Spacecraft mechanism ground deployment zero-gravity simulation method and system

Abstract

The application discloses a spacecraft mechanism ground deployment zero-gravity simulation method and system, and the method comprises the following steps: obtaining the relative pose relationship between a robot and a deployment mechanism; determining the motion path of the corresponding lifting point when the robot is lifted based on the relative pose relationship between the robot and the deployment mechanism; determining the robot lifting force; and controlling the deployment mechanism to move and the robot to follow and unload according to the motion path of the corresponding lifting point when the robot is lifted and the robot lifting force, so as to simulate the zero-gravity environment in orbit. The scheme can accurately determine the motion path of the lifting point and the lifting force, and according to the motion path and the lifting force, the robot can be controlled to follow and unload in a targeted manner, so that the robot can lift the movable parts of the deployment mechanism upwards, the gravity of the parts can be balanced by controlling the lifting force, the zero-gravity simulation of the parts is realized, the time is greatly shortened, and the scheme is suitable for the case that the spacecraft development space is limited and the progress is nervous.

Description

Technical Field

[0001] This invention generally relates to the field of spacecraft assembly and testing technology, and specifically to a method and system for zero-gravity simulation of ground deployment of spacecraft mechanisms. Background Technology

[0002] With the development of communication, remote sensing, and navigation satellite technologies, space deployable structure technology, as a primary means of resolving the contradiction between large-size spacecraft structures and rocket launch envelope constraints, is increasingly being applied in space satellite technology. Examples include large space mesh antennas, space solar panels, and deployable depth exploration structures. The spacecraft structure is initially mounted on a carrier in a folded state with a relatively small volume, and then deployed to its operational state via ground commands while in orbit. To ensure successful deployment of the spacecraft structure, deployment mechanism experiments are necessary during the spacecraft's ground development phase. Furthermore, to ensure the effectiveness of these ground experiments, measures must be taken to unload the gravity of the moving parts of the mechanism during the experiments to simulate the zero-gravity environment in orbit.

[0003] Currently, existing zero-gravity simulation methods for spacecraft mechanisms can employ methods such as suspension and air buoyancy. However, these methods require the construction of large-scale experimental facilities, resulting in significant space requirements and lengthy setup and debugging times. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide a method, device, equipment and medium for zero gravity simulation of spacecraft mechanism ground deployment. This method can achieve zero gravity simulation of components by controlling the gravity of the lifting force to balance the components, which greatly shortens the time and is suitable for situations where spacecraft development space is limited and schedule is tight. It is flexible and convenient to use.

[0005] In a first aspect, the present invention provides a method for simulating zero gravity during ground deployment of a spacecraft mechanism, the method comprising:

[0006] Obtain the relative pose relationship between the robot and the deployment mechanism;

[0007] Based on the relative pose relationship between the robot and the deployment mechanism, the motion path of the lifting point corresponding to the robot lifting is determined;

[0008] Determine the lifting force of the robot;

[0009] Based on the motion path of the lifting point corresponding to the robot's lifting action and the robot's lifting force, the unfolding mechanism is controlled to unfold and the robot is controlled to follow and unload, so as to simulate the zero-gravity environment in orbit.

[0010] In one embodiment, the relative pose relationship includes the rotation axis center position of the deployment mechanism and the rotation axis spatial direction of the deployment mechanism. Obtaining the relative pose relationship between the robot and the deployment mechanism includes:

[0011] Obtain the position of the origin of the robot tool coordinate system;

[0012] Based on the origin position of the robot tool coordinate system, determine the position of the rotation axis center of the unfolding mechanism in the robot base coordinate system;

[0013] Determine the position of the robot's lifting point and the spatial direction of the rotation axis of the unfolding mechanism.

[0014] In one embodiment, determining the position of the rotation axis center of the unfolding mechanism in the robot base coordinate system based on the origin position of the robot tool coordinate system includes:

[0015] Move the origin of the robot tool coordinate system to a position close to the center of the unfolding mechanism's pivot.

[0016] Measure the offset of the origin of the robot tool coordinate system from the center of the rotation axis of the unfolding mechanism in each axis direction of the robot base coordinate system;

[0017] Based on the offset and the origin position of the robot tool coordinate system, the rotation center of the unfolding mechanism is obtained in the robot base coordinate system.

[0018] In one embodiment, determining the position of the robot's lifting point and the spatial orientation of the deployment mechanism's rotation axis includes:

[0019] The lifting device at the end of the robot is docked with and fixed to the deployment mechanism;

[0020] Obtain the robot tool's coordinate system pose information;

[0021] The origin of the robot tool coordinate system is taken as the lifting point position of the robot;

[0022] The rotational spatial direction of the unfolding mechanism is determined based on the robot tool coordinate system posture information.

[0023] In one embodiment, the motion path includes the radius of motion, center of motion, spatial direction of rotation axis, starting position of motion, arc length of motion, and motion speed; based on the relative pose relationship between the robot and the deployment mechanism, the motion path of the lifting point corresponding to the robot's lifting action is determined, including:

[0024] Based on the position of the rotation axis center of the deployment mechanism in the robot's base coordinate system and the position of the robot's lifting point, calculate the radius of the arc corresponding to the motion path of the robot's end-effector lifting point;

[0025] Determine the deployment angle and deployment angular velocity of the deployment mechanism;

[0026] The radius of the arc is taken as the radius of the motion path, the center position of the rotation axis of the unfolding mechanism is taken as the center of the motion path, and the spatial direction of the rotation axis of the unfolding mechanism is taken as the spatial direction of the rotation axis of the motion path.

