real-time acquisition of image data of the deployment mechanism's descent and deployment process by a camera device, with the control center receiving and analyzing the image data.

[0024] Optionally, the cable winding device includes a base, a winding wheel rotatably mounted on the base, and a motor that is pulsatorically connected to the winding wheel;

[0025] The simulation step is preceded by: pre-measuring the resistance torque of the retractor when releasing the traction line;

[0026] In the simulation step, the control center controls the motor to apply a compensating torque equal to the resistance torque based on the detection data of the detector, and controls the rotation speed of the retracting wheel based on the detection data of the detector, so that the weightlessness of the unfolding mechanism is within a preset range.

[0027] Optionally, the observation drone is electrically connected to the control center. When the camera device is filming the deployment mechanism, the control center calculates the moving speed of the traction line based on the detection data of the detector. The control center controls the observation drone to descend at a speed equal to the moving speed so that the camera device remains aligned with the deployment mechanism.

[0028] Optionally, in the preparation step, multiple optical markers are set on the unfolding mechanism, and the imaging device includes a depth camera;

[0029] In the analysis step, the control center identifies and tracks the spatial positions and motion trajectories of the multiple optical markers based on the images captured by the depth camera, and then analyzes and calculates the attitude changes of the deployment mechanism during the descent and deployment process.

[0030] The technical solution provided in this application has the following advantages compared with the prior art:

[0031] The microgravity simulation experiment system for the deployment mechanism provided in this application embodiment places a cable winding mechanism on the ground, with one end of the traction line connected to a cable winding and unwinding device, and the other end passing through a guide wheel assembly and connected to the deployment mechanism. A suspended drone can carry the folded deployment mechanism to a preset height and hover, observing the drone flying to the side of the suspended drone. The cable winding and unwinding device releases the traction line to allow the deployment mechanism to fall freely, and the deployment mechanism gradually unfolds, while a camera device captures the falling deployment mechanism. The control center receives the release speed of the traction line released by the cable winding and unwinding device measured by the detector to determine whether the microgravity environment in which the deployment mechanism is located meets the requirements, and analyzes the images captured by the camera device to determine whether the deployment posture of the deployment mechanism in the microgravity environment meets the requirements. The deployment mechanism is carried to a set height by a suspended drone and then free-falls, allowing it to fully unfold in the space below the drone. This avoids the limitations imposed by the space inside the cabin or weightless chamber. Placing the cable winding mechanism on the ground reduces the load on the suspended drone, enabling the use of smaller, less expensive drones and lowering the experimental costs of the microgravity simulation system. After each simulation, the suspended drone lands, the cable retraction device retrieves the traction cable, and the drone, carrying the folded deployment mechanism, flies back to the preset height and hovers, ready to begin the next simulation. This allows the microgravity simulation system to repeat experiments efficiently and conveniently, improving experimental efficiency. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the microgravity simulation experiment system described in the embodiments of this application with the deployment mechanism not released;

[0035] Figure 2 This is a schematic diagram of the microgravity simulation experiment system described in the embodiments of this application during the deployment of the deployment mechanism;

[0036] Figure 3 This is a schematic diagram of the microgravity simulation experiment system described in the embodiments of this application when the deployment mechanism is fully deployed;

[0037] Figure 4 This is a schematic diagram of the camera deployment mechanism of the observation drone described in the embodiments of this application;

[0038] Figure 5 This is a schematic diagram of the cable winding mechanism described in an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the guiding mechanism described in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the guide wheel assembly described in an embodiment of this application;

[0041] Figure 8 This is a microgravity simulation experiment method for the deployment mechanism described in the embodiments of this application.

