A space autonomous attach-detach ground test system and method

Abstract

The application relates to a space autonomous adhesion-detachment ground test system and method, an air-floating active end simulator simulating different quality adhesion aircraft, and an air-floating passive end simulator simulating target aircraft with different quality and different satellite surface materials; the ground test system acquires and analyzes the position and motion information of the air-floating active end simulator and the position information of the air-floating passive end simulator returned by a zenith camera in real time, sends an instruction to drive the suspension of the air-floating active end simulator and the air-floating passive end simulator to simulate a space microgravity environment, autonomously adjusts the collision speed and collision angle of the air-floating active end simulator moving towards the air-floating passive end simulator according to an ultra-close-range autonomous navigation guidance control strategy and the motion information of the air-floating active end simulator in real time, and displays the state information of the air-floating active end simulator and the air-floating passive end simulator and the video information of the zenith camera in real time; the coupling relationship among the collision speed, the collision angle, the collision contact force and the adhesion force is fully explored.

Description

Technical Field

[0001] This invention belongs to the field of autonomous adsorption-desorption technology for space microgravity environment spacecraft, and relates to a space autonomous attachment-desorption ground test system and method. Background Technology

[0002] Bionic dry adhesion technology based on van der Waals forces has unique advantages in the space field. Leading technological powers in Europe and America have conducted extensive research in the fundamental field of bionic dry adhesion, achieving remarkable results. Recognizing the wide range of applications of this technology in on-orbit space servicing, major spacefaring nations in Europe and America have begun to apply it to space control.

[0003] Domestic and international research indicates that two conditions are required for biomimetic dry adhesive materials to generate adhesive force upon contact with the surface of the adherend: a normal pressure between the biomimetic dry adhesive material and the contact surface, and relative slippage between the biomimetic dry adhesive material and the contact surface. In practical space engineering applications, these two conditions often require an aircraft equipped with an attachment mechanism and biomimetic dry adhesive material to approach the target aircraft (the adherend) via ultra-close-range autonomous navigation and homing control, and to make weak collision contact with the target aircraft. During the weak collision, the biomimetic dry adhesive material generates a collision force with the contact surface, thus providing normal pressure to the biomimetic dry adhesive material; the relative slippage between the biomimetic dry adhesive material and the contact surface is often achieved through the functional design of the autonomous attachment mechanism. The collision speed and angle between the aircraft with the attachment mechanism and the target aircraft become crucial indicators for stable adhesion. A low collision speed or a large collision angle results in a weak collision force, leading to a lower normal pressure on the biomimetic dry adhesive material and consequently, weak adhesion, preventing stable adhesion. During the collision, the two aircraft generate opposing rebound forces. A high collision speed results in a large rebound force; if this force exceeds the adhesive force, adhesion will also fail. Therefore, the collision speed and angle at the moment of impact between the attaching aircraft and the target aircraft are critical factors for successful adhesion. Furthermore, the boundary conditions of the collision speed, angle, and force of the attaching aircraft need to be explored through ground-based adhesion tests to investigate the coupling relationship between these factors and the adhesive force.

[0004] Most of the currently available literature or patents on ground verification tests of nano-bristle biomimetic adhesive materials are ground test schemes for adhesive materials or adhesive mechanisms, focusing on verifying the adhesive technology in a simulated microgravity environment on the ground, and lacking solutions for ground tests at the aircraft system level; at the same time, the published literature or patents cannot accurately measure transient collision forces; and there is a lack of research on the coupling influence between the magnitude of the adhesive force and factors such as the mass of the two aircraft, collision speed, collision angle, and collision force. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a space autonomous attachment-detachment ground test system and method, which can simultaneously verify the ultra-close-range autonomous navigation guidance and control technology and autonomous attachment-detachment technology of spacecraft. It can obtain the collision speed, collision angle, collision contact force and the magnitude of the resulting adhesion force of spacecraft and target spacecraft of different masses under weak collision conditions, and explore the coupling relationship between collision speed, collision angle, collision contact force and adhesion force.

[0006] The solution to the technical problem of this invention is: a space autonomous attachment-desorption ground test system, including a ground test system control console, an air-float test platform, an air-float active end simulator, an air-float passive end simulator, and four zenith cameras;

[0007] The ground-based test system acquires and analyzes in real-time the position and motion information of the air-floating active-end simulator and the position information of the air-floating passive-end simulator transmitted from four zenith cameras. It then sends control commands to both simulators wirelessly, suspending them on the air-floating platform to simulate a microgravity environment. The system pre-integrates an ultra-close-range autonomous navigation and guidance control strategy for the active-end simulator. Based on this strategy and the position and motion information transmitted from the zenith cameras, it calculates and adjusts in real-time the collision speed and angle of the air-floating active-end simulator towards the air-floating passive-end simulator. The system can also display in real-time the status information of the air-floating active-end simulator and the passive-end simulator, as well as video information captured by the four zenith cameras.

[0008] The air flotation test platform serves as the reference platform for air flotation tests on the ground. Before the test, the air flotation active end simulator and the air flotation passive end simulator are located on the air flotation test platform.

[0009] The air-floating active end simulator is used to simulate attached aircraft of different masses. It uses air foot pads to suspend itself on the air-floating test platform during the test. It uses cold gas thrusters to move to the position of the air-floating passive end simulator according to the control commands at the required collision speed and collision angle to perform autonomous attachment-detachment actions. It collects and sends the collision force to the ground test system control console in real time.

