Intelligent operation system and control method for flexible space capsule applied to on-orbit testing

Abstract

This invention discloses an intelligent operation system and control method for a flexible space capsule used in on-orbit experiments. The system includes a flexible space capsule and a satellite platform. The flexible space capsule consists of an airbag section and a rigid section. One end of the rigid section is connected to the airbag section, and the other end is connected to the satellite platform. The method includes: pre-launch preparation: inflating a high-pressure gas cylinder via a one-way valve; inflation and deployment: controlling the opening of a solenoid valve to inflate the capsule with gas from the high-pressure gas cylinder; after separation of the capsule and rocket, the satellite platform is immediately activated; solar panel deployment: the solar panel unfolds from its folded state and locks in place, while the robotic arm unlocks and extends. This invention successfully constructs a low-cost, large-space, highly reliable, and highly adaptable on-orbit intelligent operation platform through flexible deployable structural design, a highly integrated intelligent control system, and meticulous full-process motion planning. It solves a series of bottleneck problems in space, cost, flexibility, and reliability inherent in traditional rigid space capsules.

Description

Technical Field

[0001] This invention relates to the field of spacecraft on-orbit testing and intelligent space operations technology, specifically to an intelligent operation system and control method for a flexible space capsule applied to on-orbit testing. Background Technology

[0002] Currently, the space economy is becoming a new engine for global economic growth. The extreme environments of space, such as microgravity, strong vacuum, and high radiation, are bringing revolutionary breakthroughs to fields like biomedicine and new materials. Mastering the ability to develop and utilize space resources has become a strategic high ground in the competition among the world's leading spacefaring nations. Therefore, developing ultra-large, scalable, and multifunctional space platforms, and promoting the strategic transformation of the space economy from "entering space" to "utilizing space," is the core direction supporting future deep space exploration and space resource development.

[0003] Traditional space platforms are all rigid space station platforms. Rigid space station platforms have inherent drawbacks such as large size, high cost, and difficulty in expansion: the International Space Station took 12 years to build and cost over $150 billion, with annual maintenance costs reaching $3 billion. Furthermore, the fixed interface of modules makes functional upgrades difficult and reduces the adaptability of scientific payloads. The US and Europe are accelerating the development of flexible space station platform technology. The US Orbital Reef space station has completed its inflatable module extreme burst test and is planned to replace the International Space Station in 2030. Its inflatable module design offers advantages such as small launch volume, strong on-orbit expandability, and low manufacturing cost. my country started relatively late in the field of flexible space stations. Although it has conducted on-orbit experiments with inflatable sealed modules, a flexible large-space experimental platform for intelligent on-orbit operations remains a blank. Summary of the Invention

[0004] This invention addresses the problems existing in the prior art by proposing an intelligent operation system and control method for a flexible space capsule applied to on-orbit experiments. The aim is to overcome the rigid constraints of traditional rigid platforms on launch mass and volume, and to meet the urgent needs of on-orbit scientific experiments and autonomous operations for low-cost, large-space, and reconfigurable platforms. To solve its technical problems, this invention proposes the following technical solutions: A flexible space capsule intelligent operation system for on-orbit testing is characterized by: including a flexible space capsule (1) and a satellite platform (2); the flexible space capsule (1) is composed of a space capsule airbag section (1-1) and a space capsule rigid section (1-2); one end of the space capsule rigid section (1-2) is connected to the space capsule airbag section (1-1), and the other end is connected to the satellite platform (2). The rigid section (1-2) of the space capsule consists of a second rigid section (1-2-2) in the middle and first rigid sections (1-2-1) and third rigid sections (1-2-3) at both ends; the first rigid sections (1-2-1) and the second rigid sections (1-2-2) are column sections, and the third rigid section (1-2-3) is equipped with a column section (1-2-3-1) and a connecting flange (1-2-3-2). The first rigid section (1-2-1) is connected to the satellite platform (2), and the connecting flange (1-2-3-2) of the third rigid section (1-2-3) is connected to the space capsule airbag section (1-1); the chassis of the first rigid section (1-2-1) is equipped with a control subsystem (1-2-1-1), an inflation subsystem with uniform air outlets (1-2-1-2), a high-pressure gas cylinder system (1-2-1-3), and a signal acquisition subsystem (1-2-1-4); the second rigid section (1-2-2) The inner wall of the -2) is equipped with a robotic arm (1-2-2-1); before rocket launch, this control subsystem (1-2-1-1) controls the inflation subsystem (1-2-1-2) with uniform air outlets (1-2-1-2-5) to inflate the high-pressure gas cylinders of its high-pressure gas cylinder system (1-2-1-3); after rocket launch, this control subsystem (1-2-1-1) controls its inflation subsystem (1-2-1-2) to open the high-pressure gas cylinders to... The space capsule airbag section (1-1) is inflated. After inflation, the control subsystem (1-2-1-2) controls the robotic arm (1-2-2-1) of the second rigid section to unlock and control the robotic arm (1-2-2-1) to deliver test samples to the space capsule airbag section (1-1). After inflation, the control subsystem (1-2-1-1) also controls the solar panels (2-1) of the satellite platform (2) to deploy, providing stable energy for the entire satellite platform. The satellite platform (2) is also responsible for transmitting the scientific data collected in the flexible space capsule (1) back to the ground station and sending the instructions from the ground station to the space capsule; it is also responsible for providing attitude and orbit control for the entire satellite platform (2) and the flexible space capsule (1); and it is also responsible for providing energy for the flexible space capsule. The inflation subsystem (1-2-1-2) is provided with an inflation pipeline (1-2-1-2-4), and the inflation pipeline (1-2-1-2-4) has a plurality of evenly distributed uniform air outlets (1-2-1-2-5) along its length direction for uniformly inflating the space capsule airbag section (1-1); the uniform air outlets (1-2-1-2-5) are evenly distributed along the axial direction of the inflation pipeline (1-2-1-2-4) and the diameter of the uniform air outlets (1-2-1-2-5) is the same. The extension length of the robotic arm (1-2-2-1) is sufficient to move its end effector from the inner wall of the rigid section to the internal area of ​​the spacecraft airbag section (1-1); The space capsule airbag section (1-1) is made of polyimide material with a thickness of 0.1mm to 100mm. It can be a single layer or a composite layer.