[0042] Among them, 1. Cable winding mechanism; 11. Cable winding and unwinding equipment; 111. Base; 112. Retracting wheel; 113. Motor; 12. Detector; 13. Traction line; 14. Guiding mechanism; 141. Base; 142. Guide wheel; 2. Suspended UAV; 21. Guide wheel assembly; 211. Mounting seat; 212. Guide wheel; 3. Observation UAV; 31. Camera device; 4. Control center; 5. Deployment mechanism; 51. Optical marker point. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0044] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0045] Reference Figures 1 to 8As shown, the first aspect of this application provides a microgravity simulation experimental system for a deployment mechanism, including: a cable winding mechanism 1, comprising a cable winding and unwinding device 11, a detector 12, and a traction line 13, wherein the cable winding and unwinding device 11 is disposed on the ground, one end of the traction line 13 is connected to the cable winding and unwinding device 11, and the cable winding and unwinding device 11 can retract and release the traction line 13; the detector 12 is used to detect the speed at which the cable winding and unwinding device 11 releases the traction line 13; a suspended drone 2, with a guide wheel assembly 21 installed at its bottom, the other end of the traction line 13 passing through the guide wheel assembly 21 and used to connect to the deployment mechanism 5 to be tested; an observation drone 3, equipped with a camera device 31; and a control center 4, electrically connected to the cable winding and unwinding device 11, the detector 12, and the camera device 31; when the suspended drone 2 carries the deployment mechanism 5 to a preset height and hovers, the cable winding and unwinding device 11 can release the traction line 13 to allow the deployment mechanism 5 to fall freely and gradually unfold, and the camera device 31 on the observation drone 3 captures the free-falling deployment mechanism 5.

[0046] First, the spacecraft's deployment mechanism 5 can be selected from structures such as antennas, trusses, and capture nets. Taking a capture net as an example, a capture net typically includes a flexible outer frame, a net surface, and a limiting ring. The limiting ring has two connectors that can move closer together and separate from each other. These two connectors can be connected by ropes. The flexible outer frame folds to form a cylindrical structure. The two connectors are located on both sides of the cylindrical structure's wall. After the two connectors are tied together by ropes, the limiting ring restricts the outer frame from unfolding, keeping the capture net in a folded state. When the ropes are released, the two connectors separate, and the outer frame unfolds under its own elastic force. The capture net is then installed in a folded state on a suspended drone 2. A robotic arm can be optionally installed on the suspended drone 2. The robotic arm is connected to ropes, and moving the robotic arm releases the ropes, allowing personnel to remotely control the deployment of the capture net.

[0047] The cable winding mechanism 1 is set on the ground. The suspended drone 2 only needs to be equipped with the guide wheel assembly 21 to move the traction cable 13 together with the suspended drone 2 to a preset height. The cable winding and unwinding device 11 is fixed to the ground and can be a servo motor driven drum structure. The traction cable 13 can be made of high-strength Kevlar fiber rope, with one end wound around the drum and the other end passing through the guide wheel assembly 21 at the bottom of the suspended drone 2.

[0048] The detector 12 can be a photoelectric encoder, installed on the drum shaft to monitor the linear speed in real time; or the detector 12 can be a photoelectric gate, with a sensing plate on the drum. The rotation of the drum drives the sensing plate to rotate, and the rotation speed of the drum is calculated by calculating the time it takes for the sensing plate to pass through the photoelectric gate.

[0049] The suspended drone 2 can be a hexacopter drone or other types of multi-rotor drones. The bottom of the suspended drone 2 can be equipped with a guide wheel assembly 21 via a bracket. The guide wheel assembly 21 can include a fixed pulley, with the traction cable 13 passing around the fixed pulley and connecting to the deployment mechanism 5; alternatively, the guide wheel assembly 21 can include two sets of rollers, which are spaced apart vertically, forming a smooth cable channel between them. The traction cable 13 passes through the cable channel and connects to the deployment mechanism 5.

[0050] The observation drone 3 can be a multi-rotor drone, with a camera mounted on the bottom gimbal as a camera device 31. The camera device 31 can be equipped with a high-speed shooting capability of 120fps to accurately and clearly capture the posture of the unfolding mechanism 5 when it is unfolded.

[0051] The control center 4 can be a computer or a control chip. The control center 4 can be electrically connected to the detector 12 via a data cable, allowing the detector 12's data to be transmitted to the control center 4. Both the control center 4 and the camera device 31 are equipped with wireless modules, enabling a wireless connection between the control center 4 and the camera device 31, allowing the images captured by the camera device 31 to be transmitted to the camera device 31 in real time. Alternatively, after the camera device 31 completes one capture, it can electrically connect the hard drive containing the captured images to the control center 4, allowing the images captured by the camera device 31 to be transmitted to the control center 4.

[0052] The suspended drone 2, carrying the folded deployment mechanism 5, vertically ascends to a preset height of 50 meters and hovers. The control center 4 sends a command to the cable retraction device 11, releasing the traction line 13 to allow the deployment mechanism 5 to fall freely. The detector 12 sends real-time feedback of the linear velocity to the control center 4, simultaneously triggering the camera device 31 of the observation drone 3 to track and capture images. Staff analyze the images captured by the camera device 31 to determine the deployment mechanism's attitude during freefall. The deployment mechanism falls freely under gravity, and air resistance has a limited impact on its descent, making its fall approximately microgravity-like.