[0010] The air-floating passive end simulator is used to simulate target aircraft of different masses and different satellite surface materials. It uses air foot pads to suspend the aircraft on the air-floating test platform during the test.

[0011] Four zenith cameras are positioned with their fields of view facing the air-bearing test platform. They are used to acquire the position information of the air-bearing active-end simulator and the air-bearing passive-end simulator, as well as the motion information of the air-bearing active-end simulator. The data is transmitted in real time to the ground test system control console via wireless communication, and video data is collected throughout the entire test process.

[0012] Furthermore, the main structure of the air-floating active-end simulator is a cuboid frame structure. Inside the main structure are three layers of equipment mounting plates: upper, middle, and lower. The upper equipment mounting plate houses the active-end counterweights to simulate attachment aircraft of different weights. The middle equipment mounting plate houses the active-end battery pack and the active-end controller. The active-end controller controls the thrust switches of the air foot pads and the cold gas thruster, controls the on / off operation modes of the tracking camera and the autonomous attachment-detachment mechanism, and stores the information collected by the tracking camera and the data collected by the six-dimensional force sensor. The lower equipment mounting plate houses multiple nitrogen cylinders to provide thrust gas for the air foot pads and the cold gas thruster.

[0013] The main structure of the air-floating active-end simulator has four sides defined as quadrants I, II, III, and IV, with quadrant I representing the forward direction of the air-floating active-end simulator. A load mounting plate is located on the I-quadrant side of the main structure. One end of an adapter is bolted to the load mounting plate, and the other end is bolted to one end of a six-dimensional force sensor. The other end of the six-dimensional force sensor is bolted to an autonomous attachment-detachment mechanism. The six-dimensional force sensor collects the collision force generated during weak collision contact between the air-floating active-end simulator and the air-floating passive-end simulator. A nano-bristle biomimetic adhesive material is installed on the front face of the autonomous attachment-detachment mechanism. A tracking camera is mounted on the top of the main structure near the I-quadrant side, and a wireless communication antenna is mounted on the top of the main structure near the III-quadrant side.

[0014] Furthermore, the cold gas thruster arrangement of the air-floating active-end simulator is as follows:

[0015] The main structure of the air-floating active-end simulator has four cold air thrusters installed near the four apex corners of the side in quadrant I; six cold air thrusters installed near the four apex corners and the middle positions of both sides in quadrant II; four cold air thrusters installed near the four apex corners of the side in quadrant III; and six cold air thrusters installed near the four apex corners and the middle positions of both sides in quadrant IV.

[0016] Furthermore, the main structure of the air-floating passive end simulator is a cuboid frame structure. Inside the main structure are three layers of equipment mounting plates: upper, middle, and lower. The upper equipment mounting plate is equipped with passive end counterweights to simulate target aircraft of different weights. The middle equipment mounting plate is equipped with passive end battery packs and passive end controllers, which control the thrust switch of the air foot pads. The lower equipment mounting plate is equipped with multiple nitrogen cylinders to provide thrust gas for the air foot pads.

[0017] The main structure of the air-floating passive end simulator has four sides defined as quadrants I, II, III, and IV. Quadrant I is the weak collision docking surface between the air-floating passive end simulator and the nano-bristle biomimetic adhesive material. There is a mounting plate on the side of quadrant I, and the simulation material substrate is connected to the mounting plate by bolts. The satellite's outer surface material is attached to the simulation material substrate. A tracking target is installed on the top of the side of quadrant I, which serves as the tracking and aiming mark for the tracking camera. A wireless communication antenna is installed on the top of the side of quadrant III.

[0018] Furthermore, a high-speed camera is installed on the side frame of the main structure of the air-floating passive end simulator, which is located in the IV quadrant near the I quadrant. The high-speed camera lens is pointed at the weak collision docking surface between the nano-bristle biomimetic adhesive material and the outer surface material of the satellite, in order to observe and record the attachment and detachment process.

[0019] Furthermore, the active controller and the passive controller have wireless communication capabilities.

[0020] Furthermore, the simulated material substrate is an aluminum alloy plate, and the satellite outer surface material includes thermal control coating, cerium glass silver-plated secondary surface mirror, and solar cell array glass cover.

[0021] Furthermore, the air flotation test platform is made of granite.

[0022] A method for space-based autonomous attachment-deattachment ground testing includes the following steps:

[0023] The air-floating active end simulator and the air-floating passive end simulator are placed on the air-floating test platform. The ground test system console sends a command to open the air foot pads of the air-floating active end simulator and the air-floating passive end simulator, so that the air-floating active end simulator and the air-floating passive end simulator are suspended above the air-floating test platform to simulate the microgravity environment.

[0024] According to the pre-integrated ultra-short-range autonomous navigation and guidance control strategy, the ground test system control console sends the cold gas thruster's operating mode to the active end controller via commands. The active end controller then controls the cold gas thruster on the air-floating active end simulator to move towards the air-floating passive end simulator. During the movement, the tracking camera tracks and aims at the target, while four zenith cameras observe the movement of the air-floating active end simulator. The console collects the relative position information between the air-floating active end simulator and the air-floating passive end simulator, as well as the motion information of the air-floating active end simulator, and transmits this information to the ground test system control console. The ground test system control console updates the ultra-short-range autonomous navigation and guidance control strategy of the air-floating active end simulator in real time based on the received information and sends the corresponding control commands to the active end controller via wireless communication. The active end controller then controls the cold gas thruster on the air-floating active end simulator to operate.