[0027] Obtain the initial lifting position of the lifting point;

[0028] Based on the initial lifting position of the lifting point, the radius of the arc, the unfolding angle, and the unfolding angular velocity, the starting position, arc length, and speed of the motion path are determined.

[0029] In one embodiment, determining the starting position, arc length, and velocity of the motion path based on the initial lifting position of the lifting point, the radius of the arc, the unfolding angle, and the unfolding angular velocity includes:

[0030] The initial lifting position of the lifting point is determined as the starting position of the motion path;

[0031] The motion arc length of the motion path is determined based on the radius of the arc and the unfolding angle of the unfolding mechanism.

[0032] The motion speed of the motion path is determined based on the radius of the arc and the angular velocity of the unfolding mechanism.

[0033] In one embodiment, determining the robot lifting force includes:

[0034] The robot's lifting point position, the gravity of the moving parts of the deployment mechanism, and the center of gravity position of the moving parts are obtained.

[0035] When the lifting point of the robot coincides with the center of gravity of the movable part, the lifting force is the weight of the movable part.

[0036] When the position of the robot's lifting point does not coincide with the position of the center of gravity of the movable part, the lifting force is calculated based on the position of the robot's lifting point, the position of the center of gravity of the movable part, and the magnitude of the gravity of the movable part.

[0037] In one embodiment, based on the motion path of the lifting point corresponding to the robot's lifting action and the robot's lifting force, the unfolding mechanism is controlled to unfold and the robot is controlled to follow and unload, including:

[0038] At the initial position of the deployment mechanism, the robot is controlled to move so that the lifting device at the end of the robot docks with the moving part of the deployment mechanism;

[0039] Based on the lifting force, control the force exerted by the lifting device on the moving parts of the unfolding mechanism;

[0040] Based on the movement path of the robot's lifting point and the robot's lifting force, the unfolding mechanism is controlled to perform the unfolding movement, and the robot is controlled to move along the movement path. The movement position and speed of the robot are adjusted so that the force of the lifting device in the vertical direction is the lifting force.

[0041] In one embodiment, controlling the unfolding mechanism to perform an unfolding motion includes:

[0042] Determine whether the force sensor data has undergone a sudden change, and obtain the change result;

[0043] Based on the mutation results, the start and stop of the deployment mechanism's deployment movement are determined.

[0044] Secondly, embodiments of this application provide a zero-gravity simulation system for the ground deployment of spacecraft mechanisms. The system includes: a robot, a lifting device, a deployment mechanism, and a computer control device. The lifting device is installed at the end of the robot and is connected to the deployment mechanism. The lifting device has a lifting point. The computer control device is electrically connected to the robot.

[0045] The lifting device has a lifting point, and a force sensor is installed at the lifting point. The unfolding mechanism includes a rotating shaft and movable parts.

[0046] The computer control device is used to acquire the relative pose relationship between the robot and the deployment mechanism, and based on the relative pose relationship between the robot and the deployment mechanism, determine the motion path of the corresponding lifting point when the robot lifts, then determine the lifting force of the robot, and according to the motion path of the corresponding lifting point and the lifting force of the robot, control the deployment mechanism to deploy and control the robot to follow and unload, so as to simulate the zero-gravity environment in orbit.

[0047] The zero-gravity simulation method and system for ground deployment of spacecraft mechanisms provided in this application acquires the relative pose relationship between the robot and the deployment mechanism. Based on this relationship, it determines the motion path of the lifting point during robot lifting, then determines the robot's lifting force. According to the motion path of the lifting point and the robot's lifting force, it controls the deployment mechanism to unfold and the robot to follow and unload, thus simulating a zero-gravity environment in orbit. Compared with existing technologies, this solution features a smaller robot footprint, greater flexibility and convenience in application, and a computer control device that accurately determines the motion path and lifting force of the lifting point based on the acquired relative pose relationship between the robot and the deployment mechanism. This allows for targeted control of the robot to follow and unload, facilitating the upward lifting of moving parts of the deployment mechanism by the robot and balancing the weight of the parts by controlling the lifting force. This significantly reduces the time required and is suitable for spacecraft development in situations with limited space and tight schedules, offering flexibility and convenience in application. Attached Figure Description

[0048] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 A schematic diagram of the application system of the zero-gravity simulation method for ground deployment of spacecraft mechanisms provided in the embodiments of this application;

[0050] Figure 2 A flowchart illustrating the zero-gravity simulation method for ground deployment of spacecraft mechanisms provided in this application embodiment;

[0051] Figure 3 A flowchart illustrating the method for obtaining the relative pose relationship between a robot and a deployment mechanism provided in an embodiment of this application;

[0052] Figure 4 A flowchart illustrating the method for determining the motion path of the lifting point corresponding to the robot's lifting action, as provided in an embodiment of this application.