[0053] In specific use of the microgravity simulation experiment system of the deployment mechanism provided in this application embodiment, one end of the traction line 13 is connected to the cable winding and unwinding device 11, and the other end passes through the guide wheel group 21 and is connected to the aerospace deployment mechanism 5; the suspended drone 2 is controlled to carry the deployment mechanism 5 to a preset height and hover, and the observation drone 3 is controlled to fly to the side of the suspended drone 2 so that the camera device 31 is facing the suspended drone 2 to take pictures.

[0054] The control cable retraction device 11 releases the traction line 13 to allow the unfolding mechanism 5 to fall freely, and at the same time unlocks the limiting device of the unfolding mechanism 5, so that the unfolding mechanism 5 gradually unfolds during the fall, and the camera device 31 captures the unfolding mechanism 5 falling freely.

[0055] The release speed data of the traction line 13 is collected in real time by the detector 12; the image data of the descent and deployment process of the deployment mechanism 5 is collected in real time by the camera device 31. The control center 4 receives and analyzes the release speed data and image data. The acceleration of the deployment mechanism can be calculated based on the release speed of the traction line 13. The closer the acceleration of the deployment mechanism is to the gravitational acceleration g, the closer the deployment mechanism is to a state of weightlessness. When the difference between the acceleration of the deployment mechanism and the gravitational acceleration is within a certain range, the microgravity environment in which the deployment mechanism is located is considered to be effective. At this time, the deployment process of the deployment mechanism has guiding significance for the deployment attitude of the deployment mechanism in space.

[0056] The microgravity simulation experiment system for the unfolding mechanism provided in this application embodiment places the cable winding mechanism 1 on the ground, one end of the traction line 13 is connected to the cable winding device 11, and the other end passes through the guide wheel group 21 and is connected to the unfolding mechanism 5; the suspended drone 2 can carry the folded unfolding mechanism 5 to a preset height and hover, and observe the drone 3 flying to the side of the suspended drone 2; the cable winding device 11 releases the traction line 13 to allow the unfolding mechanism 5 to fall freely, and the unfolding mechanism 5 gradually unfolds, and the camera device 31 captures the falling unfolding mechanism 5; the control center 4 receives the release speed of the cable winding device 11 releasing the traction line 13 measured by the detector 12 to determine whether the microgravity environment in which the unfolding mechanism 5 is located meets the requirements, and analyzes the images captured by the camera device 31 to determine whether the unfolding posture of the unfolding mechanism 5 in the microgravity environment meets the requirements. After being carried to a set height by the suspended drone 2, the deployment mechanism 5 falls freely, allowing it to fully unfold in the space below the drone 2. This avoids the limitations imposed by the cabin or weightless chamber on the extent of its unfolding. Placing the cable winding mechanism 1 on the ground reduces the load on the suspended drone 2, enabling the use of smaller, less expensive drones and lowering the experimental costs of the microgravity simulation system. After each simulation, the suspended drone 2 lands, the cable retraction device 11 retracts the traction line 13, and the drone 2, carrying the folded deployment mechanism 5, flies back to the preset height and hovers, ready to begin the next round of simulation. This allows the microgravity simulation system to repeat experiments efficiently and conveniently, improving experimental efficiency.

[0057] Reference Figure 1 , Figure 5 and Figure 6 As shown, in some embodiments, the cable retraction device 11 includes a base 111, retraction wheels 112, and a motor 113;

[0058] The retracting wheel 112 is rotatably mounted on the base 111, the motor 113 is connected to the retracting wheel 112 for transmission, and one end of the traction line 13 is fixedly connected to the retracting wheel 112.

[0059] Motor 113 drives take-up wheel 112 to rotate in a first direction to wind up traction line 13, or to rotate in a second direction opposite to the first direction to release traction line 13;

[0060] The detector 12 collects the rotation speed of the retracting wheel 112. The motor 113 is electrically connected to the control center 4. The control center 4 controls the output power of the motor 113 according to the measurement data of the detector 12 so that the weightlessness of the unfolding mechanism 5 is within the preset range.

