A method, computer program product and system for assembling a space telescope on orbit

Abstract

The present invention belongs to the technical field of optical observation equipment, and relates to optical technology for space observation, and specifically to a method, computer program product, and system for assembling a space telescope on-orbit. A method for assembling a space telescope on-orbit, the method comprising: determining a target sub-mirror module based on an installation sequence, the target sub-mirror module being locked in a storage module; controlling a mechanical arm module to move to a first set area capable of grasping the target sub-mirror module, and identifying a visual mark on the target sub-mirror module, the visual mark comprising the position information and identity information of the target sub-mirror module; calculating a first relative position of a docking interface fixed between the target sub-mirror module and the mechanical arm module relative to the mechanical arm module based on the visual mark; and controlling the mechanical arm module to grasp the target sub-mirror module based on the first relative position, and then unlocking the target sub-mirror module and the storage module. This is to solve the technical problem of high precision requirements for visual cameras.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical observation equipment, and specifically relates to space observation optical technology, and specifically relates to an on-orbit assembly method of a space telescope, a computer program product and a system. Background Art

[0002] With the continuous development of aerospace technology, space telescopes play an increasingly important role in astronomical observation and deep space exploration. However, due to the payload volume limitation of the launch vehicle, it is difficult to launch large space telescopes into orbit as a whole. Therefore, the on-orbit assembly technology of modular space telescopes has become the key to solving this problem.

[0003] In the prior art, the splicing of modular space telescopes mainly relies on high-precision visual cameras. During the installation of the sub-mirror module, the visual camera on the robotic arm needs to be able to accurately identify the sub-mirror module and the docking interface on the sub-mirror module, and perform posture calculation and processing based on the recognized image after identification.

[0004] However, the problem is that, on the one hand, since the surface of the sub-mirror module itself is relatively smooth and mostly has a polygonal prism structure, the accuracy of identifying the sub-mirror module based on a pure visual algorithm is poor, especially for the identification of the docking interface, the acquired image needs to be processed to obtain the position and posture of the sub-mirror module and the docking interface, which makes the entire algorithm very complicated and requires too much computing power to meet the accuracy requirements. On the other hand, since the docking interface itself is relatively small and a high matching accuracy is required during the docking process, if this condition is to be met, the visual camera is required to have very high accuracy, which leads to a poor success rate of the entire system and very high cost. Summary of the invention

[0005] The present invention provides a space telescope on-orbit assembly method, a computer program product and a system to solve the technical problems that the existing modular space telescope mirror installation success rate is poor and the visual camera has high precision requirements.

[0006] According to a first aspect of the present invention, there is provided an on-orbit assembly method for a space telescope, the method comprising: determining a target sub-mirror module based on an installation sequence, the target sub-mirror module being locked in a storage module; controlling a robotic arm module to move to a first set area capable of grasping the target sub-mirror module, and identifying a visual mark on the target sub-mirror module, the visual mark comprising posture information and identity information of the target sub-mirror module; calculating a first relative posture of a docking interface fixed between the target sub-mirror module and the robotic arm module relative to the robotic arm module based on the visual mark; controlling the robotic arm module to grasp the target sub-mirror module based on the first relative posture, and then unlocking the target sub-mirror module and the storage module; and installing the target sub-mirror module on a mounting platform based on a second visual camera disposed on the target sub-mirror module.

[0007] Optionally, in some embodiments of the present invention, identifying the visual marks on the target sub-mirror module includes: controlling the first visual camera on the robotic arm module to take a photo of the first set area; extracting the identity information of all visual marks in the photo to determine the visual marks of the target sub-mirror module, and retrieving the posture information corresponding to the visual marks of the target sub-mirror module.

[0008] Optionally, in some embodiments of the present invention, the visual marker is an apriltag code, a QR code or an ArUco code, so as to realize real-time calculation of the first relative posture of the target sub-mirror module with respect to the robotic arm module through the visual marker.

[0009] Optionally, in some embodiments of the present invention, calculating the first relative posture of the target sub-mirror module with respect to the robotic arm module based on the visual mark includes: determining a fixed docking interface between the target sub-mirror module and the robotic arm module; calculating the first relative posture of the fixed docking interface between the target sub-mirror module and the robotic arm module with respect to the robotic arm module in the same coordinate system.

[0010] Optionally, in some embodiments of the present invention, a coordinate system of the fixed docking interface between the target sub-mirror module and the robotic arm module and the posture information of the robotic arm module is implemented based on a bionic transformation matrix; and / or, the fixed docking interface between the target sub-mirror module and the robotic arm module is determined based on the docking difficulty, or the fixed docking interface between the target sub-mirror module and the robotic arm module is determined based on the relative distance from the first visual camera.

[0011] Optionally, in some embodiments of the present invention, the second visual camera is arranged on a side of the target sub-mirror module away from the side where the target sub-mirror module is fixed to the robotic arm.

[0012] Optionally, in some embodiments of the present invention, installing the target sub-mirror module on the mounting platform based on a second visual camera arranged on the target sub-mirror module includes the following steps: adjusting the mounting point of the mounting platform to a second set area based on the installation order of the target sub-mirror module, and controlling the robotic arm module to drive the target sub-mirror module to move to the second set area, and the second set area is within the activity area of ​​the robotic arm module; identifying and determining the second relative posture of the mounting point relative to the robotic arm module based on the visual mark of the sub-mirror module in the second set area; after installing the target sub-mirror module to the mounting point of the mounting platform based on the second relative posture, unlocking the target sub-mirror module and the robotic arm module.

[0013] A computer program product includes a computer program, wherein the computer program, when processed and executed, implements the on-orbit assembly method of a space telescope according to the first aspect of the present invention.