[0005] Furthermore, the space capsule airbag section (1-1) has a diameter of 2.5m and a length of 2.5m after deployment; the first rigid section (1-2-1) is constructed by welding a chassis and a column section with a height of 0.2m; the second rigid section (1-2-2) is made of stainless steel, has a diameter of 1m, a column section height of 0.6m, and the thickness of the bottom of the section and the column section is 0.8mm.

[0006] Furthermore, the subsystems of the first rigid section (1-2-1) include the following modules: The control subsystem (1-2-1-1) includes a control circuit (1-2-1-1-1) and a module power supply (1-2-1-1-2); the inflation subsystem (1-2-1-2) includes a four-way valve (1-2-1-2-1), a one-way valve (1-2-1-2-2), a solenoid valve (1-2-1-2-3), and an inflation pipeline with uniform inflation holes (1-2-1-2-4); the high-pressure gas cylinder system (1-2-1-3) includes a high-pressure gas cylinder (1-2-1-3-). 1) Cylinder buckle (1-2-1-3-2), cylinder limit baffle (1-2-1-3-3), limit block (1-2-1-3-4); the signal acquisition subsystem (1-2-1-4) includes a pressure sensor (1-2-1-4-1) and a temperature sensor (1-2-1-4-2); the solenoid valve of the inflation subsystem and the pressure sensor (1-2-1-4-1) of the signal acquisition subsystem are both connected to the control circuit (1-2-1-1-1) via wiring. The four-way valve of the inflation subsystem (1-2-1-2) is connected to the high-pressure gas cylinder (1-2-1-3-1), the solenoid valve (1-2-1-2-3), the one-way valve (1-2-1-2-2), and the pressure sensor (1-2-1-4-1), respectively. The solenoid valve (1-2-1-2-3) is connected to the inflation pipeline (1-2-1-2-4), and the inflation pipeline (1-2-1-2-4) passes through the second rigid section (1-2-2) and the connecting flange (1-2-3-2) to inflate the space capsule airbag section (1-1). The high-pressure gas cylinder system (1-2-1-3) is fixed in position by a limiting block (1-2-1-3-4) on the chassis. The limiting block (1-2-1-3-4) is manufactured as a single piece using an integral milling process. Bolt holes are provided on the limiting block (1-2-1-3-4). The gas cylinder buckle (1-2-1-3-2) and the gas cylinder limiting baffle (1-2-1-3-3) are fixed to the limiting block (1-2-1-3-4) by bolts, thereby fixing the high-pressure gas cylinder. The high-pressure gas cylinder outlet (1-2-1-3-1) enters the four-way valve (1-2-1-2-1) through the inflation pipe (1-2-1-2-4). The pressure sensor (1-2-1-4-1) of the signal acquisition subsystem (1-2-1-4) is connected to the four-way valve (1-2-1-2-1), and the temperature sensor (1-2-1-4-2) is connected to the control circuit (1-2-1-1-1). Before rocket launch, the control subsystem (1-2-1-1) pressurizes the high-pressure gas cylinder (1-2-1-3-1) through the one-way valve (1-2-1-2-2) to meet the service requirements. At this time, the pressure sensor (1-2-1-4-1) reads the pressure data and feeds it back to the control subsystem (1-2-1-1). During on-orbit operation, the control circuit (1-2-1-1-1) controls the solenoid valve (1-2-1-2-3) to open, and the high-pressure gas cylinder (1-2-1-3-1) inflates the space capsule airbag section (1-1) through the inflation pipeline (1-2-1-2-4). The control subsystem (1-2-1-1) is the core module for receiving the rocket separation signal, controlling inflation, and collecting cabin environmental data. It is powered by two DC power supplies with a supply voltage of 25V. A temperature sensor (1-2-1-4-2) is installed on the control circuit. When the spacecraft airbag section (1-1) is deployed, the temperature sensor (1-2-1-4-2) works to collect, store, and transmit cabin temperature data.

[0007] Furthermore, the satellite platform (2) consists of a cubic frame of box-type structure (2-2) and solar panels (2-1). The box-type structure (2-2) is made of aluminum honeycomb panels or aluminum alloy skin, which combines lightweight and high strength. The interior is equipped with: attitude and orbit control system, integrated electronic system, communication system, energy system, thermal control system and propulsion system, etc. The box-type structure (2-2) is equipped with thrusters on the outside, which are mainly used for orbital maneuvering and attitude control.