[0061] With this configuration, the base 111 allows the folding wheel 112 and motor 113 to be stably mounted on the ground. The output power of the motor 113 is controlled by the control center 4 to precisely control the rotation speed of the folding wheel 112. The motor 113 controls the rotation speed of the folding wheel 112 with high precision, and the detector 12 can collect the rotation speed of the folding wheel 112 in a timely manner and upload it to the control center 4. The control center 4 can control the output power of the motor 113 based on the detection data from the detector 12, aiming to minimize the tension of the traction line 13 on the deployment mechanism 5, and to prevent the tension of the traction line 13 from affecting the acceleration of the deployment mechanism 5 when the rotation speed of the folding wheel 112 in the first direction is relatively slow, thus ensuring that the acceleration of the deployment mechanism 5 is close to the acceleration due to gravity g.

[0062] Specifically, the base 111 can be a welded steel structure platform, fixed to the ground with anchor bolts. The retractable wheel 112 is a circular wheel with an annular receiving groove on its outer circumference. When the traction cable 13 is wound around the retractable wheel 112, the traction cable 13 is located within the receiving groove. The motor 113 can be a servo motor, directly connected to the shaft of the retractable wheel 112 via a coupling. The detector 12 is mounted on the base 111 and connected to the shaft of the retractable wheel 112. By detecting the rotational speed of the shaft of the retractable wheel 112, the detector 12 can detect the speed at which the retractable wheel 112 releases the traction cable 13.

[0063] Motor 113 can be connected to control center 4 via a data cable. Control center 4 can send control signals to motor 113 to control its power, thereby controlling the rotation speed of retractable wheel 112. The first direction can be clockwise, and the second direction can be counterclockwise. When retractable wheel 112 rotates in the second direction, traction line 13 is wound around retractable wheel 112, and a certain length of traction line 13 is left on the outside of retractable wheel 112. When the suspended drone 2 is at a preset height, the traction line 13 on the outside of retractable wheel 112 is in a taut state to ensure that when retractable wheel 112 starts to rotate in the first direction, deployment mechanism 5 simultaneously begins free fall.

[0064] The detector 12 can be selected as a photoelectric encoder to directly monitor the rotational speed of the retracting wheel 112, and calculate the linear velocity v using the formula v=ω×r (ω is the angular velocity and r is the wheel radius) and feed it back to the control center 4.

[0065] By collecting the linear velocity v of the retractor 112 from the detector 12, the release length of the traction line 13 at time t can be calculated:

[0066]

[0067] And the linear acceleration of traction line 13:

[0068]

[0069] Where Δt is the encoder output time interval. In this experiment, the time interval is 50ms. To ensure the accuracy of the experiment, it is recommended that the time interval should not exceed 200ms.

[0070] The acceleration information of the traction line can approximate the acceleration of the deployment mechanism and be used to calculate the weightlessness S of the deployment mechanism 5. The calculation method is as follows:

[0071]

[0072] The control center 4 calculates the weightlessness S of the deployment mechanism in real time. When the weightlessness S is greater than the set value, such as 5%, 10%, 15%, 20%, 25%, or 30%, it indicates that the tension of the traction line 13 is interfering with the free fall of the deployment mechanism 5, and the rotation speed of the retracting wheel 112 needs to be increased. The preset range can be selected between 5% and 40%.

[0073] Reference Figure 1 , Figure 5 and Figure 6 As shown, in some embodiments, the cable reeling device 11 further includes a guide mechanism 14, which is disposed downstream of the reeling wheel 112 and opposite to the reeling wheel 112, for guiding the release path of the traction line 13.

[0074] With this configuration, the guide mechanism 14 forms a limiting point between the retracting wheel 112 and the guide wheel assembly 21, which is used to guide and constrain the release path of the traction line 13 and increase the stability of the traction line 13 when it moves.

[0075] Specifically, the guide mechanism 14 may include a base and a fixed pulley. The base is connected to one side of the base 111 in the horizontal direction, and the fixed pulley is connected to the base. The axis of rotation of the fixed pulley is parallel to the axis of rotation of the retracting wheel 112. The traction line 13 is led out from the retracting wheel 112, passes around the fixed pulley, and is connected to the guide wheel group 21. When the unfolding mechanism 5 falls and drives the traction line 13 to fall, the guide mechanism 14 can change the direction of movement of the traction line 13.