[0014] According to a third aspect of the present invention, there is provided an on-orbit assembly system for a space telescope, comprising a base; a sub-mirror module; a mounting platform rotatably connected to the base, the mounting platform being capable of being mounted and fixed with a plurality of sub-mirror modules to form an observation mirror of the space telescope; a storage module being detachably fixed to the base and capable of accommodating a plurality of sub-mirror modules, the plurality of sub-mirror modules being respectively locked and fixed to the inner wall of the storage module; a robotic arm module comprising a robotic claw, the robotic claw being slidably connected to the base and being used to grab a target sub-mirror module from the storage module and install it on the mounting platform; a control module being communicatively connected to the mounting platform, the storage module and the robotic arm module and being used to execute a computer program to implement the on-orbit assembly method for a space telescope according to the first aspect of the present invention; wherein the sub-mirror module comprises a fixing frame, a docking interface and a visual mark, a plurality of docking interfaces being fixedly arranged on an outer wall of the fixing frame, the number of the visual marks being consistent with the number of the docking interfaces, and the visual marks being fixedly arranged on the fixing frame and corresponding to each docking interface.

[0015] Optionally, in some embodiments of the present invention, the robotic arm module also includes a first visual camera, which is arranged on the side of the robotic claw away from the base; the sub-mirror module also includes a second visual camera, which is fixed on the fixed frame away from the side connected to the robotic arm module.

[0016] The beneficial effects of the present invention are as follows: through the solution provided by the present invention, the accuracy requirements for the visual camera can be reduced while ensuring accuracy, the operating cost of the entire system can be reduced, and the fault tolerance rate can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A three-dimensional diagram of an on-orbit assembly system for a space telescope provided by an embodiment of the present invention;

[0019] Figure 2 A front view of an on-orbit assembly system for a space telescope provided by an embodiment of the present invention;

[0020] Figure 3 A structural diagram of a robotic arm module of an on-orbit assembly system for a space telescope provided by an embodiment of the present invention;

[0021] Figure 4 A structural diagram of a sub-mirror module of an on-orbit assembly system for a space telescope provided by an embodiment of the present invention;

[0022] Figure 5 A structural diagram of an observation mirror of a space telescope of an on-orbit assembly system for a space telescope provided by an embodiment of the present invention;

[0023] Figure 6 A flow chart of an on-orbit assembly method for a space telescope provided by an embodiment of the present invention;

[0024] Figure 7 A flow chart of another on-orbit assembly method of a space telescope provided by an embodiment of the present invention;

[0025] Figure 8 A flow chart of another on-orbit assembly method for a space telescope provided by an embodiment of the present invention;

[0026] Fig. 9 This is a flow chart of another on-orbit assembly method of a space telescope provided by an embodiment of the present invention;

[0027] Fig.10 This is a flow chart of another on-orbit assembly method of a space telescope provided by an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 100, storage module; 110, storage compartment; 120, storage compartment door;

[0030] 200, sub-mirror module; 210, fixing frame; 220, docking interface; 230, second visual camera; 240, mirror surface; 250, sub-mirror adjustment device; 260, visual mark;

[0031] 300, energy supply module;

[0032] 400, robotic arm module; 410, guide rail; 420, robotic claw; 430, first vision camera;

[0033] 500, control module;

[0034] 600, mounting platform; 610, base; 620, observation unit;

[0035] 700. Abutment. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise specified, the directional words used, such as "up", "down", "left", "right", "front", and "back", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0037] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present invention. In addition, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in one embodiment, reference can be made to the relevant description of other embodiments.

[0038] See also Figure 1-Figure 5 The figure shows an on-orbit assembly system for a space telescope, including a base 700, a storage module 100, a sub-mirror module 200, a power supply module 300, a mechanical arm module 400, a mounting platform 600 and a control module 500. The base 700 is relatively fixed to the storage module 100, the power supply module 300, the mechanical arm module 400 and the mounting platform 600, and is connected detachably or fixedly. Preferably, the connection is detachable, and the advantage of such a setting is that each part can be transported to space by the same or different carrier units, and the connection and fixation of each part can be completed in space.

[0039] The sub-mirror module 200 includes a fixing frame 210, a docking interface 220, a mirror surface 240 and a sub-mirror adjustment device 250. The fixing frame 210 is a hollow multi-faceted prism structure. Figure 4In this specific embodiment, the fixing frame 210 is a hexagonal hollow structure. The sub-mirror adjustment device 250 is fixedly arranged in the hollow cavity of the fixing frame 210, the top end is fixedly connected to the mirror surface 240, and the bottom end is fixedly connected to the bottom wall of the fixing frame 210, and the position of the mirror surface 240 relative to the sub-mirror module 200 can be adjusted. For the specific structure of the sub-mirror adjustment device 250, there are many solutions in the prior art, and the present invention does not limit this. For example, the sub-mirror adjustment device 250 provided in the solution of patent number CN2024106198109 previously invented by the inventor.

[0040] A plurality of docking interfaces 220 are fixedly disposed on the side wall of the fixing frame 210, so that the sub-mirror modules 200, and the sub-mirror modules 200 and other devices (such as the robot module 400, the storage module 100) can be docked and fixed through the docking interfaces 220 disposed on the respective components. Figure 4 In this specific embodiment, docking interfaces 220 are evenly spaced on each prism surface of the fixing frame 210 to maximize the adaptability of the sub-mirror module 200 to other components. There are many solutions for the docking interface 220 in the prior art, and the present invention does not limit this. For example, the solution of patent number CN2024104870411 previously invented by the inventor provides a docking structure for a space telescope.

[0041] The mounting platform 600 is relatively fixed to the base platform 700, and the mounting platform 600 can provide at least one mounting point for the sub-mirror module 200, so that the sub-mirror module 200 can be fixedly mounted on the mounting platform 600, thereby making the mounting platform 600 and the sub-mirror module 200 relatively fixed to form the observation mirror surface 240 of the space telescope. The mounting platform 600 can be rotatably connected relative to the base platform 700, so that the mounting platform 600 can rotate relative to the base platform 700.