[0053] Figure 5 A schematic diagram of the structure of the zero-gravity simulation device for ground deployment of spacecraft mechanisms provided in the embodiments of this application;

[0054] Figure 6 This is a schematic diagram of the structure of a computer control device provided in an embodiment of this application;

[0055] Explanation of reference numerals in the attached figures:

[0056] Robot-10; Lifting device-20; Force sensor-21; Lifting point-22; Deployment mechanism-30; Rotating shaft-31; Moving parts-32; Computer control device-40. Detailed Implementation

[0057] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0058] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0059] It is understandable that with the rapid development of aerospace technology, during the operation of spacecraft in orbit, some payloads need to be adjusted in position and attitude through mechanisms. Examples include fixed antennas and solar panels. Fixed antennas need to adjust their pointing to establish communication with designated objects, and solar panels need to adjust their orientation to ensure they receive sunlight. These mechanisms need to be fixed to the spacecraft surface during launch to prevent damage from impacts and vibrations. After the spacecraft is launched into orbit, these structures need to be deployed; these mechanisms can be called space deployable mechanisms. To ensure the successful deployment of space deployable mechanisms in orbit, deployment experiments are required during the ground development phase of the spacecraft. To ensure the effectiveness of the ground experiments, measures need to be taken to unload the gravity of the moving parts of the mechanism during the experiments to simulate the zero-gravity environment in orbit.

[0060] Currently, existing technologies for simulating zero gravity in spacecraft mechanisms include suspension and air buoyancy methods. The suspension method involves constructing a truss structure resembling an elephant to arrange suspension points that follow the mechanism. Suspension ropes apply an upward vertical force to the moving parts of the mechanism to balance their weight. This requires the suspension points to follow the mechanism's movement and maintain a specified suspension force. The air buoyancy method involves placing air feet beneath the moving parts. These air feet move on an air buoyancy platform. By inflating and deflating compressed air in these air feet, an upward force is generated that counteracts the weight of the moving parts, achieving zero gravity simulation.

[0061] However, zero-gravity simulation methods using space mechanisms such as suspension and air flotation require the construction of large experimental facilities, resulting in large space requirements and long setup and debugging times.

[0062] To address the aforementioned shortcomings, this application provides a method, apparatus, equipment, and medium for zero-gravity simulation of spacecraft mechanism ground deployment. Compared with existing technologies, the robot in this technical solution occupies a small area, is flexible and convenient to apply, and the computer control device can accurately determine the motion path and lifting force of the lifting point based on the relative posture relationship between the robot and the deployment mechanism. Based on the motion path and lifting force, the robot can be controlled to follow and unload in a targeted manner. This facilitates the upward lifting of the moving parts of the deployment mechanism by the robot, and the zero-gravity simulation of the parts can be achieved by controlling the lifting force to balance the weight of the parts. This greatly shortens the time and is suitable for situations where space is limited and the schedule is tight in spacecraft development. It is flexible and convenient to apply.

[0063] Please see Figure 1 As shown, Figure 1 This is a schematic diagram of a system used for zero-gravity simulation of spacecraft deployment on the ground. The system includes a robot 10, a lifting device 20, a deployment mechanism 30, and a computer control unit 40. The lifting device 20 is connected to the deployment mechanism 30; the lifting device 20 has a lifting point; and the computer control unit 40 is electrically connected to the robot 10.

[0064] The lifting device 20 has a lifting point 22, at which a force sensor 21 is installed. The unfolding mechanism 30 includes a rotating shaft 31 and a moving part 32. The computer control device 40 can also be electrically connected to the force sensor 21.

[0065] The robot 10 is used to control its position and the magnitude of the force; the lifting device 20 is used to lift the moving parts of the deployment mechanism. The force sensor 21 is used to detect the magnitude of the lifting force. The computer control device 40 is used to acquire the relative pose relationship between the robot 10 and the deployment mechanism 30, so as to control the deployment movement of the deployment mechanism 30 and control the robot 10 to follow and unload, thereby simulating the zero-gravity environment in orbit.

[0066] For ease of understanding and explanation, the following will use... Figures 2 to 6 This application provides a detailed description of the zero-gravity simulation method and system for ground deployment of spacecraft mechanisms provided in the embodiments of this application.

[0067] Figure 2 The diagram shown is a flowchart illustrating a zero-gravity simulation method for ground deployment of spacecraft mechanisms according to an embodiment of this application. This method can be executed by a zero-gravity simulation system for ground deployment of spacecraft mechanisms. Figure 2 As shown, the method includes:

[0068] S101. Obtain the relative pose relationship between the robot and the deployment mechanism.

[0069] Specifically, the relative pose relationship between the robot and the deployment mechanism described above is used to characterize the positional relationship between the robot and the deployment mechanism. The deployment mechanism can be a structure on a spacecraft that needs to be deployed after launch and orbit insertion. Examples include: a large space mesh antenna, a space solar array, and a deployable depth-sensing structure. The robot can include components such as a robotic arm and a base.

[0070] The aforementioned relative positional relationship may include the center position of the rotation axis of the deployment mechanism and the spatial direction of the rotation axis of the deployment mechanism.

[0071] As one possible approach, after determining the relative pose relationship between the robot and the deployment mechanism, this application also provides a specific implementation method for obtaining the relative pose relationship between the robot and the deployment mechanism. Please refer to [link to relevant documentation]. Figure 3 As shown, the method includes:

[0072] S201. Obtain the origin position of the robot tool coordinate system.

[0073] S202. Based on the origin of the robot tool coordinate system, determine the position of the rotation axis center of the unfolding mechanism in the robot base coordinate system.

[0074] S203. Determine the position of the robot's lifting point and the spatial direction of the rotation axis of the unfolding mechanism.

