Autonomous capture or transfer method of large cabin based on space manipulator

Abstract

The invention relates to a method for autonomously capturing or transferring a large cabin section based on a space manipulator, and belongs to the field of flight operation design of cabin sections of a space station. The method comprises the following steps: determining data to be collected; establishing a communication network between modules on a space station and a target large cabin section; collecting position information and capture or transfer status information data of the target large cabin section through a digital tube controller, and sending the position information and capture or transfer status information data of the target large cabin section to a manipulator controller; collecting execution status information of the capture or transfer process through the digital tube controller, and transmitting the information to the ground through a measurement and control module for monitoring; collecting position information and capture or transfer status information of a space manipulator by a manipulator controller; realizing autonomous capture or transfer of a large cabin section, or simulated capture or transfer of a large cabin section; and realizing a highly real-time, autonomously controlled and reusable multi-cabin autonomous capture and transfer method through a control scheme and an information flow scheme.

Description

Technical Field

[0001] The invention belongs to the field of space station cabin flight operation design, and relates to a large cabin autonomous capture or transfer method based on a space manipulator. Background Art

[0002] The construction of a space station is a complex and large-scale system project. When the space station develops into a multi-module permanent space station, due to the expansion of the space station structure and the changes in mission requirements, the assembly between space modules has become more frequent and complex, and the demand for module connection technology has become increasingly high. The existing collision docking mechanism will not be able to meet the requirements of large module connection, and the space manipulator will be needed to assist.

[0003] On-orbit capture technology is an important branch of space on-orbit service technology. According to the capture object, it can be divided into two categories: cooperative target capture and non-cooperative target capture. Among them, non-cooperative target capture is the capture of targets without cooperative capture interfaces and corresponding capture response devices; while cooperative target capture is the capture of targets with cooperative target interfaces and corresponding docking response devices. Space station transposition technology is one of the key technologies that need to be solved during the on-orbit assembly of the space station. The so-called transposition refers to the transfer of the docked module from the longitudinal docking port to the lateral parking port to prepare for the next module docking.

[0004] At present, the research on on-orbit capture technology is still in the exploratory stage. Without optimizing the data information and then optimizing the method of capturing and transferring the target through the robotic arm, there is a risk of reducing the service life of the aircraft and also reducing its economic value. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to propose a method for autonomous capture or transfer of large cabins based on a space manipulator, and to realize a highly real-time, autonomously controlled, and reusable method for autonomous capture and transfer of multiple cabins through a control scheme and an information flow scheme.

[0006] The solution of the present invention is:

[0007] The method of autonomous capture or transfer of large cabin segments based on space manipulators includes:

[0008] Determine the data that needs to be collected, including the target large compartment position information and capture or transfer status information data, the space manipulator position information and capture or transfer status information data, and capture or transfer process execution status information data;

[0009] The space station is equipped with a digital tube controller, a robotic arm controller, a robotic arm motion simulation module, a robotic arm motion actuator, and a measurement and control module; a communication network is built between the digital tube controller, the robotic arm controller, the robotic arm motion simulation module, the robotic arm motion actuator, and the target large compartment;

[0010] The digital tube controller collects the target large compartment position information and the capture or transfer status information data, and sends the target large compartment position information and the capture or transfer status information data to the manipulator controller; the digital tube controller collects the capture or transfer process execution status information, and transmits it to the ground through the measurement and control module for monitoring; the manipulator controller collects the space manipulator position information and the capture or transfer status information;

[0011] Select the working mode according to the needs. The working modes include normal working mode and simulation operation working mode;

[0012] When it is in normal working mode, the manipulator controller generates the manipulator motion data of capture or transfer according to the target large compartment position information and capture or transfer state information data and the space manipulator position information and capture or transfer state information, and sends the manipulator motion data to the manipulator motion actuator;

[0013] When it is in the simulation operation working mode, the manipulator controller generates the manipulator motion data of capture or transfer according to the target large compartment position information and capture or transfer state information data and the space manipulator position information and capture or transfer state information, and sends the manipulator motion data to the manipulator motion simulation module;

[0014] The robot arm motion simulation module simulates the motion of the robot arm according to the robot arm motion data, and the robot arm motion actuator does not move;

[0015] Realize autonomous capture or transposition of large cabin sections, or simulated capture or transposition of large cabin sections.