[0042] The mounting platform 600 includes a base 610 and an observation part 620 which are rotatably connected. The base 610 is fixed to the base 700 by being fixed or detachably connected to maintain relative fixation. The observation part 620 is arranged on a side of the base 610 away from the base 700 and is rotatably connected to the base 610, so that the observation part 620 can be rotated to a specific position under the action of the base 610, thereby facilitating the installation and fixation of the observation part 620 and the sub-mirror module 200. A plurality of interface devices which are fixedly mounted with the sub-mirror module 200 are arranged on the side wall of the observation part 620. The interface devices are the same as or correspond to the docking interfaces 220 on the sub-mirror module 200, thereby enabling a plurality of sub-mirror modules 200 to be detachably fixed with the observation part 620 through a plurality of docking interfaces, thereby jointly forming the observation mirror surface 240 of the space telescope. Preferably, the observation part 620 is a component structure formed by pre-fixed installation of a plurality of sub-mirror modules 200. The advantage of such an arrangement is that the preparation cost of the entire on-orbit assembly system of the space telescope can be further reduced.

[0043] The storage module 100 is relatively fixed to the base 700. The storage module 100 is capable of storing a storage compartment 110 of the sub-mirror modules 200 to be installed on the mounting platform 600, and is fixedly connected to each sub-mirror module 200 to be installed. The storage module 100 includes at least one storage compartment 110, and an interface device that is the same as or corresponds to the docking interface 220 of the sub-mirror module 200 is provided on the inner side wall of the storage compartment 110, so that the sub-mirror module 200 to be installed on the mounting platform 600 can be detachably locked and fixed to the storage module 100. A single storage compartment 110 can store one sub-mirror module 200, or multiple sub-mirror modules 200, without specific limitation. Figure 1 In this specific embodiment, the storage module 100 is provided with two storage compartments 110, each storage compartment 110 can store 8 sub-mirror modules 200, and each sub-mirror module 200 is locked and fixed with the side wall of the storage module 100. Of course, in other embodiments, the storage compartments may also be 4, 8 or other numbers. Preferably, the storage module 100 further includes a storage compartment door 120, which can selectively open and close the storage compartment 110, thereby preventing the sub-mirror modules 200 in the storage compartment 110 from being damaged.

[0044] The robotic arm module 400 includes a guide rail 410, a robotic claw 420 and a first visual camera 430. The guide rail 410 is fixedly arranged relative to the base 700 and the storage compartment 110. The robotic claw 420 is slidably connected to the guide rail 410, so that the robotic claw 420 can move to a specific position relative to the guide rail 410 and the base 700, thereby realizing the process of grabbing the sub-mirror module 200 to be installed from the storage module 100 and installing the grabbed sub-mirror module 200 to the installation point set on the installation platform 600.

[0045] Preferably, Figure 1 In this specific embodiment, the base 700 is a storage module 100, and the guide rail 410 is fixedly arranged between the storage compartments 110 of the storage module 100, so that the guide rail 410 can remain relatively fixed relative to the base 700 and the storage compartment 110, and thus the mechanical claw 420 slidingly connected to the guide rail 410 can move to a specific storage compartment 110 through the guide rail 410 to grab the sub-mirror module 200 to be installed, and drive the sub-mirror module 200 to be installed to move to a specific position of the base 700 to achieve the installation of the sub-mirror module 200 to be installed on the mounting platform 600. Of course, in other replaceable embodiments, the guide rail 410 is fixedly disposed on the base 700, and the robotic claw 420 is an articulated arm with multiple joints, so that the robotic arm can freely reach multiple compartments of the storage module 100 to grab the sub-mirror module 200 to be installed, and drive the sub-mirror module 200 to be installed to a specific position of the base 700 to achieve the installation of the sub-mirror module 200 to be installed on the mounting platform 600.

[0046] The mechanical claw 420 is provided with a first visual camera 430 and an interface device that is the same as or corresponds to the docking interface 220 of the sub-mirror module 200, so that the sub-mirror module 200 to be installed on the mounting platform 600 can be detachably locked and fixed with the storage module 100. Of course, other installation and fixing devices can also be provided on the mechanical claw 420, so that the mechanical claw 420 can grab the sub-mirror module 200 and transport it to a specific area for installation. For example, in an alternative embodiment, the mechanical claw 420 is a three-claw grabbing structure, and the three claws are respectively abutted against the fixing frame 210 of the sub-mirror module 200 to achieve the picking up of the sub-mirror module 200.

[0047] Please continue reading Figure 4 , a second visual camera 230 and a visual mark 260 are arranged on the fixing frame 210 of the sub-mirror module 200, and a plurality of visual marks 260 are arranged to facilitate identification by the first visual camera 430 and the second visual cameras 230 on other sub-mirror modules 200. Preferably, the number of visual marks 260 is consistent with the docking interface 220 on the sub-mirror module 200, and each visual mark 260 is arranged at a set position relative to the docking interface 220 according to a preset rule, so that each visual mark 260 presents a corresponding relationship with each docking interface 220. For example, the preset rule is that the visual marks 260 are all located at a specific distance above the docking interface 220; or, in order to further identify each docking interface 220, each visual mark 260 can be arranged relative to the docking interface 220 in an increasing spacing manner.

[0048] The advantage of such a configuration is that, by configuring the docking interface 220 to correspond to the visual mark 260 , the position of the docking interface 220 can be determined based on the visual mark 260 , thereby increasing the speed of the entire installation process.

[0049] The second visual camera 230 is fixed on the fixing frame 210 and is arranged without interfering with the docking interface 220 and the visual mark 260 . The second visual camera 230 can identify the visual mark 260 on other sub-mirror modules 200 , and can further assist in completing the installation process of the sub-mirror module 200 .

[0050] It can be understood that the purpose of setting the second visual camera 230 is that in actual operation, due to the size of the sub-mirror module 200, after the mechanical arm module 400 and the sub-mirror module 200 are installed and fixed, the field of view of the first visual camera 430 on the mechanical arm module 400 is often blocked by the sub-mirror module 200. If the first visual camera 430 is spaced too far from the docking device between the mechanical claw 420 and the sub-mirror module 200 to prevent it from being blocked, the recognition accuracy of the first visual camera 430 on the sub-mirror module 200 and the visual mark 260 will be greatly reduced, thereby affecting the process of the mechanical arm module 400 grabbing the sub-mirror module 200 from the storage module 100.