[0075] Specifically, the aforementioned robot tool coordinate system can be called the end-effector coordinate system, and the base coordinate system can be called the world coordinate system. The robot has a robotic arm, and each robotic arm has a base coordinate system, with the default origin being the center point of the robotic arm's base. If the robotic arm is mounted upright, the z-axis is perpendicular to the mounting surface and upwards, while the x and y axes lie on the mounting plane. For the tool coordinate system of a 6-axis or 7-axis robotic arm, the origin is generally at the center of the flange end of the 6-axis or 7-axis arm; if an end effector is connected, it is generally at the end of the actuator's central axis (or the midpoint of the gripper). The z-axis coincides with the axis of the end flange and points towards the end effector.

[0076] The origin of the robot tool coordinate system can be obtained from a database or other external devices, or it can be obtained in real time.

[0077] After obtaining the origin position of the robot tool coordinate system, the position of the rotation center of the unfolding mechanism in the robot base coordinate system can be determined based on the origin position of the robot tool coordinate system. Specifically, the origin of the robot tool coordinate system can be moved to a position close to the rotation center of the unfolding mechanism. Then, the offset between the origin of the robot tool coordinate system and the rotation center of the unfolding mechanism in each axis direction of the robot base coordinate system can be measured. Based on the offset and the origin position of the robot tool coordinate system, the position of the rotation center of the unfolding mechanism in the robot base coordinate system can be obtained.

[0078] It should be noted that the aforementioned robot may include a control module that moves the origin of the robot's tool coordinate system to the center of the root axis of the deployment mechanism. The computer control device can send information acquisition commands to the robot. The control module inside the robot receives and responds to the information acquisition commands, reads the position of the origin of the tool coordinate system, and sends it to the computer control device. This position of the origin of the tool coordinate system is the position of the center of the deployment mechanism's axis in the robot's base coordinate system. In cases where interference prevents the origin of the robot's tool coordinate system from being moved to the center of the deployment mechanism's axis, the origin can be moved to a position close to the center of the deployment mechanism's axis. Then, the offset between the origin of the robot's tool coordinate system and the center of the deployment mechanism's axis in each axis of the robot's base coordinate system can be measured using instruments or manually with a ruler. Combined with the position of the origin of the robot's tool coordinate system fed back by the current robot control module, the position of the center of the deployment mechanism's axis in the robot's base coordinate system can be obtained, and can be denoted as:

[0079] B O A =[ B O Ax B O Ay B O Az ] T

[0080] Among them, the above-mentioned BO Ax BO Ay BO Az These are the components in the three directions of the robot's base coordinate system.

[0081] Furthermore, in determining the lifting point position of the robot and the rotational spatial direction of the unfolding mechanism, the lifting position of the robot's end effector can be first connected and fixed with the unfolding mechanism. Then, the robot tool coordinate system attitude information can be obtained, and the origin position of the robot tool coordinate system can be used as the lifting point position of the robot. Based on the robot tool coordinate system attitude information, the rotational spatial direction of the unfolding mechanism can be determined.

[0082] Specifically, after obtaining the position of the rotation center of the deployment mechanism in the robot's base coordinate system, the robot can be operated manually or via a computer control device to dock and fix the lifting device at the robot's end effector with the deployment mechanism. Then, the position of the robot's tool coordinate system origin is taken as the robot's lifting point position, which can be denoted as:

[0083]

[0084] Where t1, t2, and t3 are the three directional components corresponding to the position of the robot's lifting point.

[0085] The computer control unit can send attitude acquisition commands to the robot. The robot's internal control module receives and responds to these commands, reads the robot's tool coordinate system attitude information, and sends it to the computer control unit. This allows the computer control unit to acquire the robot's tool coordinate system attitude information and then determine the spatial orientation of the deployment mechanism's rotation axis based on this information. This orientation can be denoted as:

[0086]

[0087] Where, r 13 r 23 r 33 These are the components of the three directions contained in the rotation axis spatial direction.

[0088] In this embodiment, by obtaining the origin position of the robot tool coordinate system, the rotation center of the unfolding mechanism is determined in the robot base coordinate system based on the origin position of the robot tool coordinate system. This accurately determines the position of the robot's lifting point and the spatial direction of the unfolding mechanism's rotation axis, providing good data guidance information for the subsequent control of the robot.

[0089] S102. Based on the relative pose relationship between the robot and the deployment mechanism, determine the motion path of the corresponding lifting point when the robot lifts.

[0090] It should be noted that the robot needs to lift the object according to the motion path, which may include the radius of motion, center of the circle, spatial direction of the axis of rotation, starting position of motion, arc length of motion and speed of motion.

[0091] As one possible approach, after determining the relative pose relationship between the robot and the deployment mechanism, this application embodiment also provides a specific implementation method for determining the motion path of the lifting point corresponding to the robot's lifting action. Please refer to [link to relevant documentation]. Figure 4 As shown, the method includes:

[0092] S301. Based on the position of the rotation center of the unfolding mechanism in the robot's base coordinate system and the position of the robot's lifting point, calculate the radius of the arc corresponding to the motion path of the robot's end-effector lifting point.

[0093] S302. Determine the deployment angle and deployment angular velocity of the deployment mechanism.

[0094] S303. Take the radius of the arc as the radius of the motion path, take the center position of the rotation axis of the unfolding mechanism as the center of the motion path, and take the spatial direction of the rotation axis of the unfolding mechanism as the spatial direction of the rotation axis of the motion path.