[0016] In the above-mentioned method for autonomously capturing or transferring a large compartment based on a space manipulator, the target large compartment position information and capture or transfer status information data include:

[0017] Target spacecraft X-direction position information, target spacecraft Y-direction position information, target spacecraft Z-direction position information, target spacecraft yaw angle position information, target spacecraft pitch angle position information, target spacecraft roll angle position information, target spacecraft position data validity, target spacecraft docking status, target spacecraft capture status.

[0018] In the above-mentioned method for autonomously capturing or transferring a large cabin section based on a space manipulator, the space manipulator position information and capture or transfer status information data include:

[0019] The space manipulator's X-direction position information, the space manipulator's Y-direction position information, the space manipulator's Z-direction position information, the space manipulator's yaw angle position information, the space manipulator's pitch angle position information, the space manipulator's roll angle position information, the space manipulator's position data validity, and the space manipulator's status information.

[0020] In the above-mentioned method for autonomously capturing or transferring a large cabin segment based on a space manipulator, the execution status information data of the capture or transfer process includes:

[0021] Capture or transfer process working mode, capture or transfer process error information, capture or transfer process execution step information, capture or transfer process execution status information.

[0022] In the above-mentioned method of autonomous capture or transfer of a large cabin based on a space manipulator, the method of building a communication network is as follows:

[0023] The target large cabin and the digital tube controller communicate with each other using the 1553B bus communication protocol; the digital tube controller and the space station robotic arm controller communicate with each other using the 1553B bus communication protocol; the robotic arm controller and the robotic arm motion actuator communicate with each other using the 1553B bus communication protocol; and the robotic arm controller and the robotic arm motion simulation module communicate with each other using the Ethernet communication protocol.

[0024] In the above-mentioned large-cabin autonomous capture or transfer method based on a space manipulator, the manipulator controller includes a manipulator state judgment module, a manipulator motion instruction sending module and a manipulator motion state judgment module;

[0025] Manipulator state judgment module: obtain the position information of the current manipulator motion actuator from the collected current space manipulator position information and capture or transfer state information, judge the position accuracy of the manipulator motion actuator, and send control instructions to the manipulator motion instruction sending module when the position accuracy requirement is met for three consecutive judgments; otherwise, continue to judge as the relative position between the space station and the target large cabin changes until the position accuracy requirement is met;

[0026] The robot arm motion instruction sending module: receives the target large compartment section position information and the capture or transfer status information data from the digital tube controller, and obtains the target large compartment section position information from the target large compartment section position information and the capture or transfer status information data; receives the control instruction from the robot arm state judgment module and starts working; generates the capture or transfer robot arm motion data according to the position information of the target large compartment section, and sends the capture or transfer robot arm motion data to the robot arm motion mechanism; the robot arm motion actuator executes the capture or transfer action of the target large compartment section according to the robot arm motion data, generates the space robot arm position information and the capture or transfer status information after the capture or transfer, and sends the space robot arm position information and the capture or transfer status information after the capture or transfer to the robot arm motion state judgment module;

[0027] Robotic arm motion state judgment module: collects the spatial robot arm position information and capture or transfer state information after capture or transfer, and judges whether the robot arm motion actuator has completed the capture or transfer action; when it is judged that the action is completed, generates the capture or transfer process execution state information, and sends the capture or transfer process execution state information to the digital tube controller; when it is judged that the action is not completed, continues to judge.

[0028] In the above-mentioned method for autonomously capturing or transferring a large cabin based on a space manipulator, the method for judging the position accuracy of the manipulator motion actuator is as follows:

[0029] When the position accuracy of the robot arm motion actuator in the three directions of x, y, and z is no more than 0.036m, it is judged that the position accuracy requirement is met.

[0030] In the above-mentioned large-cabin autonomous capture or transfer method based on a space manipulator, the manipulator state judgment module, the manipulator motion instruction sending module and the manipulator motion state judgment module form a structure array, and the manipulator controller calls in the form of a calling pointer.