[0025] When the air-floating active-end simulator reaches the required collision speed, it enters inertial motion. The nano-bristle biomimetic adhesive material on the autonomous attachment-desorption mechanism makes weak collision contact with the satellite's outer surface material on the simulated material substrate. The autonomous attachment-desorption mechanism then starts working, generating adhesive force between the nano-bristle biomimetic adhesive material and the satellite's outer surface material, connecting the air-floating active-end simulator and the air-floating passive-end simulator to form a combined unit. A six-dimensional force sensor collects transient collision forces, and a high-speed camera captures high-speed images of the weak collision contact process between the nano-bristle biomimetic adhesive material and the satellite's outer surface material, as well as the working process of the autonomous attachment-desorption mechanism.

[0026] Once the air-float active end simulator and the air-float passive end simulator are stably connected and form a combined unit, the ground test system control console sends a command to the active end controller. The four cold air thrusters on the side of the I quadrant of the air-float active end simulator start working, and the air-float active end simulator drags the air-float passive end simulator in the opposite direction to move together, verifying the reliability and stability of the attachment connection.

[0027] After the combination of the air-floating active end simulator and the air-floating passive end simulator moves at a constant speed, the ground test system control console sends a command to the active end controller to control the autonomous attachment-desorption mechanism to perform the desorption action. The nano-bristle biomimetic adhesive material desorbs from the satellite's outer surface material, and the air-floating active end simulator and the air-floating passive end simulator separate, verifying the autonomous desorption function of the autonomous attachment-desorption mechanism.

[0028] Furthermore, it also includes the step of a maximum adhesion test:

[0029] After the combination of the air-floating active-end simulator and the air-floating passive-end simulator moves at a constant speed, the ground test system control console sends a command to the passive-end controller to stop the air foot pad of the air-floating passive-end simulator. The air-floating passive-end simulator is no longer suspended on the air-floating platform. At this time, the four cold air thrusters on the side of quadrant I of the air-floating active-end simulator are still working. The air-floating active-end simulator continues to drag the air-floating passive-end simulator in the opposite direction until the nano-bristle biomimetic adhesive material is pulled off from the outer surface material of the satellite. The air-floating active-end simulator and the air-floating passive-end simulator are separated. The maximum pull-off force is collected by the six-dimensional force sensor on the air-floating active-end simulator. The maximum pull-off force is the maximum adhesion force.

[0030] The beneficial effects of this invention compared to the prior art are:

[0031] (1) This invention provides a space autonomous attachment-deattachment ground test system and method, which can simultaneously verify the spacecraft's ultra-close-range autonomous navigation guidance and control technology and autonomous attachment-deattachment technology on the ground. It can simulate the space microgravity environment in a relatively realistic way and provides a system and method for verifying the spacecraft's ultra-close-range autonomous navigation guidance and control and autonomous attachment process on the ground.

[0032] (2) This invention provides a space autonomous attachment-detachment ground test system and method, which can explore the coupling relationship and boundary conditions between different spacecraft masses, different weak collision velocities, different weak collision angles, different biomimetic adhesive materials, different satellite surface materials and adhesion forces. It can accurately measure the magnitude of weak collision forces and adhesion forces that are difficult to obtain on the ground, and at the same time verify the attachment reliability and autonomous detachment function. It lays the foundation for the application and engineering implementation of biomimetic adhesion technology in space and provides a technical verification approach.

[0033] (3) This invention provides a space autonomous attachment-deattachment ground test system and method. The active end simulator and the passive end simulator can simulate the weak collision contact between spacecraft (active end simulator) and target star (passive end simulator) of different masses by configuring counterweights of different weights. Under simulated microgravity, the collision force is collected by a six-dimensional force sensor. The collision force is close to the actual situation in orbit.

[0034] (4) The active end simulator provided by the present invention can simultaneously simulate normal collision velocity and lateral collision velocity (both relative to the simulated material) in a microgravity environment. Both normal collision velocity and lateral collision velocity can be adjusted and set. At the same time, the collision angle of the active end simulator and the passive end simulator can be adjusted as needed, and it has the characteristics of high test condition coverage.

[0035] (5) The active end autonomous attachment-desorption ground test system and method provided by the present invention has good versatility and can be adapted to various autonomous attachment-desorption mechanisms to carry out ground tests. It only requires that the mechanical interface of the autonomous attachment-desorption mechanism be matched with the mechanical interface of the six-dimensional force sensor. The autonomous attachment-desorption mechanism can be equipped with a variety of biomimetic attachment materials (such as carbon nanotube array materials, polymer array materials, etc.) to carry out verification tests. Various satellite surface materials can be pasted on the simulated material substrate on the passive end simulator, such as thermal control multilayer coating, cerium glass silver-plated secondary surface mirror OSR, solar cell array glass cover, etc. The test system and method have the characteristics of strong test adaptability and good versatility. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall system scheme of the present invention;

[0037] Figure 2 This is a schematic diagram of the overall layout of the test system of the present invention;