[0051] By setting a second visual camera 230 on the sub-mirror module 200, while not affecting the robot arm module 400 in grasping the sub-mirror module 200, by utilizing the second visual camera 230, the installation process of the robot arm module 400 grasping the sub-mirror module 200 and installing it to the installation point of the mounting platform 600 can be well solved, thereby improving the installation efficiency.

[0052] It is naturally understood that, preferably, the second visual camera 230 is arranged on the side of the sub-mirror module 200 away from the installation of the mechanical arm module 400, so as to increase the field of view of the second visual camera 230 as much as possible and avoid being affected by the mechanical arm module 400. Specifically, considering that the sub-mirror module 200 itself may be Figure 4 This embodiment has a regular hexagonal prism structure, and the docking interface 220 is the same. At this time, each prism surface may be installed and fixed with the mechanical claw 420. At this time, in order to ensure that the second visual camera 230 is set on the side of the sub-mirror module 200 away from the installation of the mechanical arm module 400, the second visual camera 230 can be pre-adjusted to the side away from the storage compartment door 120 of the storage compartment 110 when the storage module 100 and the sub-mirror module 200 are locked and fixed. Of course, the second visual camera 230 can also be set on the storage module 100 by arranging a device matching the second visual camera 230 to ensure that the second visual camera 230 is set on the side of the sub-mirror module 200 away from the installation of the mechanical arm module 400, and the details will not be repeated.

[0053] Therefore, by setting up a second visual camera 230, and by locking the sub-mirror module in the storage module to ensure that the second visual camera is located on the side away from the sub-mirror module and locked with the robotic arm, and in conjunction with the visual mark 260, the accuracy requirements for the first visual camera 430 can be further reduced, and the selection cost and installation requirements for the first visual camera 430 can be greatly reduced. That is, the first visual camera 430 at this time only needs to have the ability to recognize the visual mark 260, and does not need to have the ability to accurately recognize the sub-mirror module 200, nor does it need to have the field of view occlusion and posture conversion calculation caused by the installation position after the robotic arm module 400 grabs the sub-mirror module 200, thereby reducing the preparation cost of the entire system.

[0054] For the entire on-orbit assembly system of the space telescope, although this solution is equipped with a second vision camera on each sub-mirror module, compared with the original solution of only setting a high-precision vision camera on the robotic arm module, since a high-precision vision camera is no longer required, the reduced hardware and computing power costs are far greater than the solution of adding a second vision camera, resulting in the overall cost of the on-orbit assembly system of the space telescope still being reduced and the installation efficiency being effectively improved.

[0055] The energy supply module 300 is relatively fixed to the base 700, thereby providing an energy source for the entire on-orbit assembly system of the space telescope.

[0056] The control module 500 is electrically connected to the energy supply module 300, and is in communication connection with the storage module 100, the robotic arm module 400, the sub-mirror module 200 and the observation part 620 of the mounting platform 600. The control module 500 has a computer program, which, when processed and executed, can implement an in-orbit assembly method of a space telescope by controlling the robotic arm module 400 to complete grabbing the sub-mirror module 200 to be installed and installing it on the observation part 620.

[0057] See also Figure 6 , the on-orbit assembly method of the space telescope mainly includes the following steps:

[0058] S510: determining a target sub-mirror module based on an installation sequence, wherein the target sub-mirror module is locked in a storage module;

[0059] S530: After controlling the robot arm module to move to a first set area capable of grasping the target sub-mirror module, identifying a visual mark on the target sub-mirror module, wherein the visual mark includes position information and identity information of the target sub-mirror module;

[0060] S550: Calculating a first relative posture of a docking interface between the target sub-mirror module and the robotic arm module relative to the robotic arm module based on the visual mark;

[0061] S570: After controlling the robotic arm module to grasp the target sub-mirror module based on the first relative posture, unlock the target sub-mirror module and the storage module.

[0062] The following is a detailed description of each step.

[0063] S510: Determine a target sub-mirror module based on an installation sequence, and lock the target sub-mirror module into a storage module.

[0064] In order to reduce the operation pressure of the control module 500, it is preferred to sort the sub-mirror modules 200 placed in the storage module 100 according to a certain sequence rule to form an installation sequence, so that the robot module 400 can grab the sub-mirror modules 200 according to the installation sequence, for example, Figure 1 In this specific implementation, the installation order is determined from left to right. First, the storage compartments 110 are sorted from left to right, and then the sub-mirror modules 200 in the storage compartments are sorted from top to bottom to form an installation order. Of course, in another alternative, the installation order of all sub-mirror modules 200 in the storage module 100 is determined according to the distance from the mounting platform 600. By determining the installation order, each sub-mirror module 200 can be assigned a specific digital identity ID, that is, 1, 2, 3... Of course, it is also possible to first determine the installation order of each sub-mirror module 200, and then arrange each sub-mirror module 200 in the storage module 100 according to the set installation order, so that the robot arm module 400 can directly grab according to the set grabbing trajectory.

[0065] After the installation sequence is formed, the robot arm module 400 can determine the target sub-mirror module 200 to be grasped from the plurality of sub-mirror modules 200 of the storage module 100 according to the grasping sequence.

[0066] S530: After controlling the robot arm module to move to a first set area where the target sub-mirror module can be grasped, the visual mark on the target sub-mirror module is identified, where the visual mark includes the position information and identity information of the target sub-mirror module.

[0067] After determining the target sub-mirror module 200, the mechanical claw 420 of the mechanical arm module 400 can be controlled to move relative to the guide rail 410, and the mechanical claw 420 can be moved to a first set area where the target sub-mirror module 200 can be grasped. The range of the first set area is mainly determined according to the accuracy of the first visual camera 430 of the mechanical arm module 400. When the accuracy of the first visual camera 430 is high, the first set area can be set larger, otherwise it can be set smaller.

[0068] Then, the first visual camera 430 on the robot arm module 400 is controlled to identify the visual mark 260 of the target sub-mirror module 200 , and the position and posture information of the sub-mirror module 200 is acquired based on the visual mark 260 of the target sub-mirror module 200 .