[0008] Furthermore, the inner wall of the second rigid section (1-2-2) is provided with a robotic arm mounting platform and a biological reagent fixing platform; the base of the robotic arm (1-2-2-1) is fixed to the robotic arm mounting platform; the biological reagent fixing platform is provided with a structure for accommodating and positioning standard biological reagent containers; the robotic arm (1-2-2-1) is made of aluminum alloy and is fixed to the intelligent robotic arm mounting platform with screws; the height of the second rigid section (1-2-2) is 0.3m; the maximum extended length of the robotic arm (1-2-2-1) is 0.7m; it is powered by a lithium battery and is unlocked by a shape memory alloy after the spacecraft's orbital attitude is stabilized.

[0009] Furthermore, the third rigid section (1-2-3) is composed of a column section (1-2-3-1), a connecting flange (1-2-3-2), a sealing flange, rubber gaskets, sealing bolts, and sealing nuts. The third rigid section (1-2-3) has a total height of 0.1m. The column section (1-2-3-1) and the connecting flange (1-2-3-2) are integrally processed. A sealing groove is provided on the connecting flange (1-2-3-2), and a rubber gasket is installed in the sealing groove. The sealing flange and the connecting flange (1-2-3-2) compress the flexible airbag together using two rings of 72 sealing bolts and sealing nuts, i.e., 36 sealing bolts per ring, to ensure the airtightness of the space capsule airbag section (1-1).

[0010] Furthermore, before rocket launch, the control subsystem (1-2-1-1) controls its control subsystem (1-2-1-1) to inflate its high-pressure gas cylinder (1-2-1-3-1). Specifically, before the flexible spacecraft is launched, the high-pressure gas cylinder (1-2-1-3-1) is inflated through a one-way valve (1-2-1-2-2). By observing the data from the pressure sensor (1-2-1-4-1), the high-pressure gas cylinder (1-2-1-3-1) is brought to the in-orbit inflation condition. At the same time, each equipment unit is fixed on the chassis of the module, the robotic arm (1-2-2-1) is folded and fixed on the robotic arm mounting platform on the inner wall of the module, the airbag is assembled with the module, and sealed and fixed by flange. Finally, the entire module is evacuated, so that the airbag is in a folded state and assembled and connected with the adapter inside the rocket fairing.

[0011] Furthermore, after rocket launch, the control subsystem (1-2-1-1) controls the inflation subsystem (1-2-1-2) to open the high-pressure gas cylinder (1-2-1-3-1) to inflate the space capsule airbag section (1-1). Specifically, after rocket ignition and launch, it travels to the predetermined orbit, and the fairing separates. At this time, the onboard avionics system outputs a separation signal, and the capsule separates from the rocket. The cabin control circuit (1-2-1-1-1) receives the separation signal and controls the solenoid valve (1-2-1-2-3) to open, inflating the high-pressure gas cylinder (1-2-1-3-1) into the space capsule airbag section (1-1). -2-1-3-1) Inflate the space capsule airbag section (1-1) by inflating the airbag section (1-1). The gas is released through the inflation pipe (1-2-1-2-4) to achieve uniform inflation and reduce the impact on the space capsule's attitude. The pressure sensor (1-2-1-4-1) works to monitor the pressure data. The temperature sensor (1-2-1-4-2) on the control circuit (1-2-1-1-1) works to monitor and store the cabin temperature data and control the solar panels (2-1) of the satellite platform (2) to deploy and generate solar power.

[0012] Furthermore, after rocket launch, the control subsystem (1-2-1-1) controls the deployment of the solar panels (2-1). Specifically, at the same moment of separation between the satellite and the rocket, the satellite platform (2) begins to work. The gyroscope in the box-plate structure (2-2) initially outputs angular velocity information, the magnetometer measures the local geomagnetic field vector, and the onboard computer determines whether the satellite is in a tumbling state. If the angular velocity is too high, it immediately instructs the magnetic torque generator to be energized to generate a magnetic moment, which interacts with the geomagnetic field to dampen and dissipate the initial angular momentum. At the same time, the reaction flywheel is energized after the voltage stabilizes to participate in attitude control, so that the satellite recovers from the disturbance caused by the separation impact to the angular velocity within tens of seconds. The satellite is in a safe state with a speed below 0.5° / s. Subsequently, the sun sensor begins scanning the sun's direction, and the onboard computer drives the magnetic torque generator and flywheel to adjust the satellite's attitude, enabling the satellite to enter the sun-oriented mode. At this time, the solar panel unlocking mechanism receives a programmable command and drives the solar panels to smoothly unfold from the folded state to the locked position via a spring or motor. After the power controller detects the output current of the solar cell array, it confirms that the solar panels have been successfully unfolded. It then begins charging the battery pack and provides stable power to the entire platform. At this point, the spacecraft's attitude is stable, and the mechanical arm (1-2-2-1) shape memory alloy on the inner wall of the spacecraft unlocks and unfolds from the folded state to perform the on-orbit test.