[0038] Figure 3 This is a front view of the active simulator of the present invention;

[0039] Figure 4 This is a top view of the active-end simulator of the present invention;

[0040] Figure 5 This is a rear view of the active-end simulator of the present invention;

[0041] Figure 6 This is a front view of the passive simulator of the present invention;

[0042] Figure 7 This is a top view of the passive end simulator of the present invention;

[0043] Figure 8 This is a schematic diagram of the autonomous attachment-desorption ground test process of the present invention;

[0044] Figure 9 This is a flowchart of the autonomous attachment-desorption ground test of the present invention;

[0045] Explanation of reference numerals in the attached figures:

[0046] 1-Air-float test platform; 3-Air-float active-end simulator; 4-Air-float passive-end simulator; 201-204-Support rod; 205-208-Zenith camera; 301-Main structure of air-float active-end simulator; 302-304-Air-float active-end simulator gas cylinder; 305-Tracking camera; 306-Adapter fixture; 307-Six-dimensional force sensor; 308-Autonomous attachment-desorption mechanism; 309-Active-end battery pack; 310-Active-end controller; 311-Active-end counterweight; 312-Active-end wireless communication antenna; 313-316 - Active end air foot pad, 317~336- Cold air thruster, 337- Nano-bristle biomimetic adhesive material, 401- Air-floating passive end simulator main structure, 402~404- Air-floating passive end simulator gas cylinder, 405- Tracking target, 406- Simulation material substrate, 407- High-speed camera, 408- High-speed camera mounting plate, 409- Passive end battery pack, 410- Passive end controller, 411- Passive end counterweight, 412- Passive end wireless communication antenna, 413~416- Passive end air foot pad, 417~420- Fastening bolts. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] Example 1

[0049] like Figure 1 , Figure 2 As shown, the space autonomous attachment-desorption ground test system proposed in this invention includes five parts: ground test system control console, air flotation test platform 1, air flotation active end simulator 3, air flotation passive end simulator 4, and zenith cameras 205-208.

[0050] The ground test system control console can communicate wirelessly with the air-floating active end simulator 3, the air-floating passive end simulator 4, and the zenith cameras 205-208. The air-floating active end simulator 3 and the air-floating passive end simulator 4 can also communicate wirelessly.

[0051] The ground test system control console is a high-performance workstation computer with wireless communication capabilities. It is equipped with specially developed ground test system operating software and integrates an ultra-short-range autonomous navigation and guidance control strategy. Specifically, the ground test system acquires and analyzes the position and motion information of the air-floating active-end simulator 3 and the position information of the air-floating passive-end simulator 4 transmitted back by four zenith cameras in real time. It sends control commands to the air-floating active-end simulator 3 and the air-floating passive-end simulator 4 via wireless communication, causing them to suspend on the air-floating platform 1 to simulate a microgravity environment. The ground test system pre-integrates the ultra-short-range autonomous navigation and guidance control strategy of the active-end simulator 3. Based on the ultra-short-range autonomous navigation and guidance control strategy and the position and motion information of the active-end simulator 3 transmitted back by the zenith cameras, it calculates and adjusts the collision speed and collision angle of the air-floating active-end simulator 3 towards the air-floating passive-end simulator 4 in real time. It can display the status information of the air-floating active-end simulator 3 and the air-floating passive-end simulator 4, as well as the video information captured by the four zenith cameras in real time.

[0052] The air flotation test platform 1 is the reference platform for air flotation tests in a simulated microgravity environment on the ground. Before the test, the air flotation active end simulator 3 and the air flotation passive end simulator 4 are located on the air flotation test platform 1.

[0053] The air-floating active end simulator 3 is used to simulate attached aircraft of different masses. It uses air foot pads to suspend on the air-floating test platform 1 during the test. It uses cold air thrusters to move to the position of the air-floating passive end simulator 4 according to the control command at the required collision speed and collision angle to perform autonomous attachment-detachment action. It collects and sends the collision force to the ground test system control console in real time.

[0054] The air-floating passive end simulator 4 is used to simulate target aircraft with different masses and different satellite surface materials. It is suspended on the air-floating test platform 1 during the test using air foot pads.

[0055] The zenith camera 205-208 faces the air-float test platform 1 and is used to acquire the position information of the air-float active end simulator 3 and the air-float passive end simulator 4 on the air-float test platform 1, as well as the motion information of the air-float active end simulator 3 during the motion process, including speed and acceleration. The data is transmitted to the ground test system control console in real time via wireless communication, and video data is collected for the entire test process.

[0056] In this embodiment, the air flotation test platform 1 is made of granite and has a high requirement for flatness.

[0057] Four vertical support rods 201-204 are installed near the four corners of the air flotation test platform 1. Each support rod has a zenith camera 205-208 installed at its top. The field of view of the zenith camera is facing the air flotation test platform 1. The four zenith cameras 205, 206, 207 and 208 serve as backups for each other to ensure that the zenith cameras can capture the entire area of ​​the air flotation test platform 1.