[0069] S550: Calculate a first relative posture of the target sub-mirror module and the docking interface fixed to the robotic arm module relative to the robotic arm module based on the visual mark.

[0070] For the visual mark 260, it is required that the visual mark 260 can correspond to each sub-mirror module 200 one by one, that is, it needs to include the identity information of each sub-mirror module 200, that is, the unique identity ID of each sub-mirror module 200. When the installation sequence is determined, the identity information of the sub-mirror module 200 corresponds to the installation sequence, and the required sub-mirror module 200 can be determined according to the installation sequence. At the same time, the visual mark 260 also needs to include the posture information of each sub-mirror module 200 to minimize the reliance on the accuracy of the first visual camera 430.

[0071] The visual mark 260 can be, for example, a QR code, an ArUco code, or an Apriltag code. The advantage of using these codes is that the first relative posture of the target sub-mirror module 200 relative to the robotic arm module 400 can be calculated in real time as the robotic arm module 400 approaches the target sub-mirror module 200, so that the robotic arm can continuously adjust the approach posture, thereby being able to more accurately complete the grasping of the target sub-mirror module 200.

[0072] The preferred setting is the April tag code. The advantage of using the April tag code is that the April tag code can still be well recognized even when it is partially folded or blocked, thereby ensuring the precision and accuracy of recognition.

[0073] S570: After controlling the robotic arm module to grasp the target sub-mirror module based on the first relative posture, unlock the target sub-mirror module and the storage module.

[0074] As to whether the mechanical claw 420 of the control arm module successfully grasps the target sub-mirror module 200, the control module 500 can judge by trying to communicate with the second visual camera 230 of the target sub-mirror module 200. When the control module 500 can communicate with the second visual camera 230 of the target sub-mirror module 200 through the mechanical claw 420, it means that the mechanical claw 420 has grasped the target sub-mirror module 200. Correspondingly, if the control module 500 cannot communicate with the second visual camera 230, it means that the grasping has not been completed at this time.

[0075] Of course, whether the grasping is successful can also be judged by other means. In a replaceable embodiment, a Hall sensor is provided in the docking interface 220 of the target sub-mirror module 200 and in the docking device in which the mechanical claw 420 is fixed to the docking interface 220, so as to detect whether the docking, locking and grasping are completed. If the grasping is completed, the instruction is transmitted to the control module 500.

[0076] After the robot module 400 grabs the target sub-mirror module 200 based on the first relative posture, the control module 500 sends a command to the storage module 100 or the target sub-mirror module 200, so that the target sub-mirror module 200 is unlocked from the storage module 100. Then, the subsequent process of assembling the target sub-mirror module 200 to the mounting platform 600 is completed.

[0077] Therefore, through the solution provided by the present invention, by using the visual mark 260, the precision recognition pressure of the first visual camera 430 on the robotic arm module 400 can be greatly reduced during the process of the robotic arm module 400 grabbing the target sub-mirror module 200 from the storage module 100, thereby advantageously improving the success rate of the robotic arm module 400 grabbing the target sub-mirror module 200.

[0078] It can be understood that in the prior art, the sub-mirror module 200 and the docking interface 220 are mainly identified by the first visual camera 430 and image processing on the mechanical arm module 400. However, since the facets of the sub-mirror module 200 are relatively smooth and the structures of the facets are basically the same, the scheme of pure visual camera identification and determination of each sub-mirror module 200 and the docking interface 220 on the sub-mirror module 200 often has many errors. However, during the installation of the sub-mirror module 200, since it is necessary to ensure that the docking interface 220 of the sub-mirror module 200 is locked and fixed with the docking interface 220 of other devices, the accuracy requirement is relatively high at this time, and the pure visual recognition scheme in the prior art often cannot meet this requirement due to poor accuracy. Or it is necessary to use a very high-precision and high-computing-power visual camera, which leads to a significant increase in the cost of the entire scheme.

[0079] However, through the solution of the present invention, by setting the visual mark 260, including the position information and identity information of the sub-mirror module 200 in the visual mark 260, and making the sub-mirror module 200 and the storage module 100 locked and fixed in advance, it is possible to store the position information of the sub-mirror module 200 in the visual mark 260 in advance without the first visual camera 430 performing analysis and calculation to obtain the position information of the target sub-mirror module 200. In addition, the requirements for the accuracy and computing power of the first visual camera 430 can be well reduced, greatly reducing the cost while ensuring the accuracy of the installation precision.

[0080] In a specific implementation, the step of identifying the visual mark on the target sub-mirror module 200 mainly includes the following steps:

[0081] S531: Control the first visual camera on the robotic arm module to take photos of the first set area.

[0082] After moving to the first set area, the robot arm module 400 can use the first visual camera 430 to take a picture of the first set area, that is, take a picture of the first set area.

[0083] S533: Extract the identity information of all visual marks in the photo to determine the visual marks of the target sub-mirror module, and retrieve the posture information corresponding to the visual marks of the target sub-mirror module.

[0084] When determining the visual marker 260 of the target sub-mirror module 200 from all the visual markers 260, it is necessary to first extract the identity information contained in all the visual markers 260, and then determine the target sub-mirror module 200 according to the installation sequence. At this time, since the installation sequence is determined, the identity information of each sub-mirror module corresponds to the installation sequence one by one, so the identity information of the required target sub-mirror module can be determined based on the installation sequence, and then the target sub-mirror module is determined. Then, the visual marker 260 belonging to the target sub-mirror module 200 is screened out according to the extracted identity information. Then, the posture information corresponding to the visual marker 260 of the target sub-mirror module 200 is retrieved.

[0085] It is naturally understandable that the posture information of all visual markers 260 can be extracted while extracting the identity information of all visual markers 260, and after determining the visual marker 260 of the target sub-mirror module 200 based on the identity information of all visual markers 260, the posture information of the visual marker can be directly obtained.

[0086] In a preferred embodiment, see Figure 7 , after step S531 and before step S533, the following steps are also included: S532: preprocessing the photo to extract all visual markers, the preprocessing at least includes global threshold processing, continuous boundary segmentation, graphics fitting and boundary optimization.