[0013] A flexible, large-space intelligent operation control method, characterized by the following steps: Step 1, Pre-launch preparation: Inflate the high-pressure gas cylinder (1-2-1-3-1) using the one-way valve (1-2-1-2-2), and bring the cylinder to the on-orbit working pressure based on the reading from the pressure sensor (1-2-1-4-1); each equipment unit is fixed to the chassis of the module, the robotic arm (1-2-2-1) is retracted and locked to the bulkhead mounting platform, and the gasbag is assembled to the module via a flange seal; the entire module is evacuated to keep the gasbag in a folded and retracted state, and then docked with the adapter inside the fairing; power is supplied to the module before launch, and the equipment self-check is completed; Step 2, Orbital Insertion and Separation: After launch, the rocket enters the predetermined orbit and the fairing is jettisoned; the onboard avionics system issues a separation command, the capsule separates from the rocket, and the internal control circuit (1-2-1-1-1) receives the signal; Step 3, Inflation and Deployment: The control circuit (1-2-1-1-1) drives the solenoid valve (1-2-1-2-3) to open, and the high-pressure gas cylinder (1-2-1-3-1) inflates the space capsule's airbag section (1-1). The gas is evenly released through the pipeline to reduce disturbance to the capsule's attitude; the pressure sensor (1-2-1-4-1) continuously monitors the pressure, and the temperature sensor (1-2-1-4-2) simultaneously records the internal temperature data. Step 4, Initial Attitude Damping: After the separation of the capsule and rocket, the satellite platform (2) is immediately started - the gyroscope outputs the angular velocity, the magnetometer measures the geomagnetic field, and the onboard computer determines whether it is tumbling; if the angular velocity exceeds the standard, the magnetic torque generator is immediately energized to generate a magnetic moment, which dissipates the angular momentum by interacting with the geomagnetic field. At the same time, the flywheel is energized to participate in the control, so that the satellite stabilizes to an angular velocity of less than 0.5° / s within tens of seconds; Step 5, Solar Panel (2-1) Deployment: After the attitude is stabilized, the programmable command triggers the solar panel (2-1) unlocking mechanism, the solar panel (2-1) unfolds from the folded state and locks in place, and the power controller starts charging the battery after confirming the output current; Step Six: Unlocking the Robotic Arm (1-2-2-1): After the flexible space capsule stabilizes, the shape memory alloy of the robotic arm (1-2-2-1) on the capsule wall is unlocked, and the robotic arm (1-2-2-1) unfolds from its folded state, entering the on-orbit testing phase; Step 7: The control system (1-2-1-1) controls the extension of the robotic arm (1-2-2-1) to grab the biological reagent from the biological reagent fixing platform; the biological reagent is sent into the internal space of the space capsule airbag section (1-1); the biological reagent is exposed to the space radiation environment. Advantages and effects of the present invention

[0014] 1. This invention adopts an on-orbit operation system that combines an inflatable flexible cabin with an intelligent robotic arm. From the perspective of breaking through the launch mass and volume constraints of traditional rigid platforms and reducing the cost of a single launch, it has significant advantages such as folding and storing during launch and autonomously inflating and unfolding after entering orbit to form a large-space test platform. At the same time, through the integrated design of modular rigid cabin sections and satellite platform, it realizes the autonomous operation and multi-functional expansion capabilities of the on-orbit intelligent robotic arm, providing a low-cost and reconfigurable test environment for disruptive applications such as space life science and new material preparation.

[0015] 2. Utilize a satellite platform to achieve attitude and orbit control, energy supply, thermal control, and data telemetry transmission for the composite structure (platform + modules). Provide a stable, energy-rich, and reliable operating environment for the flexible modules, ensuring the smooth progress of long-term on-orbit testing.

[0016] 3. The satellite platform adopts a box-type aluminum honeycomb / aluminum alloy skin structure. The rigid sections are designed according to functional zones, and reliable docking with the satellite and airbag sections is achieved through standardized connections. While ensuring overall rigidity, airtightness, and functional zoning, the system achieves lightweighting and high strength, further improving overall reliability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall flexible large-space intelligent operation system of the present invention applied to on-orbit testing; Figure 2 This is a schematic diagram of the flexible large-space intelligent operation system of the present invention applied to on-orbit testing. Figure 3 Exploded view of a flexible, large-space intelligent operation system applied to on-orbit testing; Figure 4 This is a schematic diagram of the flexible space capsule inflation and signal acquisition system (rigid section 1) applied to on-orbit testing according to the present invention; Figure 5 This is an internal view of the rigid section 2 of the flexible large-space intelligent operation system of the present invention applied to on-orbit testing; Figure 6 This is a schematic diagram of the flexible airbag sealing method of the flexible large-space intelligent operation system applied to on-orbit testing according to the present invention; Figure 7 This is a flowchart illustrating the workflow of the flexible, large-space intelligent operation system of the present invention applied to on-orbit testing.