[0076] Reference Figure 1 , Figure 5 and Figure 6As shown, in some embodiments, the guiding mechanism 14 includes a base 141 and two guide wheels 142 rotatably disposed on the base 141. The base 141 is connected to the side of the base 111 and is disposed opposite to the retracting wheel 112. The two guide wheels 142 are arranged in a vertical direction, and a guiding channel is formed between the two guide wheels 142. The traction line 13 passes through the guiding channel.

[0077] With this configuration, the guide channel formed by the two guide wheels 142 has a limiting effect on the traction line 13, thereby restricting the swaying of the traction line 13 in the axial direction of the retracting wheel 112.

[0078] Specifically, the base 141 may include a main body and two clamping plates. The two clamping plates are located at the top of the main body and are spaced apart from each other. Two guide wheels 142 are located between the two clamping plates, and the rotation axis of each guide wheel 142 is connected to both clamping plates. The guide wheels 142 may be cylindrical rollers, and the two rollers and the two clamping plates together form a guide channel.

[0079] Alternatively, each guide wheel 142 may have an annular groove on its outer circumference, and the annular grooves of the two guide wheels 142 may be arranged opposite each other to form a guide channel, through which the traction line 13 passes.

[0080] When the retractor 112 releases the traction line 13, the traction line 13 will move in the axial direction of the retractor 112. The guide channel can limit the movement of the traction line 13 in the axial direction of the retractor 112, thereby improving the stability of the traction line 13 during movement.

[0081] Reference Figure 1 and Figure 7 As shown, in some embodiments, the guide wheel assembly 21 includes a mounting base 211 and at least one guide wheel 212. The mounting base 211 is mounted on the bottom side of the suspended drone 2, and the guide wheel 212 is rotatably connected to the bottom side of the mounting base 211. The traction line 13 is wound around the guide wheel 212.

[0082] With this configuration, the guide wheel 212 can change the direction of the traction line 13 when it moves. When the unfolding mechanism 5 falls freely to drive the traction line 13 to move, the guide wheel 212 rotates to reduce the friction of the traction line 13 and prevent the traction line 13 from affecting the free fall of the unfolding mechanism 5.

[0083] Specifically, the mounting base 211 can be connected to the suspended drone 2 by a snap-fit ​​method. The mounting base 211 can include a connecting plate and a main block. The bottom of the main block is provided with two upright plates, which are arranged opposite each other and spaced apart. The guide wheel 212 is arranged between the two upright plates.

[0084] Optionally, the mounting base 211 can be equipped with a guide wheel 212, and the traction line 13 passes over the top side of the guide wheel 212 and connects to the unfolding mechanism 5. When the unfolding mechanism 5 is in free fall, the traction line 13 drives the guide wheel 212 to rotate, and the guide wheel 212 changes the direction of movement of the traction line 13. Alternatively, the mounting base 211 can be equipped with two guide wheels 212 arranged vertically, and the traction line 13 is transmitted between the two guide wheels 212.

[0085] Reference Figure 1 and Figure 7 As shown, in some embodiments, two guide wheels 212 are provided on the mounting base 211. The two guide wheels 212 are arranged in a vertical direction. The outer peripheral surface of each guide wheel 212 is recessed to form a guide groove. The guide grooves of the two guide wheels 212 form a guide channel, and the traction line 13 passes through the guide channel.

[0086] With this configuration, the two guide wheels 212 form a guide channel through the guide groove. The guide channel restricts the range of movement of the traction line 13 and reduces the friction caused by the traction line 13 shaking.

[0087] Specifically, the outer circumferential surface of the guide wheel 212 forms an annular guide groove, the traction line 13 is confined within the guide groove, the two guide wheels 212 are arranged opposite each other, the space between the two guide grooves forms a guide channel, the traction line 13 is within the guide channel, so that the guide groove can restrict the movement range of the traction line 13 in the axial direction of the guide wheel 212.

[0088] The second aspect of this application also provides a microgravity simulation experiment method for a deploying mechanism, comprising the following steps:

[0089] In preparation step S1, connect one end of the traction line 13 to the cable winding and unwinding device 11, and the other end passes through the guide wheel group 21 and connects to the deployment mechanism 5. Control the suspended drone 2 to carry the deployment mechanism 5 to fly to the preset height and hover. Control the observation drone 3 to fly to the side of the suspended drone 2.