[0095] S304. Obtain the initial lifting position of the lifting point.

[0096] S305. Based on the initial lifting position of the lifting point, the radius of the arc, the unfolding angle, and the unfolding angular velocity, determine the starting position, arc length, and speed of the motion path.

[0097] It is understandable that the movement trajectory of the moving parts of the aforementioned deployment mechanism around its axis of rotation is an arc. Since the robot's end effector is connected to the deployment mechanism, it also needs to perform an arc motion. The trajectory of the arc motion can be determined by defining the following parameters, including the arc radius. The arc radius can be calculated based on the center position of the deployment mechanism's axis of rotation and the position of the robot's lifting point, and can be expressed by the following formula:

[0098]

[0099] Where t1, t2, and t3 are the three directional components corresponding to the robot's lifting point position, respectively. B O Ax , B O Ay , B O Az These represent the components in the three directions of the robot's base coordinate system. This refers to the location of the machine's lifting point. B O A This refers to the position of the rotation center of the unfolding mechanism in the robot's base coordinate system.

[0100] Furthermore, the deployment angle and angular velocity of the deployment mechanism can be obtained, either through external devices or from a database. Then, the radius of the arc is used as the radius R of the motion path, the center position of the deployment mechanism's rotation axis is used as the center of the motion path, and the spatial direction of the deployment mechanism's rotation axis is used as the spatial direction of the motion path. The initial lifting position of the lifting point is obtained and determined as the starting position of the motion path. Based on the radius of the arc and the deployment angle of the deployment mechanism, the arc length of the motion path is determined, and based on the radius of the arc and the deployment angular velocity of the deployment mechanism, the motion speed of the motion path is determined.

[0101] One method is to multiply the radius of the arc R by the unfolding angle θ of the unfolding mechanism to obtain the arc length of the motion path, expressed by the formula R·θ; another method is to multiply the radius of the arc R by the unfolding angular velocity w of the unfolding mechanism to obtain the motion velocity of the motion path, expressed by the formula R·w.

[0102] In this embodiment, by determining the motion path of the corresponding lifting point when the robot lifts based on the relative pose relationship between the robot and the deployment mechanism, the radius, center, rotation axis spatial direction, starting position, arc length and speed of the motion can be obtained in a more granular manner, thereby enabling the robot to perform deployment motion accurately and facilitating a more accurate simulation of the zero-gravity environment in orbit.

[0103] S103. Determine the robot's lifting force.

[0104] It should be noted that the lifting force of the robot mentioned above is used to balance the weight of the moving parts of the deployment mechanism, so as to counteract the torque of the weight of the moving parts on the rotation axis of the deployment mechanism.

[0105] Specifically, in determining the lifting force of the robot, the position of the robot's lifting point, the weight of the moving part of the deployment mechanism, and the position of the center of gravity of the moving part can be obtained first. When the position of the robot's lifting point coincides with the position of the center of gravity of the moving part, the lifting force is the weight of the moving part; when the position of the robot's lifting point does not coincide with the position of the center of gravity of the moving part, the lifting force is calculated based on the position of the robot's lifting point, the position of the center of gravity of the moving part, and the magnitude of the weight of the moving part.

[0106] The robot's lifting point position, the weight of the moving part of the deployment mechanism, and the center of gravity position of the moving part can be obtained through external devices or from a database. After obtaining these information, it can be determined whether the robot's lifting point position coincides with the center of gravity position of the moving part. When they coincide, the lifting force is the weight of the moving part. When they do not coincide, the lifting force is calculated based on these information, which can be obtained using a torque balance formula for the rotation axis.

[0107] In this embodiment, by obtaining the robot's lifting point position, the gravity of the moving parts of the deployment mechanism, and the center of gravity position of the moving parts, the robot's lifting force can be determined more accurately based on these parameters. This facilitates controlling the deployment mechanism's deployment movement and controlling the robot to follow and unload based on the lifting force, thus improving the accuracy of on-orbit zero-gravity environment simulation.

[0108] S104. Based on the motion path of the lifting point and the lifting force of the robot during lifting, control the unfolding mechanism to unfold and control the robot to follow and unload, so as to simulate the zero-gravity environment in orbit.

[0109] It should be noted that an on-orbit zero-gravity environment refers to an object in orbit having zero weight. Specifically, in simulating an on-orbit zero-gravity environment, the robot's movement can be controlled from the initial position of the deployment mechanism, so that the lifting device at the robot's end engages with the moving parts of the deployment mechanism. Based on the lifting force, the force exerted by the lifting device on the moving parts of the deployment mechanism can be controlled. Based on the movement path of the robot's lifting point and the robot's lifting force, the deployment mechanism can be controlled to perform the deployment movement, and the robot can be controlled to move along the movement path. The robot's movement position and speed can be adjusted so that the force of the lifting device in the vertical direction is the lifting force.

[0110] Specifically, at the initial position of the deployment mechanism, the robot can be manually operated to dock the lifting device with the moving parts of the deployment mechanism and send a force acquisition command to the force sensor to obtain the magnitude of the current lifting force. Then, based on the feedback from the force sensor, the force of the robot's lifting device is controlled so that the lifting force of the lifting device on the moving parts of the deployment mechanism reaches the calculated lifting force. Based on the movement path of the robot's lifting point and the robot's lifting force, the deployment mechanism is controlled to perform the deployment movement, and the robot's movement position and speed are adjusted to ensure that the lifting force of the lifting device in the vertical direction always remains at the lifting force calculated in the above steps, and that the forces in other directions are kept to a minimum value.