[0058] like Figures 3-5 As shown, the main structure 301 of the air-floating active-end simulator 3 is a cuboid frame structure. Inside the main structure 301 are three layers of equipment mounting plates: upper, middle, and lower. The upper mounting plate houses the active-end counterweight 311, used to simulate attachment aircraft of different weights. The middle mounting plate houses the active-end battery pack 309 and the active-end controller 310. The active-end battery pack 309 powers the active-end controller 310, tracking camera 305, six-dimensional force sensor 307, and other electronic equipment mounted on the air-floating active-end simulator 3. The active-end controller 310 can control the thrust switches of the four air foot pads 313-316 and the twenty cold air thrusters 317-336, control the on / off operation modes of the tracking camera 305 and the autonomous attachment-detachment mechanism 308, and store and process information collected by the tracking camera 305 and data collected by the six-dimensional force sensor 307. The active-end controller 310 is compatible with the ground test control console and the passive-end control. The device 410 has the function of wireless communication between devices; the lower equipment mounting plate is equipped with three active end nitrogen cylinders 302-304, and the nitrogen in the three active end nitrogen cylinders 302-304 provides the thrust gas source for four air foot pads 313-316 and twenty cold air thrusters 317-336; the four sides of the main structure 301 of the air-floating active end simulator 3 are defined as quadrants I, II, III, and IV, respectively, where quadrant I is the forward direction of the air-floating active end simulator 3. The side of the main structure 301 of the air-floating active end simulator 3 in quadrant I has a load mounting plate. One end of the adapter 306 is connected to the load mounting plate by bolts, and the other end is connected to one end of the six-dimensional force sensor 307 by bolts. The other end of the six-dimensional force sensor 307 is connected to the autonomous attachment-detachment mechanism 308 by bolts. The six-dimensional force sensor 307 collects the collision force generated when the air-floating active end simulator 3 and the air-floating passive end simulator 4 have a weak collision contact, such as Figure 4 As shown; the front end of the autonomous attachment-detachment mechanism 308 can be fitted with a nano-bristle biomimetic adhesive material 337; the main structure 301 of the air-floating active end simulator 3 is equipped with a tracking camera 305 near the top of the side of the I quadrant; the main structure 301 of the air-floating active end simulator 3 is equipped with a wireless communication antenna 312 near the top of the side of the III quadrant.

[0059] like Figure 3As shown, four cold air thrusters 317-320 are installed near the four apex corners of the side of the main structure 301I quadrant of the air-floating active end simulator 3; as Figure 5 As shown, six cold air thrusters 327-332 are installed near the four apex corners and the middle positions on both sides of the main structure 301II quadrant of the air-floating active end simulator 3, and four cold air thrusters 333-336 are installed near the four apex corners of the main structure 301III quadrant of the air-floating active end simulator 3; as Figure 3 As shown, six cold air thrusters 321-326 are installed near the four apex corners and the middle positions on both sides of the main structure 301IV quadrant of the air-floating active end simulator 3.

[0060] like Figure 6 , Figure 7 As shown, the main structure 401 of the air-floating passive end simulator 4 is a cuboid frame structure. Inside the main structure 401 are three layers of equipment mounting plates: upper, middle, and lower. The upper equipment mounting plate mounts the passive end counterweight 411 to simulate target aircraft of different weights. The middle equipment mounting plate mounts the passive end battery pack 409 and the passive end controller 410. The passive end battery pack 409 powers the passive end controller 410, high-speed camera 407, and other electronic equipment mounted on the air-floating passive end simulator 4. Device 410 can control the thrust switches of the four air foot pads 413-416, control the on / off operation mode of the high-speed camera 407, and store and process the information collected by the high-speed camera 407. The passive end controller 410 has the function of wireless communication with the ground test control console and the active end controller 310; the lower equipment mounting plate is equipped with three passive end nitrogen cylinders 402-404, and the nitrogen in the three passive end nitrogen cylinders 402-404 provides the thrust gas source for the four air foot pads 413-416; such as Figure 7As shown, the four sides of the main structure 401 of the air-floating passive end simulator 4 are defined as quadrants I, II, III, and IV, respectively. Quadrant I is the weak collision contact surface between the air-floating passive end simulator 4 and the nano-bristle biomimetic adhesive material 337. A mounting plate is located on the side of quadrant I of the main structure 401 of the air-floating passive end simulator 4. The simulation material substrate 406 is connected to the mounting plate by four fastening bolts 417-420. The simulation material substrate 406 is an aluminum alloy plate, and satellite outer surface materials, such as thermal control coating, cerium glass silver-plated secondary surface mirror (OSR), and solar cell array glass cover, are attached to the simulation material substrate 406. The main structure of simulator 4 has a tracking target 405 mounted on the top side of quadrant 401I, which serves as a tracking and aiming marker for the tracking camera 305. The main structure of the air-floating passive simulator 4 has a wireless communication antenna 412 mounted on the top side of quadrant 401III. The main structure of the air-floating passive simulator 4 has a high-speed camera mounting plate 408 mounted on the side frame of quadrant 401IV, which is close to quadrant I. A high-speed camera 407 is mounted on the high-speed camera mounting plate 408. The lens of the high-speed camera 407 is pointed at the weak collision docking surface between the nano-bristle biomimetic adhesive material 337 and the outer surface material of the satellite, for observing and recording the attachment and detachment process.