[0090] Simulate step S2, control the cable retraction device 11 to release the traction line 13 so that the unfolding mechanism 5 falls freely. At the same time, the unfolding mechanism 5 gradually unfolds, and the camera device 31 captures the free-falling unfolding mechanism 5.

[0091] In analysis step S3, the release speed data of the traction line 13 is collected in real time by the detector 12, and the control center 4 receives the speed data and calculates the weightlessness of the deployment mechanism 5; the image data of the descent and deployment process of the deployment mechanism 5 is collected in real time by the camera device 31, and the control center 4 receives and analyzes the image data.

[0092] Specifically, the traction line 13 is connected to the fixed end of the deployment mechanism 5, ensuring that the traction line 13 does not affect the deployment posture of the deployment mechanism 5. The suspended drone 2 can choose to climb at a constant speed to a preset height and then hover. The preset height can be selected within the range of 50m to 100m. The observation drone 3 automatically flies to a position 10m to the side of the suspended drone 2, and the gimbal on the observation drone 3 adjusts the orientation of the camera device 31 so that the camera device 31 can capture images of the deployment mechanism 5 below the suspended drone 2.

[0093] In simulation step S2, the control center 4 sends a release command to the cable winding and unwinding device 11. The cable winding and unwinding device 11 can be selected with an initial velocity of 0 m / s and an acceleration of 9.8 m / s². 2 Release the traction line 13 at a certain speed. When the deployment mechanism 5 begins to fall, the limiting ring or limiting mechanism on the deployment mechanism 5 unlocks, causing the deployment mechanism 5 to begin to deploy. When the deployment mechanism 5 is a capture net, the limiting ring can be tied with a rope in a movable joint. The rope is connected to the suspended drone 2. When the deployment mechanism 5 falls, the rope is pulled to untie the rope, the limiting ring separates from the outer frame of the capture net, and the capture net automatically deploys under the action of elastic force.

[0094] In analysis step S3, detector 12 collects the release velocity data of traction wire 13 according to the formula:

[0095]

[0096] Calculate the weightlessness S of the deployment mechanism 5. When the weightlessness S is less than the set value, and the set value is between 5% and 40%, it can be considered that the microgravity environment in which the deployment mechanism 5 is located meets the requirements. At this time, the attitude of the deployment mechanism 5 during the deployment process captured by the camera device 31 can reflect the deployment attitude of the deployment mechanism 5 in the space environment.

[0097] The deployment attitude of the deployment mechanism 5 was tested by simulating a gravity environment using the method described above. The suspended drone 2 carried the deployment mechanism 5 into the air, and the mechanism 5 deployed during free fall to simulate its deployment attitude under microgravity. The operation of simulating the deployment of the mechanism 5 by carrying the deployment mechanism 5 into the air using the suspended drone 2 is simple, and the efficiency of repeating the experiment is high. Furthermore, compared to zero-gravity aircraft and zero-gravity chambers, using two suspended drones 2 for simulation experiments allows for the low-cost and convenient deployment of the deployment mechanism 5 in a microgravity environment, while also providing clear and accurate recording of the deployment process, thus providing a reference for the deployment of the mechanism 5 in space.

[0098] In some embodiments, the cable winding and unwinding device 11 includes a base 111, a winding wheel 112 rotatably disposed on the base 111, and a motor 113 that is pulsatorically connected to the winding wheel 112.

[0099] The simulation step also includes: pre-measuring the resistance torque of the retractor 112 when releasing the traction line 13;

[0100] In the simulation step, the control center 4 controls the motor 113 to apply a compensating torque equal to the resistance torque based on the detection data of the detector 12, and controls the rotation speed of the retracting wheel 112 based on the detection data of the detector 12, so that the weightlessness of the unfolding mechanism 5 is within the preset range.

[0101] With this setup, the control center 4 can control the output torque of the motor 113 in a timely manner based on the detection data of the detector 12, so as to avoid the insufficient torque output of the motor 113 causing the tension of the traction line 13 on the deployment mechanism 5 to affect the weightlessness of the deployment mechanism 5.

[0102] Specifically, the gathering wheel 112 experiences resistance during rotation, resulting in a resistance torque. Before simulation, the resistance of the motor 113 and the gathering wheel 112 is measured to determine the system's resistance at several characteristic velocities v1, v2, v3, ..., v n (Generally, n is less than or equal to 5) the resistance torques T1, T2, T3, ..., T n (Generally, n is less than or equal to 5), the drag torque function f(v) is obtained by interpolation using the Lagrange interpolation method.