[0087] Since the storage module 100 stores a plurality of sub-mirror modules 200, the first set area contains not only the target sub-mirror module 200 but also other sub-mirror modules 200. Therefore, after taking a photo of the first set area, the obtained photo contains not only the target sub-mirror module 200 but also other sub-mirror modules 200. Therefore, the obtained picture needs to be processed first.

[0088] When performing preprocessing, the obtained image is first subjected to global threshold processing, through which the original image is converted into a black and white image, and global value processing and binarization processing are performed.

[0089] Continuous boundary segmentation is then required. After binarization, edge pixel connection groups are formed by finding adjacent edge pixels with different color blocks in the image, and then edge line detection is achieved by retrieving each pixel connection group.

[0090] Fitting graphics and boundary optimization. The disordered points on the boundary are divided according to the specific visual marker 260. For example, when the visual marker 260 is a quadrilateral, the points on the boundary are divided into four corresponding line segments to construct many quadrilateral structures. Then, the boundary optimization is performed on the quadrilateral structure to optimize the image boundary, thereby reducing the impact of noise on boundary detection and improving the recognition success rate. Then, the extraction of all visual markers 260 in the captured photo is completed.

[0091] See also Figure 8 In a specific implementation, the step of calculating the first relative position of the target sub-mirror module relative to the robotic arm module based on the visual marker comprises the following steps:

[0092] S551: Determine the docking interface between the target sub-mirror module and the robotic arm module.

[0093] Considering that there are multiple docking interfaces 220 on the target sub-mirror module 200 , it is necessary to determine the docking interface 220 when the target sub-mirror module 200 is fixed before the mechanical claw 420 of the mechanical arm module 400 grabs the sub-mirror module 200 .

[0094] When determining the docking interface 220 on the target sub-mirror module 200 fixed to the mechanical arm module 400, it can be determined by a preset rule. In a specific embodiment, the preset rule is to determine the docking interface 220 on the sub-mirror module 200 fixed to the mechanical arm module 400 based on the docking difficulty, so as to reduce the docking difficulty as much as possible; in another specific embodiment, the preset rule is to determine based on the relative distance from the first visual camera 430, so as to ensure the field of view of the first visual camera 430 as much as possible. Of course, other rules can also be used to determine the docking interface 220 on the sub-mirror module 200 fixed to the mechanical arm module 400.

[0095] S553: ​​Calculate the first relative posture of the target sub-mirror module and the fixed docking interface of the robotic arm module relative to the robotic arm module in the same coordinate system.

[0096] Since the posture of the target sub-mirror module 200 is obtained by acquiring the posture information stored in the visual marker 260, the coordinate systems of the posture information of the target sub-mirror module 200 and the posture information of the robotic arm module 400 may be inconsistent, so they need to be unified into the same coordinate system.

[0097] There are many methods for unifying the coordinate system in the prior art, and the present invention does not limit this. In a preferred embodiment, it is achieved by using a bionic transformation matrix. By using an affine transformation matrix to map the relationship between the two planes, it is possible to calculate the first relative posture of the target sub-mirror module 200 relative to the robotic arm module 400 based on the visual marker 260, and then solve the mapping relationship between the two planes by using the feature points of the visual marker 260, such as AprilTag, through a direct linear transformation algorithm (DLT), thereby completing the unification of the coordinate system.

[0098] After unifying the coordinate system and determining the docking interface 220 on the target sub-mirror module 200 fixed with the robotic arm module 400, the first relative position of the docking interface 220 on the target sub-mirror module 200 fixed with the robotic arm module 400 relative to the robotic arm module 400 can be calculated based on the same coordinate system.

[0099] At the same time, when the visual mark 260 is the April tag code, the distance between the first visual camera 430 and the April tag code can be reduced as the robotic arm module 400 continuously approaches the docking interface 220 of the target sub-mirror module 200. At this time, the first visual camera 430 will continuously recognize the April tag code and continuously obtain the latest and most accurate first relative posture, so that the robotic arm module 400 can continuously adjust the approaching first relative posture according to the latest relative posture, so that it can more accurately grasp the target sub-mirror module 200.

[0100] See also Fig. 9 In a specific implementation, after unlocking the target sub-mirror module 200 and the storage module, the following steps are also included:

[0101] S590: Mounting the target sub-mirror module on a mounting platform based on a second visual camera disposed on the target sub-mirror module.

[0102] The second visual camera is arranged on the target sub-mirror module away from the side where the target sub-mirror module is fixed to the robot arm. The installation point on the mounting platform 600 is mainly determined according to the installation order of the target sub-mirror module 200, for example, Figure 5In this embodiment, the installation order of each sub-mirror module 200 on the mounting platform 600 is 1, 2, 3, ... respectively. When it is necessary to install the target sub-mirror module 200 with the target sub-mirror module 200 numbered 7, it is necessary to install and fix the target sub-mirror module 200 and the docking interfaces 220 of the sub-mirror modules 200 numbered 1 and 2, respectively. At this time, the installation points include the docking interfaces 220 with which the sub-mirror modules 200 numbered 1 and 2 are docked. Similarly, when it is necessary to install the target sub-mirror module 200 with the order of 13, the installation points at this time include the docking interfaces 220 with which the sub-mirror modules 200 numbered 1, 12 and 13 are docked. It can be understood that, since the installation order is certain, the installation points of each sub-mirror module 200 corresponding to the installation order are also determined accordingly.

[0103] After the installation point is acquired, the target sub-mirror module 200 may be installed to the installation point of the installation platform 600 based on the second visual camera 230 disposed on the target sub-mirror module 200 .

[0104] See also Fig.10 In a specific implementation, the target sub-mirror module 200 is mounted to the mounting point of the mounting platform 600 based on the second visual camera 230 disposed on the target sub-mirror module 200, including the following steps:

[0105] S591: Based on the installation sequence of the target sub-mirror module, the installation point of the installation platform is adjusted to a second set area, and the robotic arm module is controlled to drive the target sub-mirror module to move to the second set area, and the second set area is within the activity area of ​​the robotic arm module.