[0061] like Figure 8 , Figure 9 As shown, the test procedure and implementation steps for the autonomous attachment-desorption test of this ground test system are as follows:

[0062] The air-floating active end simulator 3 and the air-floating passive end simulator 4 are placed on the air-floating test platform 1, with a distance of L0 meters between them. Depending on the test conditions, if the air-floating active end simulator 3 and the air-floating passive end simulator 4 need to collide at an angle and have a lateral horizontal velocity during the collision, the position of the air-floating active end simulator 3 can be positioned with a lateral distance relative to the air-floating passive end simulator 4. The four air foot pads of the air-floating active end simulator 3 and the air-floating passive end simulator 4 are opened by sending a command through the ground test system control console, so that the air-floating active end simulator 3 and the air-floating passive end simulator 4 are suspended above the air-floating test platform 1 to simulate a microgravity environment.

[0063] According to the pre-integrated ultra-short-range autonomous navigation and guidance control strategy, the ground test system control console sends the cold gas thruster operating mode to the active end controller 310 via command. The active end controller 310 then controls the cold gas thrusters 317-336 on the air-float active end simulator 3 to operate, causing the air-float active end simulator 3 to move towards the air-float passive end simulator 4. During this movement, the tracking camera 305 on the air-float active end simulator 3 continuously tracks and aims at the tracking target 405 on the air-float passive end simulator 4, ensuring that the air-float active end simulator 3 continues to move towards the air-float passive end simulator 4. At this time, the zenith camera... From 205 to 208, the motion process of the air-floating active end simulator 3 was continuously observed, and the relative position information between the air-floating active end simulator 3 and the air-floating passive end simulator 4 and the motion information of the air-floating active end simulator 3 were collected and transmitted to the ground test system control console via wireless communication. The ground test system control console updated the ultra-short-range autonomous navigation guidance and control strategy of the air-floating active end simulator 3 in real time based on the received information, and sent the corresponding control commands to the active end controller 310 via wireless communication. The active end controller 310 then controlled the cold air thrusters 317 to 336 on the air-floating active end simulator 3 to work.

[0064] When the speed of the air-floating active end simulator 3 reaches the collision speed required for the test, the air-floating active end simulator 3 enters inertial motion. The nano-bristle biomimetic adhesive material 337 on the autonomous attachment-detachment mechanism 308 has a weak collision contact with the satellite outer surface material on the simulated material substrate 406. The autonomous attachment-detachment mechanism 308 starts to work, and an adhesive force is generated between the nano-bristle biomimetic adhesive material 337 and the satellite outer surface material, so that the air-floating active end simulator 3 and the air-floating passive end simulator 4 are connected together to form a combination. The six-dimensional force sensor 307 on the air-floating active end simulator 3 collects the transient collision force, and the high-speed camera 407 on the air-floating passive end simulator 4 performs high-speed video acquisition of the weak collision contact process between the nano-bristle biomimetic adhesive material 337 and the satellite outer surface material and the working process of the autonomous attachment-detachment mechanism 308.

[0065] Once the air-floating active end simulator 3 and the air-floating passive end simulator 4 are stably connected and form a combined unit, the ground test system control console sends a command to the active end controller 310. The four cold air thrusters on the side of the I quadrant of the air-floating active end simulator 3 start working, and the air-floating active end simulator 3 drags the air-floating passive end simulator 4 in the opposite direction to move together, verifying the reliability and stability of the attachment connection.

[0066] Autonomous Desorption Test: After the combination of the air-floating active end simulator 3 and the air-floating passive end simulator 4 moves at a constant speed, the ground test system console sends a command to the active end controller 310 to control the autonomous attachment-desorption mechanism 308 to perform the desorption action. The nano-bristle biomimetic adhesive material 337 desorbs from the outer surface material of the satellite, and the air-floating active end simulator 3 and the air-floating passive end simulator 4 separate, verifying the autonomous desorption function of the autonomous attachment-desorption mechanism 308.

[0067] Maximum adhesion test: After the combination of the air-floating active end simulator 3 and the air-floating passive end simulator 4 moves at a constant speed, the ground test system control console sends a command to the passive end controller 410 to stop the operation of the four air foot pads of the air-floating passive end simulator 4. The air-floating passive end simulator 4 is no longer suspended on the air-floating platform. At this time, the four cold air thrusters on the side of the I quadrant of the air-floating active end simulator 3 are still working. The air-floating active end simulator 3 continues to drag the air-floating passive end simulator 4 in the opposite direction until the nano-bristle biomimetic adhesive material 337 is pulled off from the outer surface material of the satellite. The air-floating active end simulator 3 and the air-floating passive end simulator 4 are separated. The maximum pull-off force is collected by the six-dimensional force sensor 307 on the air-floating active end simulator 3. The maximum pull-off force is the maximum adhesion force.

[0068] In summary, the space autonomous attachment-detachment ground test system and method proposed in this invention can set different masses for the attached and target spacecraft, different collision velocities and collision angles for the attached spacecraft, and simultaneously collect transient collision force and maximum adhesion force. Under a simulated microgravity environment on the ground, it systematically explores the coupling relationship and boundary conditions between mass, collision velocity, collision angle, collision force and adhesion force, laying a solid foundation and providing effective ground test verification for the on-orbit engineering application of nano-bristle biomimetic dry adhesion technology.