[0018] 1: Flexible space capsule; 1-1: Space capsule airbag section; 1-2: Space capsule rigid section; 1-2-1: First rigid compartment section; 1-2-1-1: Control subsystem; 1-2-1-1-1: Control circuit; 1-2-1-1-2: Module power supply; 1-2-1-2: Inflation subsystem; 1-2-1-2-1: Four-way valve; 1-2-1-2-2: One-way valve; 1-2-1-2-3: Solenoid valve; 1-2-1-2-4: Inflation pipeline; 1-2-1-2-5: Uniform air outlet; 1-2-1-3: High-pressure gas cylinder system; 1-2-1-3-1: High-pressure gas cylinder; 1-2-1-3-2: Gas cylinder buckle; 1-2-1-3-3: Gas cylinder limit baffle; 1-2-1-3-4: Limit block; 1-2-1-4: Signal acquisition subsystem; 1-2-1-4-1: Pressure sensor; 1-2-1-4-2: Temperature sensor; 1-2-2: Second rigid compartment; 1-2-2-1: Robotic arm; 1-2-2-2: Robotic arm mounting platform; 1-2-3: Third rigid compartment; 1-2-3-1: Column section; 1-2-3-2: Connecting flange; 2: Satellite platform; 2-1: Solar panel; 2-2: Box-type structure; Detailed Implementation Innovation of this invention

[0019] The innovation of this invention lies in breaking away from the traditional model of relatively independent and simple interfaces between satellite platforms and experimental modules. By extending the functionality of the satellite platform to the mission execution phase of the flexible space module, and achieving organic integration and intelligent collaboration at the structural, energy, information, and control levels, a highly integrated, autonomously operating, and functionally scalable "intelligent space experimental complex" is constructed. This organic combination not only improves the overall efficiency and reliability of on-orbit experiments but also provides a new system architecture approach for the future on-orbit construction and application of large-scale flexible space structures. Details are as follows: 1. A Deeply Integrated "Carrier-Service-Execution" Architecture: The Satellite Platform as a Comprehensive Service Center: The satellite platform not only provides traditional attitude and orbit control, energy, communication, thermal control, and propulsion functions, but is also deeply designed as the core of management and support for the entire flexible space capsule mission. It is directly responsible for receiving ground commands, transmitting in-cabin scientific data, and providing continuous energy and a stable attitude reference for the space capsule's deployment and on-orbit experiments, realizing the platform's function from "satellite body support" to "full system mission support." The Flexible Space Capsule as an Intelligent Operating Space: The rigid sections of the flexible space capsule (especially rigid section 1) integrate mission execution units such as inflation control, environmental monitoring, and robotic arm drive, forming a physically and functionally unified whole with the satellite platform through a rigid connection. The satellite platform provides a stable on-orbit environment (attitude, energy) for in-cabin experiments, while the module utilizes this environment to perform intelligent operations such as inflation deployment and sample delivery. The two constitute a tightly coupled system of "platform providing basic services - module executing specialized tasks."

[0020] 2. Event-triggered intelligent collaborative workflow. The separation signal serves as the unified entry point for the entire system startup: the satellite platform and the in-cabin control subsystem share the onboard separation signal, enabling synchronous triggering of satellite-rocket separation, in-cabin inflation and deployment, and initial attitude control of the platform. This design avoids multi-level command delays, ensuring the system quickly enters on-orbit operational status. A tightly coupled autonomous operation chain of timing and logic: key actions such as inflation and deployment, attitude stabilization, solar panel deployment, and robotic arm unlocking are not performed in isolation, but rather rely on the satellite platform's intelligent judgment (such as angular velocity judgment and solar orientation) and the coordination of the in-cabin control circuitry to form a controllable timing sequence combining series and parallel operations. For example, solar panel deployment requires the satellite to complete initial attitude damping and enter solar orientation mode; robotic arm unlocking requires in-cabin inflation to be completed and the satellite's attitude to be stabilized, demonstrating the deep interweaving of control logic between the platform and the module.

[0021] 3. Integrated scheduling and management of energy and information. The satellite platform's energy system (solar array, battery pack) supplies power to the entire complex (platform + modules). After the solar panels deploy, the power controller prioritizes charging the batteries, then provides stable energy to the entire platform (including in-cabin control, robotic arms, sensors, etc.), achieving centralized energy acquisition, storage, and intelligent distribution. Two-way closed-loop information flow: The satellite platform's communication system serves as the sole space-to-ground link, uniformly receiving ground commands and forwarding them to the in-cabin control subsystem. Simultaneously, it collects data from in-cabin sensors (air pressure, temperature) and the platform itself (attitude, power) and transmits it to the ground. This design simplifies system complexity and improves data integration and command reliability.

[0022] 4. Lightweight and High-Strength Design with Matched Structure and Function. The satellite platform adopts a box-type aluminum honeycomb / aluminum alloy skin structure, which provides mounting surfaces for the thrusters, solar panels, etc., while ensuring lightweight and high strength, and bearing the launch payload of the modules. The rigid modules are designed according to functional zoning (e.g., rigid module 1 integrates control and air circuits, rigid module 2 houses the robotic arm), and are tightly connected to the satellite platform and airbag section through standardized connectors (flanges, bolts), forming a composite with matched stiffness, reliable sealing, and clear functional zoning.