[0106] In the case where the target sub-mirror modules 200 have been installed in a certain order, the installation point can be determined based on the target sub-mirror modules 200. However, considering that the number of sub-mirror modules 200 installed on the mounting platform 600 increases, for example, when the target sub-mirror module 200 with the order of 13 needs to be installed, the installation point is located at Figure 5 When the target sub-mirror module 200 with the installation order of 14 needs to be installed, the installation point at this time is Figure 5 The lower right side of the observation part 620 in the middle. If the robot module 400 is made to move circumferentially along with the installation point, the guide rail 410 of the entire robot module 400 has high requirements, which leads to difficulty in later installation.

[0107] Based on this, the inventor tried to control the observation unit 620 to rotate relative to the base 610 after the installation point is determined, so that the installation point rotates to the second set area. The second set area is the area that the robot module 400 can reach, for example Figure 5 The middle part is the area corresponding to the observation unit 620. Through such a setting, the requirements for the movable position of the robot arm module 400 can be greatly reduced, thereby improving the operability of the entire solution.

[0108] At the same time, since the installation point has been determined, the control unit only needs to rotate a certain angle based on the original installation position according to a certain rule. For example, after the sub-mirror module 200 with an installation order of 1 is assembled, the mounting table 600 will rotate 60 degrees, and then assemble the sub-mirror module 200 with an installation order of 2, so that the modules with installation orders 1-6 are assembled to the observation in sequence; similarly, when the sub-mirror module 200 with an installation order of 7 is assembled, it is necessary to identify the sub-mirror module 200 with an installation order of 2; when assembling the sub-mirror module 200 with an installation order of 8, it is necessary to identify the sub-mirror module 200 with an installation order of 3. This process can be written in the main program to identify the module with a difference of 5. Similarly, when assembling the modules with an installation order of 13-18, it is necessary to identify the sub-mirror module 200 with a difference of 12. Then, the assembly of the sub-mirror modules 200 with an installation order of 7-12 begins.

[0109] S592: Identify and determine a second relative position of the mounting point relative to the robotic arm module based on the visual mark of the sub-mirror module within the second set area.

[0110] After the robot module 400 drives the target sub-mirror module 200 to the second set area, the installation point is identified. The identification process of the installation point is similar to the steps in S531-S534 mentioned above, that is, it is necessary to first take a photo of the second set area through the second visual camera 230 on the target sub-mirror module 200; then pre-process the photo to extract all visual markers 260, and the pre-processing includes at least global threshold processing, continuous boundary segmentation, fitting graphics and boundary optimization; then extract the identity information of all visual markers 260 to determine the visual marker 260 corresponding to the installation point, and retrieve the posture information corresponding to the installation point. The details will not be repeated.

[0111] Similarly, after obtaining the posture information corresponding to the mounting point, it is necessary to calculate the second relative posture of the mounting point relative to the robotic arm module 400. The calculation process is similar to the steps of S551-S553, that is, it is necessary to first unify the coordinate system of the posture of the mounting point and the posture of the robotic arm module 400; then determine the docking interface 220 of the target sub-mirror module 200 fixed to the mounting point; and then calculate the second relative posture of the docking interface 220 fixed to the mounting point relative to the mounting point in the same coordinate system. The details will not be repeated.

[0112] S593: After installing the target sub-mirror module to the mounting point of the mounting platform based on the second relative posture, unlock the target sub-mirror module and the robotic arm module.

[0113] Similarly, similar to the step S270 , after determining that the target sub-mirror module 200 is installed at the installation point, the robot arm module 400 is controlled to unlock the locking state with the target sub-mirror module 200 .

[0114] In summary, the invention points of the present invention are as follows: (1) Compared with the method of full-position control assembly, the vision-based on-orbit assembly method of space telescope proposed in the present invention has the following advantages: ① Improve assembly flexibility: The scheme of guiding the acquisition of position and posture by visual markers allows the on-orbit assembly system of the space telescope to adjust its posture and action according to the real-time acquired image. This adaptive ability significantly improves the system's ability to cope with uncertainty and dynamic environmental changes, especially under microgravity conditions. ② Reduce dependence on high-precision position control: Traditional full-position control methods require high-precision positioning and trajectory planning equipment, while the method guided by visual markers relies on visual markers for relative position and posture estimation, which can greatly reduce the dependence on expensive and complex sensors and equipment, and reduce the difficulty of system design and implementation. ③ Improve fault tolerance: The method based on visual markers can perceive and correct deviations in the assembly process in real time, improving the system's fault tolerance. When a component has a slight offset or positioning error, the visual feedback system can guide the robot to automatically adjust and reduce the risk of failure. ④ Simplify preliminary planning: In the existing full-position control method, detailed trajectory planning must be performed for each assembly step, while the method of visual markers relies on real-time perception, which can simplify preliminary design and planning and shorten the mission preparation cycle. Vision-based methods can also enable autonomous assembly through real-time analysis, reducing reliance on remote commands from the ground, thereby improving mission autonomy and efficiency.

[0115] (2) Module identity recognition and relative pose estimation based on visual markers: Each sub-mirror module is affixed with a unique visual marker code, such as the AprilTag code. Combined with the camera system, the relative pose and identity ID of the sub-mirror module can be identified and accurately calculated in real time, thereby realizing automated control of docking, grasping and assembly sequence.

[0116] (3) Collaborative assembly process between the mounting table and the robotic arm module: During the assembly process, the mounting table and the robotic arm module work together. The mounting table fixes and rotates the sub-mirror module, and the robotic arm module grabs and docks the modules in the order of installation, thereby optimizing the assembly efficiency under limited space conditions.

[0117] (4) Hierarchical assembly sequence planning for multiple modules: By utilizing the characteristics of the visual system, the recognition and assembly strategies are dynamically adjusted according to the sequence and assembly order of the modules, thus simplifying the overall assembly logic.

[0118] In summary, the present invention proposes an on-orbit assembly system for a space telescope. The system has an ingenious device design and a compact structure, which ensures that the mirror to be replaced can be quickly replaced in a space environment without interfering with the normal operation of the space telescope. The risk of personnel directly participating in space operations is avoided, and the safety of the replacement process is significantly improved. In addition, the system not only has a rapid replacement process, but also is cost-effective, bringing convenience and efficiency to the maintenance of the space telescope.