[0103]

[0104] Among them, l i (v) is the Lagrange interpolation basis function.

[0105] In the simulation step, the motor 113 needs to output additional torque to overcome the resistance. The additional torque output by the motor 113 is the compensation torque. Based on the above formula and the detection data of the detector 12, the resistance generated by the retracting wheel 112 at different rotation speeds can be determined, and the compensation torque can be adjusted in time to ensure that the tension of the traction line 13 is within the preset range, so as to avoid the tension of the traction line 13 affecting the acceleration of the unfolding mechanism 5 and ensure that the weightlessness S of the unfolding mechanism 5 is within the preset range.

[0106] In some embodiments, the observation drone 3 is electrically connected to the control center 4. When the camera device 31 is filming the deployment mechanism 5, the control center 4 calculates the moving speed of the traction line 13 based on the detection data of the detector 12. The control center 4 controls the observation drone 3 to descend at a speed equal to the moving speed so that the camera device 31 remains aligned with the deployment mechanism 5.

[0107] Specifically, the detector 12 records the angular velocity of the rotating shaft of the retracting wheel 112, and determines the linear velocity of the traction line 13 according to the linear velocity calculation formula v=ω×r. The control center 4 controls the observation drone 3 to descend at the same speed according to the linear velocity of the traction line 13, ensuring that the camera device 31 descends together with the deployment mechanism 5, so that the camera device 31 remains aligned with the deployment mechanism 5, and ensures that the camera device 31 can clearly and accurately capture the attitude of the deployment mechanism 5 at each time point during the deployment process.

[0108] In some embodiments, during the preparation step, a plurality of optical markers 51 are provided on the unfolding mechanism 5, and the imaging device 31 includes a depth camera;

[0109] In the analysis step, the control center 4 identifies and tracks the spatial position and motion trajectory of multiple optical markers 51 based on the images captured by the depth camera, and then analyzes and calculates the attitude changes of the deployment mechanism 5 during the descent and deployment process.

[0110] With this setup, by combining the optical markers 51 with the depth camera, and by analyzing the changes in the three-dimensional coordinates of multiple optical markers 51, the deployment posture of the deployment mechanism 5 at each time point can be quantitatively characterized.

[0111] Specifically, the optical markers 51 can be selected as active infrared LED markers or reflective points, and the optical markers 51 are evenly distributed on the deployment mechanism 5. After the depth camera captures the optical markers 51, it can extract the three-dimensional coordinates of the optical markers 51. By analyzing the changes in the three-dimensional coordinates of multiple optical markers 51, the deployment attitude of the deployment mechanism 5 at each time point can be quantitatively characterized.

[0112] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0113] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A microgravity simulation experiment system of a deployment mechanism, characterized by, The utility model relates to a cable winding mechanism (1) including a cable take-up device (11), a detector (12) and a traction line (13), the cable take-up device (11) is arranged on the ground, one end of the traction line (13) is connected with the cable take-up device (11), the cable take-up device (11) can retract and release the traction line (13), the detector (12) is used for detecting the speed of the cable take-up device (11) releasing the traction line (13). A suspension unmanned aerial vehicle (2) is provided with a guide wheel set (21) at the bottom, the other end of the traction line (13) passes through the guide wheel set (21) and is used for being connected with a deployment mechanism (5) to be tested. An observation unmanned aerial vehicle (3) is provided with a camera (31). A control center (4) is electrically connected with the cable take-up device (11), the detector (12) and the camera (31). When the suspension unmanned aerial vehicle (2) carrying the deployment mechanism (5) flies to a preset height and hovers, the cable take-up device (11) can release the traction line (13) to make the deployment mechanism (5) free fall and gradually deploy, and the camera (31) on the observation unmanned aerial vehicle (3) shoots the free falling deployment mechanism (5). The cable take-up device (11) includes a base (111), a retracting wheel (112) and a motor (113).