[0023] 5. Adaptive Safety Control Strategy Based on Environmental Awareness. Multi-sensor information fusion and collaborative control: Data from the satellite platform's attitude sensors (gyroscopes, magnetometers, solar sensors) and the cabin environment sensors (barometric pressure, temperature) are processed uniformly by the onboard computer or cabin control circuitry for decision-making and control actions. The satellite platform determines its attitude based on angular velocity and geomagnetic field and activates the magnetic torque converter / flywheel for damping; the cabin controls the inflation process based on barometric pressure data; and temperature data is used to monitor the cabin environment. This cross-platform-cabin segment environmental awareness and control linkage enhances the system's adaptability to complex on-orbit environments and mission safety. Design principle of the invention

[0024] 1. Balancing Flexible Space with Compact Design: ① Space Capsule Structure: A flexible space capsule design is adopted, combining rigid sections and inflatable airbag sections. It achieves compact folding during launch and unfolds to create a large space after entering orbit, meeting the space requirements for experiments. ② Function of Rigid Sections: As a bridge connecting the satellite platform and the airbag sections, the rigid sections not only provide structural support but also integrate key control, energy, inflation, and signal acquisition subsystems, ensuring the reliable operation of the entire system. ③ Satellite Platform: The satellite platform adopts a box-plate structure with a cubic frame, integrating attitude and orbit control, integrated electronics, communication, energy, thermal control, and propulsion systems. Its compact structure and integrated functions provide comprehensive support.

[0025] 2. The satellite platform provides comprehensive support: ① Data transmission: The satellite platform is responsible for transmitting scientific data collected inside the spacecraft back to the ground station and sending commands from the ground station to the spacecraft, achieving two-way communication between ground and space. ② Attitude and orbit control: Through its attitude and orbit control system, the satellite platform achieves precise attitude and orbit control of the entire system (including the satellite platform and the spacecraft), ensuring the required spatial position and attitude for the experiment. ③ Energy supply: The satellite platform deploys solar panels to provide a stable and sufficient energy supply to the entire system, ensuring the continuous conduct of the experiment. ④ Initial attitude damping: After separation from the launch vehicle, the satellite platform immediately initiates attitude control. Through the coordinated work of gyroscopes, magnetometers, torque converters, and flywheels, it quickly stabilizes the attitude of the satellite and the spacecraft, preventing tumbling and laying the foundation for subsequent operations.

[0026] 3. Intelligent Control and Automated Operation: ① Inflation Control: The control subsystem precisely controls the inflation of high-pressure gas cylinders and the deployment of airbags, ensuring uniform and safe deployment. ② Robotic Arm Operation: The robotic arm subsystem unlocks and deploys after the spacecraft's attitude stabilizes, performing tasks such as transporting and handling test samples, thus automating the testing process. ③ Environmental Monitoring: Real-time monitoring of the cabin environment is achieved using pressure and temperature sensors, providing necessary environmental information for the experiment. ④ Solar Panel Control: The unlocking and deployment of solar panels are controlled via programmed commands, and the output current of the solar array is monitored to ensure a stable energy supply.

[0027] 4. Coordinated Operations Before and After Launch: ① Pre-launch Preparation: Emphasis is placed on pre-launch preparations such as inflation, securing, and vacuum removal to ensure the spacecraft remains safe and compact during launch. ② Post-orbit Deployment: A series of automated operations are triggered by the onboard separation signal, including inflation deployment, attitude damping, solar panel deployment, and robotic arm unlocking, achieving a smooth transition from launch status to operational status.

[0028] Based on the above principles, this invention designs a flexible space capsule intelligent operation system for on-orbit testing, such as... Figure 1-7 As shown, its features are: including a flexible space capsule 1 and a satellite platform 2; the flexible space capsule 1 is composed of a space capsule airbag section 1-1 and a space capsule rigid section 1-2; the rigid section 1-2 is connected to the space capsule airbag section 1-1 at one end and to the satellite platform 2 at the other end. like Figure 1 , Figure 3 , Figure 4 As shown, the rigid section 1-2 of the space capsule consists of a second rigid section 1-2-2 in the middle and first rigid sections 1-2-1 and third rigid sections 1-2-3 at both ends; the first rigid sections 1-2-1 and second rigid sections 1-2-2 are column sections, and the third rigid section 1-2-3 is equipped with a column section 1-2-3-1 and a connecting flange 1-2-3-2. The first rigid section 1-2-1 connects to the satellite platform 2, and the connecting flange 1-2-3-2 of the third rigid section 1-2-3 connects to the space capsule airbag section 1-1; the chassis of the first rigid section 1-2-1 is equipped with a control subsystem 1-2-1-1, an inflation subsystem 1-2-1-2 with uniform air outlets, a high-pressure gas cylinder system 1-2-1-3, and a signal acquisition subsystem 1-2-1-4; as shown Figure 5As shown, a robotic arm 1-2-2-1 is installed on the inner wall of the second rigid section 1-2-2. Before rocket launch, this control subsystem 1-2-1-1 controls the inflation subsystem 1-2-1-2, which has uniform air outlets 1-2-1-2-5, to inflate the high-pressure gas cylinders 1-2-1-3-1 of its high-pressure gas cylinder system 1-2-1-3. After rocket launch, this control subsystem (1-2-1-1) controls its inflation subsystem (1-2-1-2) to open. High-pressure gas cylinders inflate the space capsule airbag section (1-1). After inflation, the control subsystem (1-2-1-2) controls the robotic arm (1-2-2-1) of the second rigid section to unlock and controls the robotic arm (1-2-2-1) to deliver test samples to the space capsule airbag section (1-1). After inflation, the control subsystem (1-2-1-1) also controls the solar panels (2-1) of the satellite platform (2) to deploy, providing stable energy for the entire satellite platform. like Figure 1 As shown, the satellite platform 2 is also responsible for transmitting the scientific data collected inside the flexible space capsule 1 back to the ground station and sending the instructions from the ground station to the space capsule; it is also responsible for providing attitude and orbit control for the entire system, including the satellite platform 2 and the flexible space capsule 1; and it is also responsible for providing energy for the flexible space capsule. like Figure 4 As shown, the inflation subsystem 1-2-1-2 is provided with an inflation pipe 1-2-1-2-4, and the inflation pipe 1-2-1-2-4 is provided with a plurality of evenly distributed uniform air outlets 1-2-1-2-5 along its length direction for uniformly inflating the space capsule airbag section 1-1; the uniform air outlets 1-2-1-2-5 are evenly distributed along the axial direction of the inflation pipe 1-2-1-2-4 and the diameter of the uniform air outlets 1-2-1-2-5 is the same. Furthermore, the extension length of the robotic arm 1-2-2-1 is sufficient to move its end effector from the inner wall of the rigid section to the internal region of the spacecraft airbag section 1-1; Furthermore, the space capsule airbag section 1-1 is made of polyimide material with a thickness of 0.1mm to 100mm, which can be a single layer or a composite layer.