[0031] In the above-mentioned method for autonomous capture or transfer of a large cabin based on a space robotic arm, for the judgment process of the robotic arm state judgment module and the robotic arm motion state judgment module, when the judgment conditions are not met, it will stop at the current module and continue to judge at a fixed period until the judgment is passed.

[0032] In the above-mentioned method for autonomous capture or transfer of a large cabin based on a space manipulator, the digital tube controller transmits the execution status information of the capture or transfer process to the ground at a fixed period.

[0033] The beneficial effects of the present invention compared with the prior art are:

[0034] (1) During the construction and use of the space station, the present invention needs to capture and transfer multiple cabins or target spacecraft. The capture and transfer operations of different cabins or target spacecraft have similar processes. And with the changes of visiting spacecraft, there is a need for on-orbit maintenance. In the face of different docking target spacecraft, the control scheme and information flow scheme adopt a modular construction method, and autonomous sequential execution can be applied to more on-orbit conditions;

[0035] (2) The present invention solves the difficulties of ground flight control through ground control, which involves complex information interaction and large coupling of coordinated actions between spacecraft compartments by implementing an autonomous control scheme; autonomous sequential execution enables high real-time information interaction between spacecraft, rapid action execution, fault diagnosis and disposal; it saves mission execution time and reduces energy shortages caused by long-term constraints;

[0036] (3) Based on the complexity of autonomous capture and rotation and the necessity of verification and simulation operations, the present invention sets two working modes and switches to the normal working mode on the premise of achieving simulation verification, thereby effectively ensuring the safety of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the information network between the target large cabin section of the present invention and each module on the space station. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the embodiments.

[0039] The present invention proposes a method for autonomous capture and transposition of large cabins based on a space manipulator, and realizes a highly real-time, autonomously controlled, and reusable multi-cabin autonomous capture and transposition method through a control scheme and an information flow scheme. The present invention includes: a control scheme, an overall control method for autonomous capture and transposition of large cabins based on a space manipulator, specifically including a working mode scheme, an autonomous control scheme, and a modular scheme; an information flow scheme, a scheme for constructing an information system, specifically including: a data path scheme, a data type scheme, and a data interaction scheme.

[0040] A method for autonomously capturing or transferring a large cabin segment based on a space manipulator specifically includes the following steps:

[0041] Determine the data that needs to be collected, including the target large compartment position information and capture or transfer status information data, the space manipulator position information and capture or transfer status information data, and the capture or transfer process execution status information data.

[0042] Specifically, the target large compartment location information and capture or transfer status information data include:

[0043] Target spacecraft X-direction position information, target spacecraft Y-direction position information, target spacecraft Z-direction position information, target spacecraft yaw angle position information, target spacecraft pitch angle position information, target spacecraft roll angle position information, target spacecraft position data validity, target spacecraft docking status, target spacecraft capture status.

[0044] The space manipulator position information and capture or transfer status information data include:

[0045] The space manipulator's X-direction position information, the space manipulator's Y-direction position information, the space manipulator's Z-direction position information, the space manipulator's yaw angle position information, the space manipulator's pitch angle position information, the space manipulator's roll angle position information, the space manipulator's position data validity, and the space manipulator's status information.

[0046] The capture or transfer process execution status information data includes:

[0047] Capture or transfer process working mode, capture or transfer process error information, capture or transfer process execution step information, capture or transfer process execution status information.