[0069] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0070] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A space-based autonomous attachment-detachment ground test system, characterized in that, It includes a ground test system control console, an air-float test platform (1), an air-float active end simulator (3), an air-float passive end simulator (4), and four zenith cameras; The ground test system acquires and analyzes the position and motion information of the air-floating active end simulator (3) and the position information of the air-floating passive end simulator (4) transmitted back by four zenith cameras in real time. It sends control commands to the air-floating active end simulator (3) and the air-floating passive end simulator (4) via wireless communication, so that the air-floating active end simulator (3) and the air-floating passive end simulator (4) are suspended on the air-floating test platform (1) to simulate a microgravity environment. The ground test system pre-integrates the ultra-close-range autonomous navigation guidance control strategy of the air-floating active end simulator (3). After calculating based on the ultra-close-range autonomous navigation guidance control strategy and the position and motion information of the air-floating active end simulator (3) transmitted back by the zenith cameras, it adjusts the collision speed and collision angle of the air-floating active end simulator (3) moving toward the air-floating passive end simulator (4) in real time. It can display the status information of the air-floating active end simulator (3) and the air-floating passive end simulator (4) and the video information captured by the four zenith cameras in real time. The air flotation test platform (1) is the reference platform for air flotation tests on the ground. Before the test, the air flotation active end simulator (3) and the air flotation passive end simulator (4) are located on the air flotation test platform (1). The air-floating active end simulator (3) is used to simulate attached aircraft of different masses. It uses air foot pads to suspend on the air-floating test platform (1) during the test. It uses cold air thrusters to move to the position of the air-floating passive end simulator (4) according to the control command at the required collision speed and collision angle to perform autonomous attachment-detachment action. It collects and sends the collision force to the ground test system control console in real time. The air-floating passive end simulator (4) is used to simulate target aircraft of different masses and different satellite surface materials. It is suspended on the air-floating test platform (1) during the test using air foot pads. Four zenith cameras are positioned facing the air-float test platform (1) to acquire the position information of the air-float active end simulator (3) and the air-float passive end simulator (4), as well as the motion information of the air-float active end simulator (3). The data is transmitted in real time to the ground test system control console via wireless communication, and video data is collected throughout the entire test process.

2. The space autonomous attachment-detachment ground test system according to claim 1, characterized in that, The main structure of the air-floating active end simulator (3) is a cuboid frame structure. The main structure has three equipment mounting plates: upper, middle and lower. The upper equipment mounting plate is equipped with an active end counterweight (311) to simulate attachment aircraft of different weights. The middle equipment mounting plate is equipped with an active end battery pack (309) and an active end controller (310). The active end controller (310) is used to control the thrust switches of the air foot pad and the cold air thruster, control the on / off working mode of the tracking camera (305) and the autonomous attachment-detachment mechanism (308), and store the information collected by the tracking camera (305) and the data collected by the six-dimensional force sensor (307). The lower equipment mounting plate is equipped with multiple nitrogen cylinders to provide thrust gas for the air foot pads and cold air thrusters; The four sides of the main structure of the air-floating active end simulator (3) are defined as quadrants I, II, III, and IV, respectively. Quadrant I is the forward direction of the air-floating active end simulator (3). The side of the main structure of the air-floating active end simulator (3) in quadrant I has a load mounting plate. One end of the adapter (306) is connected to the load mounting plate by bolts, and the other end is connected to one end of the six-dimensional force sensor (307) by bolts. The other end of the six-dimensional force sensor (307) is connected to the autonomous attachment-detachment mechanism (308) by bolts. The connection is made by collecting the collision force generated when the air-floating active end simulator (3) and the air-floating passive end simulator (4) are in weak collision contact through a six-dimensional force sensor (307); the front end of the autonomous attachment-detachment mechanism (308) is equipped with a nano-bristle biomimetic adhesive material (337); a tracking camera (305) is installed on the top side of the main structure of the air-floating active end simulator (3) near the I quadrant; and an active end wireless communication antenna (312) is installed on the top side of the main structure of the air-floating active end simulator (3) near the III quadrant.

3. The space autonomous attachment-detachment ground test system according to claim 2, characterized in that, The cold gas thruster arrangement of the air-floating active end simulator (3) is as follows: The main structure of the air-floating active end simulator (3) has four cold air thrusters installed near the four apex corners of the side of the I quadrant; six cold air thrusters installed near the four apex corners and the middle positions of both sides of the side of the II quadrant; four cold air thrusters installed near the four apex corners of the side of the III quadrant; and six cold air thrusters installed near the four apex corners and the middle positions of both sides of the side of the IV quadrant.

4. The space autonomous attachment-detachment ground test system according to claim 3, characterized in that, The main structure of the air-floating passive end simulator (4) is a cuboid frame structure. The main structure has three equipment mounting plates: upper, middle and lower. The upper equipment mounting plate is equipped with passive end counterweights (411) to simulate target aircraft of different weights. The middle equipment mounting plate is equipped with passive end battery packs (409) and passive end controllers (410). The passive end controllers (410) control the thrust switches of the air foot pads. The lower equipment mounting plate is equipped with multiple nitrogen cylinders to provide thrust gas sources for the air foot pads. The four sides of the main structure of the air-floating passive end simulator (4) are defined as quadrants I, II, III and IV respectively. Quadrant I is the weak collision docking surface between the air-floating passive end simulator (4) and the nano-bristle biomimetic adhesive material (337). There is a mounting plate on the side of quadrant I. The simulation material substrate (406) is connected to the mounting plate by bolts. The satellite outer surface material is attached to the simulation material substrate (406). A tracking target (405) is installed on the top of the side of quadrant I. The tracking target (405) serves as the tracking and aiming mark for the tracking camera (305). A passive end wireless communication antenna (412) is installed on the top of the side of quadrant III.