[0119] The patent of the present invention can replace only the mirror surface, greatly reducing the replacement cost. When the mirror surface is damaged, there is no need to replace the entire modular sub-mirror. Only the mirror surface needs to be replaced to complete the repair work. In addition, the overall structure of the device is more compact, the mirror surface can be replaced quickly, and the replacement cost is also greatly reduced.

[0120] The scheme of the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

[0121] The embodiment of the present invention also discloses a readable storage medium. A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the positioning reliability judgment method described in any one of the above embodiments are implemented. The computer-readable storage medium may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), and a software distribution medium, etc. The computer program includes a computer program code. The computer program code may be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying a computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), and a software distribution medium, etc.

[0122] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0123] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0124] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0125] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0126] It should also be understood that one or more of the elements shown in the drawings may also be implemented in a more separate or more integrated manner, or even removed because they are not operable in certain circumstances or provided because they may be useful according to a particular application. In addition, unless otherwise expressly indicated, any marking arrows in the drawings should be considered merely exemplary and not limiting. In addition, unless otherwise indicated, the term "or" as used herein is generally intended to mean "and / or". In cases where a term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be considered to be indicated.

Claims

1. A method for assembling a space telescope on-orbit, characterized in that: The method comprises: Determine a target sub-mirror module based on the installation sequence, wherein the target sub-mirror module is locked in the storage module; After controlling the robot arm module to move to a first set area capable of grasping the target sub-mirror module, identifying a visual mark on the target sub-mirror module, wherein the visual mark includes position information and identity information of the target sub-mirror module; Calculate a first relative position of the target sub-mirror module and the fixed docking interface of the robotic arm module relative to the robotic arm module based on the visual mark; After controlling the mechanical arm module to grasp the target sub-mirror module based on the first relative posture, unlock the target sub-mirror module and the storage module; The target sub-mirror module is mounted on a mounting platform based on a second visual camera disposed on the target sub-mirror module.

2. The on-orbit assembly method of a space telescope according to claim 1, characterized in that: Identifying a visual mark on the target sub-mirror module includes: Controlling a first visual camera on the robotic arm module to take photos of the first set area; The identity information of all visual marks in the photo is extracted to determine the visual marks of the target sub-mirror module, and the posture information corresponding to the visual marks of the target sub-mirror module is retrieved.

3. The on-orbit assembly method of a space telescope according to claim 1, characterized in that: The visual marker is an apriltag code, a QR code or an ArUco code, so as to realize real-time calculation of the first relative position of the target sub-mirror module with respect to the robotic arm module through the visual marker.

4. The on-orbit assembly method of a space telescope according to claim 1, characterized in that: The step of calculating a first relative position of the target sub-mirror module relative to the robotic arm module based on the visual marker comprises: Determine a docking interface at which the target sub-mirror module is fixed to the robotic arm module; Calculate the first relative position of the target sub-mirror module and the fixed docking interface of the robotic arm module relative to the robotic arm module in the same coordinate system.

5. The on-orbit assembly method of a space telescope according to claim 4, characterized in that: A coordinate system 1 of the fixed docking interface between the target sub-mirror module and the robotic arm module and the position and posture information of the robotic arm module is realized based on a bionic transformation matrix; And / or, determining the fixed docking interface between the target sub-mirror module and the robotic arm module based on the docking difficulty, or determining the fixed docking interface between the target sub-mirror module and the robotic arm module based on the relative distance from the first visual camera.

6. The method for assembling a space telescope on-orbit according to any one of claims 1 to 5, characterized in that: The second visual camera is arranged on the target sub-mirror module away from a side where the target sub-mirror module is fixed to the robotic arm.

7. The on-orbit assembly method of a space telescope according to claim 6, characterized in that: The method of mounting the target sub-mirror module on a mounting platform based on a second visual camera disposed on the target sub-mirror module comprises the following steps: Adjusting the installation point of the installation platform to a second set area based on the installation sequence of the target sub-mirror module, and controlling the robotic arm module to drive the target sub-mirror module to move to the second set area, wherein the second set area is within the activity area of ​​the robotic arm module; Identify and determine a second relative position of the mounting point relative to the robotic arm module based on a visual mark of the sub-mirror module within the second set area; After installing the target sub-mirror module to the mounting point of the mounting platform based on the second relative posture, unlock the target sub-mirror module and the robotic arm module.

8. A computer program product, comprising a computer program, characterized in that When the computer program is processed and executed, the on-orbit assembly method of a space telescope described in any one of claims 1 to 7 is implemented.

9. An on-orbit assembly system for a space telescope, characterized in that: include abutment; Sub-mirror module; A mounting platform, rotatably connected to the base, the mounting platform can be mounted and fixed with a plurality of sub-mirror modules to form an observation mirror of the space telescope; A storage module is detachably fixed to the base, and can accommodate a plurality of sub-mirror modules, wherein the plurality of sub-mirror modules are respectively locked and fixed to the inner wall of the storage module; A mechanical arm module, comprising a mechanical claw, the mechanical claw being slidably connected to the base, and being used to grasp a target sub-mirror module from the storage module and install it on the mounting platform; A control module, in communication with the mounting platform, the storage module, and the robotic arm module, and configured to execute a computer program to implement the on-orbit assembly method for a space telescope as described in any one of claims 1 to 7; in The sub-mirror module includes a fixing frame, a docking interface and a visual mark. A plurality of docking interfaces are fixedly arranged on the outer wall of the fixing frame. The number of the visual marks is consistent with the number of the docking interfaces. The visual marks are fixedly arranged on the fixing frame corresponding to each docking interface.

10. The on-orbit assembly system for a space telescope according to claim 9, characterized in that: The robotic arm module further comprises a first visual camera, which is arranged on a side of the robotic claw away from the base; The sub-mirror module also includes a second visual camera, which is fixed on the fixing frame away from a side fixedly connected to the robotic arm module.

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