[0048] The data structures of the target large compartment position information and capture or transfer status information data, the space manipulator position information and capture or transfer status information data, and the capture or transfer process execution status information data are specifically as follows:

[0049] The structure of the target large compartment position information and capture\transfer status information data is:

[0050]

[0051] The specific meanings of the elements are:

[0052] positionX: X-direction position information of the target spacecraft

[0053] position Y: The Y-direction position information of the target spacecraft

[0054] position Z: target spacecraft position information in Z direction

[0055] position RZ: yaw angle position information of the target spacecraft

[0056] position RY: pitch angle position information of the target spacecraft

[0057] position RX: target spacecraft roll angle position information

[0058] position Vaild: Validity of target spacecraft position data

[0059] dockingStatus: docking status of target spacecraft

[0060] capturingStatus: target spacecraft capture status

[0061] dockingMechansim: target spacecraft docking mechanism hardware information (multiple)

[0062] capturingMechansim: target spacecraft capture mechanism hardware information (multiple)

[0063] The structure of the space manipulator position information and capture\transfer status information data is:

[0064]

[0065] The specific meanings of the elements are:

[0066] positionX: X-direction position information of the space manipulator

[0067] position Y: space manipulator Y direction position information

[0068] position Z: Z-direction position information of the space manipulator

[0069] position RZ: yaw angle position information of the space manipulator

[0070] position RY: pitch angle position information of the space manipulator

[0071] position RX: roll angle position information of the space manipulator

[0072] position Vaild: validity of the position data of the space manipulator

[0073] armStatus: space robot arm status information

[0074] armMechansim: Space manipulator hardware information (multiple)

[0075] The structure of the capture\transfer process execution status information data is:

[0076]

[0077] The specific meanings of the elements are:

[0078] processMode: capture\transfer process working mode

[0079] processErrId: capture\transfer process error information

[0080] processStep: capture\transfer process execution step information

[0081] processInformation[x]: captures\transfers process execution status information (multiple instances exist).

[0082] The space station is equipped with a digital tube controller, a robotic arm controller, a robotic arm motion simulation module, a robotic arm motion actuator, and a measurement and control module. Figure 1 As shown, a communication network is built among the digital tube controller, the robotic arm controller, the robotic arm motion simulation module, the robotic arm motion actuator, and the target large compartment.

[0083] The method for building the communication network is as follows: on the docking bus path, the target large cabin section and the digital tube controller communicate using the 1553B bus communication protocol; the digital tube controller and the space station robotic arm controller communicate using the 1553B bus communication protocol; the robotic arm controller and the robotic arm motion actuator communicate using the 1553B bus communication protocol; the robotic arm controller and the robotic arm motion simulation module communicate using the Ethernet communication protocol.

[0084] The digital tube controller collects the target large compartment position information and capture or transfer status information data, and sends the target large compartment position information and capture or transfer status information data to the manipulator controller; the digital tube controller collects the capture or transfer process execution status information, and transmits it to the ground through the measurement and control module for monitoring; the digital tube controller transmits the capture or transfer process execution status information to the ground at a fixed period. The manipulator controller collects the space manipulator position information and capture or transfer status information.

[0085] Specifically, the digital tube controller and the robotic arm controller, as the master control ends of two different buses, have no association relationship. However, the robotic arm controller is also the controlled device of the digital tube bus, and other robotic arm telemetry such as "capture\transfer process execution status information" needs to be sent to the digital tube controller. Therefore, it will periodically receive the synchronization message sent by the digital tube controller. After receiving the message, the robotic arm controller starts to collect "robotic arm capture\transfer process execution status information" to realize the digital tube controller driving the robotic arm controller to collect data (the primary bus drives the secondary bus to collect data).

[0086] The present invention makes a further detailed design of the robot arm controller, which includes a robot arm state judgment module, a robot arm motion instruction sending module and a robot arm motion state judgment module.

[0087] Robotic arm state judgment module: obtain the position information of the current robotic arm motion actuator from the collected current space robotic arm position information and capture or transfer state information, judge the position accuracy of the robotic arm motion actuator, and send control instructions to the robotic arm motion instruction sending module when the position accuracy requirements are met for three consecutive times; otherwise, continue to judge as the relative position between the space station and the target large cabin changes until the position accuracy requirements are met. The method for judging the position accuracy of the robotic arm motion actuator is: when the position accuracy of the robotic arm motion actuator in the three directions of x, y, and z is no more than 0.036m, it is judged to meet the position accuracy requirements.