5. A space autonomous attachment-detachment ground test system according to claim 4, characterized in that, A high-speed camera (407) is installed on the side frame of the main structure of the air-floating passive end simulator (4) near the I quadrant in the IV quadrant. The lens of the high-speed camera (407) is pointed at the weak collision docking surface between the nano-bristle biomimetic adhesive material (337) and the outer surface material of the satellite, for observing and recording the attachment and desorption process.

6. The space autonomous attachment-detachment ground test system according to claim 5, characterized in that, The active end controller (310) and the passive end controller (410) have wireless communication capabilities.

7. A space autonomous attachment-detachment ground test system according to claim 5, characterized in that, The simulated material substrate (406) is an aluminum alloy plate, and the satellite outer surface material includes thermal control coating, cerium glass silver-plated secondary surface mirror and solar cell array glass cover.

8. A space autonomous attachment-detachment ground test system according to claim 5, characterized in that, The air flotation test platform (1) is made of granite.

9. A space autonomous attachment-detachment ground test method based on the system described in any one of claims 5 to 8, characterized in that, Includes the following steps: The air-floating active end simulator (3) and the air-floating passive end simulator (4) are placed on the air-floating test platform (1). The air foot pads of the air-floating active end simulator (3) and the air-floating passive end simulator (4) are opened by sending a command through the ground test system console, so that the air-floating active end simulator (3) and the air-floating passive end simulator (4) are suspended above the air-floating test platform (1) to simulate a microgravity environment. According to the pre-integrated ultra-short-range autonomous navigation and guidance control strategy, the ground test system control console sends the cold gas thruster operating mode to the active end controller (310) via command. The active end controller (310) controls the cold gas thruster on the air-floating active end simulator (3) to operate, causing the air-floating active end simulator (3) to move in the direction of the air-floating passive end simulator (4). During the movement, the tracking camera (305) tracks and aims at the tracking target (405), and four zenith cameras observe the movement process of the air-floating active end simulator (3) and perform [further analysis]. The relative position information between the air-floating active end simulator (3) and the air-floating passive end simulator (4) and the motion information of the air-floating active end simulator (3) are collected and transmitted to the ground test system console. The ground test system console updates the ultra-close-range autonomous navigation guidance control strategy of the air-floating active end simulator (3) in real time according to the received information, and sends the corresponding control commands to the active end controller (310) through wireless communication. The active end controller (310) controls the cold air thruster on the air-floating active end simulator (3) to work. When the speed of the air-floating active end simulator (3) reaches the collision speed required for the test, the air-floating active end simulator (3) enters inertial motion. The nano-bristle biomimetic adhesive material (337) on the autonomous attachment-desorption mechanism (308) has a weak collision contact with the satellite outer surface material on the simulated material substrate (406). The autonomous attachment-desorption mechanism (308) starts to work, and the nano-bristle biomimetic adhesive material (337) generates an adhesive force between the satellite outer surface material, so that the air-floating active end simulator (3) and the air-floating passive end simulator (4) are connected together to form a combination. The six-dimensional force sensor (307) collects the transient collision force, and the high-speed camera (407) performs high-speed video acquisition of the weak collision contact process between the nano-bristle biomimetic adhesive material (337) and the satellite outer surface material and the working process of the autonomous attachment-desorption mechanism (308). When the air-floating active end simulator (3) and the air-floating passive end simulator (4) are stably connected and form a combination, the ground test system console sends a command to the active end controller (310), and the four cold air thrusters on the side of the I quadrant of the air-floating active end simulator (3) start to work. The air-floating active end simulator (3) drags the air-floating passive end simulator (4) in the opposite direction to move together, verifying the reliability and stability of the attachment connection. After the combination of the air-floating active end simulator (3) and the air-floating passive end simulator (4) moves at a constant speed, the ground test system console sends a command to the active end controller (310) to control the autonomous attachment-desorption mechanism (308) to perform the desorption action. The nano-bristle biomimetic adhesive material (337) desorbs from the outer surface material of the satellite, and the air-floating active end simulator (3) and the air-floating passive end simulator (4) separate, verifying the autonomous desorption function of the autonomous attachment-desorption mechanism (308).

10. A space autonomous attachment-detachment ground test method according to claim 9, characterized in that, It also includes the step of maximum adhesion testing: When the combination of the air-floating active end simulator (3) and the air-floating passive end simulator (4) moves at a constant speed, the ground test system control console sends a command to the passive end controller (410) to stop the air foot pad of the air-floating passive end simulator (4). The air-floating passive end simulator (4) is no longer suspended on the air-floating test platform (1). At this time, the four cold air thrusters on the side of the I quadrant of the air-floating active end simulator (3) are still working. The air-floating active end simulator (3) still drags the air-floating passive end simulator (4) in the opposite direction until the nano-bristle biomimetic adhesive material (337) is pulled off from the outer surface material of the satellite. The air-floating active end simulator (3) and the air-floating passive end simulator (4) are separated. The maximum pull-off force is collected by the six-dimensional force sensor (307) on the air-floating active end simulator (3). The maximum pull-off force is the maximum adhesion force.

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