[0029] Furthermore, the space capsule airbag section 1-1 has a diameter of 2.5m and a length of 2.5m after deployment; the first rigid section (1-2-1) is constructed by welding a chassis and a column section with a height of 0.2m; the second rigid section 1-2-2 is made of stainless steel, with a diameter of 1m, a column section height of 0.6m, and a thickness of 0.8mm at the bottom of the section and the column section.

[0030] like Figure 4 As shown, the subsystems of the first rigid section 1-2-1 include the following modules: The control subsystem 1-2-1-1 includes a control circuit 1-2-1-1-1 and a module power supply 1-2-1-1-2; the inflation subsystem 1-2-1-2 includes a four-way valve 1-2-1-2-1, a one-way valve 1-2-1-2-2, a solenoid valve 1-2-1-2-3, and an inflation pipeline 1-2-1-2-4 with uniform inflation holes; the high-pressure gas cylinder system 1-2-1-3 includes a high-pressure gas cylinder 1-2-1-3-1 and a cylinder buckle 1-2. -1-3-2, gas cylinder limit baffle 1-2-1-3-3, limit block 1-2-1-3-4; signal acquisition subsystem 1-2-1-4 includes pressure sensor 1-2-1-4-1 and temperature sensor 1-2-1-4-2; wherein, the solenoid valve 1-2-1-2-3 of the inflation subsystem and the pressure sensor 1-2-1-4-1 of the signal acquisition subsystem 1-2-1-1 are both connected to the control circuit 1-2-1-1-1 via wiring; like Figure 4 As shown, the four-way valve 1-2-1-2-1 of the inflation subsystem 1-2-1-2 is connected to the high-pressure gas cylinder 1-2-1-3-1, the solenoid valve 1-2-1-2-3, the one-way valve 1-2-1-2-2, and the pressure sensor 1-2-1-4-1, respectively; wherein, the solenoid valve 1-2-1-2-3 is connected to the inflation pipeline 1-2-1-2-4, and the inflation pipeline 1-2-1-2-4 passes through the second rigid section 1-2-2 and the connecting flange 1-2-3-2 to inflate the space capsule airbag section 1-1; The high-pressure gas cylinder system 1-2-1-3 is fixed in position by a limiting block 1-2-1-3-4 on the chassis. The limiting block 1-2-1-3-4 is manufactured as a single piece using an integral milling process. Bolt holes are provided on the limiting block 1-2-1-3-4. The gas cylinder buckle 1-2-1-3-2 and the gas cylinder limiting baffle 1-2-1-3-3 are fixed to the limiting block 1-2-1-3-4 by bolts, thereby fixing the high-pressure gas cylinder 1-2-1-3-1. The high-pressure gas cylinder outlet 1-2-1-3-1 enters the four-way valve 1-2-1-2-1 through the inflation pipe 1-2-1-2-4. like Figure 4As shown, the pressure sensor 1-2-1-4-1 of the signal acquisition subsystem 1-2-1-4 is connected to the four-way valve 1-2-1-2-1, and the temperature sensor 1-2-1-4-2 is connected to the control circuit 1-2-1-1-1. Before rocket launch, the control subsystem 1-2-1-1 pressurizes the high-pressure gas cylinder 1-2-1-3-1 through the one-way valve 1-2-1-2-2 to meet the service requirements. At this time, the pressure sensor 1-2-1-4-1 reads the pressure data and feeds it back to the control subsystem 1-2-1-1. During on-orbit operation, the control circuit 1-2-1-1-1 controls the solenoid valve 1-2-1-2-3 to open, and the high-pressure gas cylinder 1-2-1-3-1 inflates the spacecraft airbag section 1-1 through the inflation pipeline 1-2-1-2-4. like Figure 4 As shown, the control subsystem 1-2-1-1 is the core module for receiving the rocket separation signal, controlling inflation, and collecting cabin environmental data. It is powered by two DC power supplies with a supply voltage of 25V. A temperature sensor 1-2-1-4-2 is installed on the control circuit. When the spacecraft airbag section 1-1 is deployed, the temperature sensor 1-2-1-4-2 works to collect, store, and transmit cabin temperature data.