[0088] Robotic arm motion instruction sending module: receives the target large compartment position information and capture or transfer status information data from the digital tube controller, and obtains the target large compartment position information from the target large compartment position information and capture or transfer status information data; receives the control instruction from the robot arm state judgment module and starts working; generates capture or transfer robot arm motion data according to the position information of the target large compartment, and sends the capture or transfer robot arm motion data to the robot arm motion mechanism; the robot arm motion actuator executes the capture or transfer action of the target large compartment according to the robot arm motion data, generates the space robot arm position information and capture or transfer status information after capture or transfer, and sends the space robot arm position information and capture or transfer status information after capture or transfer to the robot arm motion state judgment module.

[0089] Robotic arm motion state judgment module: collects the spatial robot arm position information and capture or transfer state information after capture or transfer, and judges whether the robot arm motion actuator has completed the capture or transfer action; when it is judged that the action is completed, generates the capture or transfer process execution state information, and sends the capture or transfer process execution state information to the digital tube controller; when it is judged that the action is not completed, continues to judge.

[0090] The robot state judgment module, the robot motion instruction sending module and the robot motion state judgment module form a structure array, and the robot controller calls them in the form of a call pointer. For the judgment process of the robot state judgment module and the robot motion state judgment module, when the judgment condition is not met, it will stop at the current module and continue to judge at a fixed period until the judgment is passed.

[0091] Select the working mode according to the needs. The working modes include normal working mode and simulation operation working mode.

[0092] When in normal working mode, the robotic arm controller generates capture or transfer robotic arm motion data based on the target large compartment position information and capture or transfer status information data and the space robotic arm position information and capture or transfer status information, and sends the robotic arm motion data to the robotic arm motion actuator.

[0093] When in the simulation operation working mode, the robot controller generates capture or transfer robot motion data based on the target large compartment position information and capture or transfer status information data and the space robot position information and capture or transfer status information, and sends the robot motion data to the robot motion simulation module.

[0094] The robot arm motion simulation module simulates the motion of the robot arm according to the robot arm motion data, and the robot arm motion actuator does not move.

[0095] Realize autonomous capture or transposition of large cabin sections, or simulated capture or transposition of large cabin sections.

[0096] Control scheme:

[0097] Analyze the capture and transfer process of each compartment, divide it into sequentially executed capture\transfer steps, and use the space manipulator controller software to realize the overall control process of autonomous capture and transfer. Obtain the position information and capture\transfer status information of the current target compartment and the manipulator itself through autonomous telemetry acquisition, make judgments on the acquired position information and capture\transfer status information, autonomously execute the corresponding capture\transfer steps, generate space manipulator motion data, and send the data to the manipulator motion mechanism for execution. At the same time, send the capture\transfer status to the space station digital controller, and send the capture\transfer information downlink to the ground for ground monitoring and intervention.

[0098] First, the working mode scheme. Set the normal working mode and the simulation operation working mode. In the normal working mode, the position information and the capture\transfer status information obtained from the target compartment are used for judgment, and the capture\transfer steps are executed. The generated robot arm motion data is sent to the robot arm motion mechanism for execution. In the simulation operation mode, the position information and the capture\transfer status information obtained from the target compartment are used for judgment, and the capture\transfer steps are executed. The generated robot arm motion data is sent to the robot arm motion simulation software, and the robot arm motion status can be observed. The robot arm itself does not move. The two working modes can be switched between each other through instructions.

[0099] Second, autonomous control scheme. A multi-task operating environment is constructed in the space manipulator controller software to autonomously perform operations in a fixed cycle. The position information of the target compartment and the capture / transposition status information of the manipulator itself are periodically obtained, and the capture / transposition steps are periodically executed. Each capture / transposition step is to make a judgment on the acquired capture / transposition status information, generate the manipulator motion data or set the motion state. If the judgment condition is not met, the transposition step is periodically executed to achieve continuous judgment. After the conditions are met, the sequential execution continues. The space manipulator control software is applied to execute in a multi-task environment, and the control cycle is in milliseconds. A ground intervention interface is set for the key capture / transposition step of generating and sending the manipulator motion data. The ground monitors the downlink capture / transposition status and, if necessary, passes instructions to suspend the capture / transposition process at the next key step, and can resume execution from the current key step through instructions.