2. The microgravity simulation experiment system of claim 1, wherein, The retracting wheel (112) is rotationally arranged on the base (111), the motor (113) is in driving connection with the retracting wheel (112), and one end of the traction line (13) is fixedly connected with the retracting wheel (112). The motor (113) drives the retracting wheel (112) to rotate in a first direction to wind the traction line (13) or rotate in a second direction opposite to the first direction to release the traction line (13). The detector (12) collects the rotating speed of the retracting wheel (112), the motor (113) is electrically connected with the control center (4), and the control center (4) controls the output power of the motor (113) according to the measurement data of the detector (12) to make the weightlessness degree of the deployment mechanism (5) be within a preset range. The cable take-up device (11) further includes a guide mechanism (14) arranged downstream of the retracting wheel (112) and opposite to the retracting wheel (112) to guide the release path of the traction line (13).

3. The microgravity simulation experiment system of claim 2, wherein, The guide mechanism (14) includes a base (141) and two guide wheels (142) rotationally arranged on the base (141), the base (141) is connected to the side of the base (111) and arranged opposite to the retracting wheel (112), the two guide wheels (142) are arranged in a vertical direction, a guide channel is formed between the two guide wheels (142), and the traction line (13) is arranged in the guide channel.

4. The microgravity simulation experiment system of claim 3, wherein, ​ 5. The microgravity simulation experiment system of claim 1, wherein, The guide wheel set (21) comprises a mounting seat (211) and at least one guide wheel (212), the mounting seat (211) is mounted on the bottom side of the suspension unmanned aerial vehicle (2), the guide wheel (212) is rotatably connected to the bottom side of the mounting seat (211), and the traction line (13) is wound on the guide wheel (212).

6. The microgravity simulation experiment system of claim 5, wherein, Two guide wheels (212) are arranged on the mounting seat (211), the two guide wheels (212) are arranged in a vertical direction, the outer circumferential surface of each guide wheel (212) is recessed to form a guide groove, the guide grooves of the two guide wheels (212) form a guide channel, and the traction line (13) is arranged in the guide channel.

7. A method of microgravity simulation experiment of a deployment mechanism, characterized by, The method comprises the following steps: In the preparation step, one end of the traction line (13) is connected with the cable winding and unwinding device (11), the other end is passed through the guide wheel set (21) and connected with the unfolding mechanism (5), the suspension unmanned aerial vehicle (2) carrying the unfolding mechanism (5) is controlled to fly to a predetermined height and hover, and the observation unmanned aerial vehicle (3) is controlled to fly to the side of the suspension unmanned aerial vehicle (2); In the simulation step, the cable winding and unwinding device (11) is controlled to release the traction line (13) so that the unfolding mechanism (5) freely falls, and the camera (31) photographs the freely falling unfolding mechanism (5) while the unfolding mechanism (5) gradually unfolds; In the analysis step, the release speed data of the traction line (13) are collected in real time by the detector (12), the speed data are received by the control center (4) and the weightlessness degree of the unfolding mechanism (5) is calculated, and the image data of the falling and unfolding process of the unfolding mechanism (5) are collected in real time by the camera (31) and the image data are received and analyzed by the control center (4).

8. The microgravity simulation experiment method of the deployment mechanism according to claim 7, characterized by, The cable winding and unwinding device (11) comprises a base (111), a winding wheel (112) rotatably arranged on the base (111) and a motor (113) in driving connection with the winding wheel (112); Before the simulation step, the resistance moment of the winding wheel (112) when releasing the traction line (13) is measured in advance; In the simulation step, the control center (4) controls the motor (113) to apply a compensation moment equal to the resistance moment according to the detection data of the detector (12), and controls the rotating speed of the winding wheel (112) according to the detection data of the detector (12), so that the weightlessness degree of the unfolding mechanism (5) is within a predetermined range.

9. The microgravity simulation experiment method of the deployment mechanism according to claim 7, characterized by, The observation unmanned aerial vehicle (3) is electrically connected with the control center (4), when the camera (31) photographs the unfolding mechanism (5), the control center (4) calculates the moving speed of the traction line (13) according to the detection data of the detector (12), and the control center (4) controls the observation unmanned aerial vehicle (3) to descend at a speed equal to the moving speed, so that the camera (31) keeps aligning with the unfolding mechanism (5).

10. The microgravity simulation experiment method of the deployment mechanism according to claim 7, characterized by, In the preparation step, a plurality of optical markers (51) are arranged on the unfolding mechanism (5), and the camera (31) comprises a depth camera. In the analysis step, the control center (4) analyzes the images taken by the depth camera, identifies and tracks the spatial positions and motion trajectories of the plurality of optical markers (51), and further analyzes and calculates the attitude changes of the deployment mechanism (5) during the falling and deployment process.

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