[0111] The force data measured by the aforementioned force sensor may include six components, including force components in three spatial directions and torque components in three directions.

[0112] In addition, during the process of controlling the unfolding mechanism to perform the unfolding motion, it is possible to determine whether there is a sudden change in the force sensor data, obtain the result of the change, and determine the start and stop of the unfolding mechanism's unfolding motion based on the result of the change.

[0113] It should be noted that when the force sensor data shows a sudden change for the first time, the start of the deployment motion is determined, and the robot's movement is controlled accordingly. When the force sensor data shows a sudden change for the second time, the stop of the deployment motion is determined, and the robot's movement is controlled accordingly.

[0114] In this embodiment, by adjusting the robot's position and speed, the lifting force in the vertical direction is maintained at the level calculated in the previous steps, while forces in other directions are kept as small as possible, reducing interference from forces in other directions on the vertical lifting force. Furthermore, the robot lifts the movable parts of the deployable mechanism upwards, and by controlling the lifting force to balance the weight of the parts, zero-gravity simulation of the parts is achieved. The robot has a small footprint, is flexible and convenient to use, and can provide a new method for ground-based zero-gravity simulation of spacecraft deployable mechanisms under specific conditions, facilitating more accurate simulation of the zero-gravity environment in orbit.

[0115] The zero-gravity simulation method and system for ground deployment of spacecraft mechanisms provided in this application acquires the relative pose relationship between the robot and the deployment mechanism. Based on this relationship, it determines the motion path of the lifting point during robot lifting, then determines the robot's lifting force. According to the motion path of the lifting point and the robot's lifting force, it controls the deployment mechanism to unfold and the robot to follow and unload, thus simulating a zero-gravity environment in orbit. Compared with existing technologies, this solution features a smaller robot footprint, greater flexibility and convenience in application, and a computer control device that accurately determines the motion path and lifting force of the lifting point based on the acquired relative pose relationship between the robot and the deployment mechanism. This allows for targeted control of the robot to follow and unload, facilitating the upward lifting of moving parts of the deployment mechanism by the robot and balancing the weight of the parts by controlling the lifting force. This significantly reduces the time required and is suitable for spacecraft development in situations with limited space and tight schedules, offering flexibility and convenience in application.

[0116] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0117] on the other hand, Figure 5 This is a schematic diagram of a zero-gravity simulation device for ground deployment of a spacecraft mechanism, provided as an embodiment of this application. The device can be a computer-controlled device, such as… Figure 5 As shown, the device 400 includes:

[0118] The acquisition module 410 is used to acquire the relative pose relationship between the robot and the deployment mechanism;

[0119] The first determining module 420 is used to determine the motion path of the lifting point corresponding to the robot lifting based on the relative pose relationship between the robot and the unfolding mechanism;

[0120] The second determining module 430 is used to determine the robot's lifting force;

[0121] The control module 440 is used to control the unfolding mechanism to unfold and control the robot to follow and unload according to the motion path of the corresponding lifting point and the lifting force of the robot, so as to simulate the zero gravity environment in orbit.

[0122] In one embodiment, the first determining module 420 is specifically used for:

[0123] Obtain the position of the origin of the robot tool's coordinate system;

[0124] Based on the position of the origin of the robot tool coordinate system, determine the position of the rotation axis center of the unfolding mechanism in the robot base coordinate system;

[0125] Determine the position of the robot's lifting point and the spatial direction of the rotation axis of the deployment mechanism.

[0126] In one embodiment, the first determining module 420 is further configured to:

[0127] Move the origin of the robot tool coordinate system to a position close to the center of the unfolding mechanism's axis;

[0128] Measure the offset of the origin of the robot tool coordinate system from the center of the rotation axis of the unfolding mechanism in each axis direction of the robot base coordinate system;

[0129] Based on the offset and the origin of the robot tool coordinate system, the position of the rotation center of the unfolding mechanism in the robot base coordinate system is obtained.

[0130] In one embodiment, the first determining module 420 is further configured to:

[0131] Connect and secure the lifting device at the end of the robot to the deployment mechanism;

[0132] Obtain the robot tool's coordinate system pose information;

[0133] Use the origin of the robot tool coordinate system as the lifting point of the robot;

[0134] The rotational spatial orientation of the unfolding mechanism is determined based on the robot tool's coordinate system posture information.

[0135] In one embodiment, the first determining module 420 is further configured to:

[0136] Based on the position of the rotation center of the unfolding mechanism in the robot's base coordinate system and the position of the robot's lifting point, calculate the radius of the arc corresponding to the motion path of the robot's end-effector lifting point.

[0137] Determine the deployment angle and angular velocity of the deployment mechanism;

[0138] The radius of the arc is taken as the radius of the motion path, the center position of the rotation axis of the unfolding mechanism is taken as the center of the motion path, and the spatial direction of the rotation axis of the unfolding mechanism is taken as the spatial direction of the rotation axis of the motion path.

[0139] Obtain the initial lifting position of the lifting point;

[0140] Based on the initial lifting position, arc radius, unfolding angle, and unfolding angular velocity of the lifting point, the starting position, arc length, and speed of the motion path are determined.