[0100] Third, modular solution. The capture and transfer process of different compartments is refined into sequentially executed steps, and the operation of a step is encapsulated into a module. The same module is used for the same steps in the capture and transfer process of different compartments.

[0101] Information flow scheme:

[0102] First, the data path solution.

[0103] The following data paths are constructed: docking data path between the large cabin and the space station digital controller; digital data path between the space station digital controller and the space station robotic arm controller; robotic arm data path between the space station robotic arm controller and other robotic arm motion equipment; simulation data path between the space station robotic arm controller and simulation software. For the first three data paths, the 1553B bus communication protocol is used for safety and reliability; the last data, based on the simulation motion software running in the computer, uses the Ethernet communication protocol.

[0104] Second, the data type scheme.

[0105] Construct the following data types: target large compartment position information and capture\transfer status information, space manipulator position information and capture\transfer status information, capture\transfer process execution status information.

[0106] Third, data interaction solution.

[0107] On the docking bus, the space station digital controller collects "target large compartment position information and capture\transfer status information". On the digital bus, the space station digital controller forwards "target large compartment position information and capture\transfer status information" to the manipulator controller; collects "capture\transfer process execution status information" and transmits it to the ground through measurement and control. On the manipulator bus, the manipulator controller collects "space manipulator position information and capture\transfer status information"; the manipulator controller sends motion data to the manipulator motion actuator.

[0108] During the construction and use of the space station, it is necessary to capture and transfer multiple modules or target spacecraft. The capture and transfer operations of different modules or target spacecraft have similar processes. And with the changes of visiting spacecraft, there is a need for on-orbit maintenance. Facing different docking target spacecraft, through this control scheme and information flow scheme, a modular construction method is adopted, and autonomous sequential execution can be applied to more on-orbit conditions.

[0109] The present invention solves the difficulties of ground flight control through ground control, which involves complex information interaction and large coupling of coordinated actions between spacecraft compartments by implementing an autonomous control scheme; autonomous sequential execution enables high real-time information interaction between spacecraft, rapid action execution, fault diagnosis and disposal; it saves mission execution time and reduces problems such as energy shortage caused by long-term constraints.

[0110] Based on the complexity of autonomous capture and transposition and the necessity of verification and simulation operations, the present invention sets two working modes, switches to the normal working mode on the premise of achieving simulation verification, and effectively ensures the safety of the manipulator. By implementing the information flow scheme, the acquisition of all data driven by the digital tube controller is realized, effectively ensuring the continuity of data transmission and preventing packet loss anomalies. And through this information flow scheme, during the execution of the autonomous task of the manipulator, through information such as the manipulator status and the space station status, the ground can restore the on-orbit scene and effectively monitor and intervene in time.

[0111] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for autonomously capturing or transferring a large cabin segment based on a space manipulator, characterized in that: include: Determine the data that needs to be collected, including the target large compartment position information and capture or transfer status information data, the space manipulator position information and capture or transfer status information data, and capture or transfer process execution status information data; The space station is equipped with a digital tube controller, a robotic arm controller, a robotic arm motion simulation module, a robotic arm motion actuator, and a measurement and control module; a communication network is built between the digital tube controller, the robotic arm controller, the robotic arm motion simulation module, the robotic arm motion actuator, and the target large compartment; The digital tube controller collects the target large compartment position information and the capture or transfer status information data, and sends the target large compartment position information and the capture or transfer status information data to the manipulator controller; the digital tube controller collects the capture or transfer process execution status information, and transmits it to the ground through the measurement and control module for monitoring; the manipulator controller collects the space manipulator position information and the capture or transfer status information; Select the working mode according to the needs. The working modes include normal working mode and simulation operation working mode; When it is in normal working mode, the manipulator controller generates the manipulator motion data of capture or transfer according to the target large compartment position information and capture or transfer state information data and the space manipulator position information and capture or transfer state information, and sends the manipulator motion data to the manipulator motion actuator; When it is in the simulation operation working mode, the manipulator controller generates the manipulator motion data of capture or transfer according to the target large compartment position information and capture or transfer state information data and the space manipulator position information and capture or transfer state information, and sends the manipulator motion data to the manipulator motion simulation module; The robot arm motion simulation module simulates the motion of the robot arm according to the robot arm motion data, and the robot arm motion actuator does not move; Realize autonomous capture or transposition of large cabin sections, or simulated capture or transposition of large cabin sections.

2. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 1 is characterized in that: The target large compartment position information and capture or transfer status information data include: Target spacecraft X-direction position information, target spacecraft Y-direction position information, target spacecraft Z-direction position information, target spacecraft yaw angle position information, target spacecraft pitch angle position information, target spacecraft roll angle position information, target spacecraft position data validity, target spacecraft docking status, target spacecraft capture status.

3. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 2 is characterized in that: The spatial manipulator position information and capture or transfer status information data include: The space manipulator's X-direction position information, the space manipulator's Y-direction position information, the space manipulator's Z-direction position information, the space manipulator's yaw angle position information, the space manipulator's pitch angle position information, the space manipulator's roll angle position information, the space manipulator's position data validity, and the space manipulator's status information.

4. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 1 is characterized in that: The capture or transfer process execution status information data includes: Capture or transfer process working mode, capture or transfer process error information, capture or transfer process execution step information, capture or transfer process execution status information.

5. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 1 is characterized in that: The communication network is built as follows: The target large cabin section and the digital tube controller use the 1553B bus communication protocol for communication; the digital tube controller and the space station manipulator controller use the 1553B bus communication protocol for communication; the manipulator controller and the manipulator motion actuator use the 1553B bus communication protocol for communication; The robot controller and the robot motion simulation module communicate using the Ethernet communication protocol.

6. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 3 is characterized in that: The robot controller includes a robot state judgment module, a robot movement instruction sending module and a robot movement state judgment module; Manipulator state judgment module: obtain the position information of the current manipulator motion actuator from the collected current space manipulator position information and capture or transfer state information, judge the position accuracy of the manipulator motion actuator, and send control instructions to the manipulator motion instruction sending module when the position accuracy requirement is met for three consecutive judgments; otherwise, continue to judge as the relative position between the space station and the target large cabin changes until the position accuracy requirement is met; The robot arm motion instruction sending module: receives the target large compartment section position information and the capture or transfer status information data from the digital tube controller, and obtains the target large compartment section position information from the target large compartment section position information and the capture or transfer status information data; receives the control instruction from the robot arm state judgment module and starts working; generates the capture or transfer robot arm motion data according to the position information of the target large compartment section, and sends the capture or transfer robot arm motion data to the robot arm motion mechanism; the robot arm motion actuator executes the capture or transfer action of the target large compartment section according to the robot arm motion data, generates the space robot arm position information and the capture or transfer status information after the capture or transfer, and sends the space robot arm position information and the capture or transfer status information after the capture or transfer to the robot arm motion state judgment module; Robotic arm motion state judgment module: collects the spatial robot arm position information and capture or transfer state information after capture or transfer, and judges whether the robot arm motion actuator has completed the capture or transfer action; when it is judged that the action is completed, generates the capture or transfer process execution state information, and sends the capture or transfer process execution state information to the digital tube controller; when it is judged that the action is not completed, continues to judge.

7. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 6 is characterized in that: The method for judging the position accuracy of the robot arm motion actuator is: When the position accuracy of the robot arm motion actuator in the three directions of x, y, and z is no more than 0.036m, it is judged that the position accuracy requirement is met.

8. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 6 is characterized in that: The robot arm state judgment module, the robot arm motion instruction sending module and the robot arm motion state judgment module form a structure array, and the robot arm controller calls them in the form of a calling pointer.

9. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 6 is characterized in that: For the judgment process of the robot arm state judgment module and the robot arm motion state judgment module, when the judgment condition is not met, it will stop at the current module and continue to judge at a fixed period until the judgment is passed.

10. The method for autonomously capturing or transferring a large cabin section based on a space manipulator according to claim 1, characterized in that: The digital tube controller transmits the capture or transfer process execution status information to the ground at a fixed period.

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