[0141] In one embodiment, the first determining module 420 is further configured to:

[0142] The initial lifting position of the lifting point is determined as the starting position of the motion path;

[0143] The motion arc length of the motion path is determined based on the radius of the arc and the unfolding angle of the unfolding mechanism.

[0144] The motion speed of the motion path is determined based on the radius of the arc and the angular velocity of the unfolding mechanism.

[0145] In one embodiment, the second determining module 430 is specifically used for:

[0146] Obtain the position of the robot's lifting point, the gravity of the moving parts of the deployment mechanism, and the position of the center of gravity of the moving parts;

[0147] When the robot's lifting point coincides with the center of gravity of the moving part, the lifting force is the weight of the moving part.

[0148] When the robot's lifting point does not coincide with the center of gravity of the moving part, the lifting force is calculated based on the robot's lifting point position, the center of gravity of the moving part, and the magnitude of the moving part's weight.

[0149] In one embodiment, the control module 440 is specifically used for:

[0150] At the initial position of the deployment mechanism, control the robot's movement so that the lifting device at the end of the robot docks with the moving parts of the deployment mechanism;

[0151] Based on the lifting force, control the force exerted by the lifting device on the moving parts of the unfolding mechanism;

[0152] Based on the movement path of the robot's lifting point and the robot's lifting force, the unfolding mechanism is controlled to perform the unfolding motion, and the robot is controlled to move along the movement path. The robot's movement position and speed are adjusted so that the force of the lifting device in the vertical direction is the lifting force.

[0153] In one embodiment, the control module 440 is further configured to:

[0154] Determine whether the force sensor data has a sudden change, and obtain the result of the change;

[0155] Based on the mutation results, determine the start and stop of the deployment mechanism's deployment motion.

[0156] The zero-gravity simulation device for ground deployment of spacecraft mechanisms provided in this application embodiment has a smaller robot footprint and is more flexible and convenient to use compared with the prior art. Furthermore, the computer control device can accurately determine the motion path and lifting force of the lifting point based on the relative posture relationship between the robot and the deployment mechanism. Based on the motion path and lifting force, the robot can be controlled to follow and unload in a targeted manner. This facilitates the upward lifting of the moving parts of the deployment mechanism by the robot and the balance of the gravity of the parts by controlling the lifting force, thereby achieving zero-gravity simulation of the parts. This greatly shortens the time and is suitable for situations where space is limited and the schedule is tight in spacecraft development. It is flexible and convenient to use.

[0157] On the other hand, the computer control device provided in the embodiments of this application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the zero-gravity simulation method for ground deployment of spacecraft mechanisms as described above.

[0158] The following is for reference. Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer control device according to an embodiment of this application.

[0159] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage portion 603 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0160] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0161] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a machine-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 603, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined above in the system of this application.

[0162] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium, a computer-readable medium, or any combination of the two. A computer-readable medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than a computer-readable medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0164] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be housed in a processor; for example, it can be described as: a processor including: an acquisition module, a first determination module, a second determination module, and a control module. The names of these units or modules do not necessarily limit the unit or module itself; for example, the acquisition module can also be described as "used to acquire the relative pose relationship between the robot and the deployment mechanism."

[0165] In another aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium stores one or more programs that, when used by one or more processors, execute the zero-gravity simulation method for ground deployment of a spacecraft mechanism described in this application:

[0166] Obtain the relative pose relationship between the robot and the deployment mechanism;

[0167] Based on the relative pose relationship between the robot and the deployment mechanism, the motion path of the lifting point corresponding to the robot lifting is determined;

[0168] Determine the lifting force of the robot;

[0169] Based on the motion path of the lifting point corresponding to the robot's lifting action and the robot's lifting force, the unfolding mechanism is controlled to unfold and the robot is controlled to follow and unload, so as to simulate the zero-gravity environment in orbit.

[0170] In summary, the spacecraft mechanism ground deployment zero-gravity simulation method and system provided in this application obtains the relative pose relationship between the robot and the deployment mechanism, determines the motion path of the corresponding lifting point when the robot lifts the component based on this relationship, and then determines the robot's lifting force. Based on the motion path of the corresponding lifting point and the robot's lifting force, the deployment mechanism is controlled to deploy, and the robot is controlled to follow and unload, thus simulating the zero-gravity environment in orbit. Compared with existing technologies, this solution uses a small robot footprint, is flexible and convenient to apply, and the computer control device can accurately determine the motion path and lifting force of the lifting point based on the obtained relative pose relationship between the robot and the deployment mechanism. This allows for targeted control of the robot to follow and unload, facilitating the upward lifting of the moving parts of the deployment mechanism by the robot and balancing the weight of the parts by controlling the lifting force. This achieves zero-gravity simulation of the parts, significantly reducing time and making it suitable for situations with limited space and tight schedules in spacecraft development. The application is flexible and convenient.

[0171] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for simulating zero-gravity ground deployment of a spacecraft mechanism, characterized in that, The method includes: Obtain the relative pose relationship between the robot and the deployment mechanism; The relative pose relationship includes the center position of the rotation axis of the deployment mechanism and the spatial direction of the rotation axis of the deployment mechanism. Obtaining the relative pose relationship between the robot and the deployment mechanism includes: Obtain the position of the origin of the robot tool coordinate system; Based on the origin position of the robot tool coordinate system, determine the position of the rotation axis center of the unfolding mechanism in the robot base coordinate system; Determine the position of the robot's lifting point and the spatial direction of the rotation axis of the unfolding mechanism; Based on the relative pose relationship between the robot and the deployment mechanism, the motion path of the lifting point corresponding to the robot lifting is determined; The motion path includes the radius of motion, center of motion, spatial direction of rotation axis, starting position of motion, arc length of motion, and motion speed; based on the relative pose of the robot and the deployment mechanism, the motion path of the lifting point corresponding to the robot's lifting action is determined, including: Based on the position of the rotation axis center of the deployment mechanism in the robot's base coordinate system and the position of the robot's lifting point, calculate the radius of the arc corresponding to the motion path of the robot's end-effector lifting point; Determine the deployment angle and deployment angular velocity of the deployment mechanism; The radius of the arc is taken as the radius of the motion path, the center position of the rotation axis of the unfolding mechanism is taken as the center of the motion path, and the spatial direction of the rotation axis of the unfolding mechanism is taken as the spatial direction of the rotation axis of the motion path. Obtain the initial lifting position of the lifting point; Based on the initial lifting position of the lifting point, the radius of the arc, the unfolding angle, and the unfolding angular velocity, the starting position of the motion path, the arc length, and the motion speed are determined. Determine the lifting force of the robot; include: The robot's lifting point position, the gravity of the moving parts of the deployment mechanism, and the center of gravity position of the moving parts are obtained. When the lifting point of the robot coincides with the center of gravity of the movable part, the lifting force is the weight of the movable part. When the position of the robot's lifting point does not coincide with the position of the center of gravity of the movable part, the lifting force is calculated based on the position of the robot's lifting point, the position of the center of gravity of the movable part, and the magnitude of the gravity of the movable part. Based on the motion path of the lifting point corresponding to the robot's lifting action and the robot's lifting force, the unfolding mechanism is controlled to unfold and the robot is controlled to follow and unload, so as to simulate the zero-gravity environment in orbit.

2. The method according to claim 1, characterized in that, Determining the position of the rotation axis center of the unfolding mechanism in the robot's base coordinate system based on the origin position of the robot tool coordinate system includes: Move the origin of the robot tool coordinate system to a position close to the center of the unfolding mechanism's pivot. Measure the offset of the origin of the robot tool coordinate system from the center of the rotation axis of the unfolding mechanism in each axis direction of the robot base coordinate system; Based on the offset and the origin position of the robot tool coordinate system, the rotation center of the unfolding mechanism is obtained in the robot base coordinate system.

3. The method according to claim 1, characterized in that, Determining the position of the robot's lifting point and the spatial orientation of the deployment mechanism's rotation axis includes: The lifting device at the end of the robot is docked with and fixed to the deployment mechanism; Obtain the robot tool's coordinate system pose information; The origin of the robot tool coordinate system is taken as the lifting point position of the robot; The rotational spatial direction of the unfolding mechanism is determined based on the robot tool coordinate system posture information.

4. The method according to claim 1, characterized in that, Based on the initial lifting position of the lifting point, the radius of the arc, the unfolding angle, and the unfolding angular velocity, the starting position, arc length, and velocity of the motion path are determined, including: The initial lifting position of the lifting point is determined as the starting position of the motion path; The motion arc length of the motion path is determined based on the radius of the arc and the unfolding angle of the unfolding mechanism. The motion speed of the motion path is determined based on the radius of the arc and the unfolding angular velocity of the unfolding mechanism.

5. The method according to claim 1, characterized in that, Based on the motion path of the lifting point corresponding to the robot's lifting action and the robot's lifting force, the unfolding mechanism is controlled to unfold and the robot is controlled to follow and unload, including: At the initial position of the deployment mechanism, the robot is controlled to move so that the lifting device at the end of the robot docks with the moving part of the deployment mechanism; Based on the lifting force, control the force exerted by the lifting device on the moving parts of the unfolding mechanism; Based on the movement path of the robot's lifting point and the robot's lifting force, the unfolding mechanism is controlled to perform the unfolding movement, and the robot is controlled to move along the movement path. The movement position and speed of the robot are adjusted so that the force of the lifting device in the vertical direction is the lifting force.

6. The method according to claim 5, characterized in that, Controlling the unfolding mechanism to perform the unfolding movement includes: Determine whether the force sensor data has a sudden change, and obtain the result of the change; Based on the mutation results, the start and stop of the deployment mechanism's deployment movement are determined.

7. A zero-gravity simulation system for ground deployment of a spacecraft mechanism, as described in any one of claims 1-6, the system comprising a robot, a lifting device, a deployment mechanism, and a computer control device, wherein the lifting device is mounted on the end of the robot and is connected in cooperation with the deployment mechanism; the lifting device has a lifting point; and the computer control device is electrically connected to the robot. The lifting device has a lifting point, and a force sensor is installed at the lifting point. The unfolding mechanism includes a rotating shaft and movable parts. The computer control device is used to acquire the relative pose relationship between the robot and the deployment mechanism, and based on the relative pose relationship between the robot and the deployment mechanism, determine the motion path of the corresponding lifting point when the robot lifts, then determine the lifting force of the robot, and according to the motion path of the corresponding lifting point and the lifting force of the robot, control the deployment mechanism to deploy and control the robot to follow and unload, so as to simulate the zero-gravity environment in orbit.

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