[0031] like Figure 1 As shown, the satellite platform 2 consists of a cubic frame of box-type structure 2-2 and solar panels 2-1. The box-type structure 2-2 is made of aluminum honeycomb panels or aluminum alloy skin, which combines lightweight and high strength. It is internally equipped with attitude and orbit control system, integrated electronic system, communication system, energy system, thermal control system and propulsion system, etc. The box-type structure 2-2 is equipped with thrusters on the outside, which are mainly used for orbital maneuvering and attitude control.

[0032] like Figure 5 As shown, the inner wall of the second rigid section 1-2-2 is equipped with a robotic arm mounting platform and a biological reagent fixing platform (not shown in the figure); the base of the robotic arm 1-2-2-1 is fixed on the robotic arm mounting platform 1-2-2-2; the biological reagent fixing platform has a structure for accommodating and positioning standard biological reagent containers; the robotic arm 1-2-2-1 is made of aluminum alloy and is fixed to the intelligent robotic arm mounting platform 1-2-2-2 with screws; the height of the second rigid section 1-2-2 is 0.3m; the maximum extended length of the robotic arm 1-2-2-1 is 0.7m; it is powered by a lithium battery and is unlocked by a shape memory alloy after the spacecraft's orbital attitude is stable.

[0033] like Figure 6As shown, the third rigid section 1-2-3 consists of column section 1-2-3-1, connecting flange 1-2-3-2, sealing flange, rubber gasket, sealing bolts, and sealing nuts. The total height of the third rigid section 1-2-3 is 0.1m. Column section 1-2-3-1 and connecting flange 1-2-3-2 are integrally machined. A sealing groove is provided on the connecting flange 1-2-3-2, and a rubber gasket is installed in the sealing groove. The sealing flange and the connecting flange 1-2-3-2 compress the flexible airbag together using two rings of 72 sealing bolts and sealing nuts, i.e., 36 sealing bolts per ring, to ensure the airtightness of the space capsule airbag section 1-1.

[0034] like Figure 4 As shown, before rocket launch, the control subsystem 1-2-1-1 controls its control subsystem 1-2-1-1 to inflate its high-pressure gas cylinder 1-2-1-3-1. Specifically, before the flexible spacecraft is launched, it inflates the high-pressure gas cylinder 1-2-1-3-1 through a one-way valve 1-2-1-2-2. By observing the data from the pressure sensor 1-2-1-4-1, the high-pressure gas cylinder 1-2-1-3-1 reaches the in-orbit inflation conditions. At the same time, each equipment unit is fixed on the chassis of the module, the robotic arm 1-2-2-1 is folded and fixed on the robotic arm mounting platform 1-2-2-2 on the inner wall of the module, the airbag is assembled with the module, and sealed and fixed by flange. Finally, the entire module is evacuated, so that the airbag is in a folded state and assembled and connected with the adapter inside the rocket fairing.

[0035] like Figure 4 As shown, after rocket launch, the control subsystem 1-2-1-1 controls the inflation subsystem 1-2-1-2 to open the high-pressure gas cylinder 1-2-1-3-1 to inflate the space capsule airbag section 1-1. Specifically, after the rocket ignites and launches, it travels to the predetermined orbit and the fairing separates. At this time, the onboard avionics system outputs a separation signal, and the capsule separates from the rocket. The cabin control circuit 1-2-1-1-1 receives the separation signal and controls the solenoid valve 1-2-1-2-3 to open, and the high-pressure gas cylinder 1-2-1-3-1 begins to inflate the space capsule airbag section 1-1. The gas is released through the inflation pipeline 1-2-1-2-4 to achieve uniform inflation and reduce the impact on the space capsule's attitude. The pressure sensor 1-2-1-4-1 operates to monitor pressure data. The temperature sensor 1-2-1-4-2 on the control circuit 1-2-1-1-1 operates to monitor and store cabin temperature data, and controls the solar panels 2-1 of the satellite platform 2 to deploy to generate solar power.

[0036] like Figure 1 , Figure 5As shown, after rocket launch, the control subsystem 1-2-1-1 controls the deployment of the solar panels 2-1. Specifically, at the same moment of separation between the satellite and the rocket, the satellite platform 2 begins to operate. The gyroscope in the box-plate structure 2-2 initially outputs angular velocity information, and the magnetometer measures the local geomagnetic field vector. Based on this, the onboard computer determines whether the satellite is in a tumbling state. If the angular velocity is too high, it immediately instructs the magnetic torque generator to be energized to generate a magnetic moment, which interacts with the geomagnetic field to dampen and dissipate the initial angular momentum. At the same time, the reaction flywheel is energized after the voltage stabilizes to participate in attitude control, enabling the satellite to recover from the disturbance caused by the separation impact to an angular velocity lower than 100 angular velocity within tens of seconds. The satellite is in a safe state of 0.5° / s. Subsequently, the sun sensor begins scanning the sun's direction, and the onboard computer drives the magnetic torque generator and flywheel to adjust the satellite's attitude, enabling the satellite to enter the sun-oriented mode. At this time, the solar panel unlocking mechanism receives a programmable command and drives the solar panels to smoothly unfold from the folded state to the locked position via a spring or motor. After the power controller detects the output current of the solar cell array, it confirms that the solar panels have been successfully deployed and then begins charging the battery pack, providing stable power to the entire platform. At this point, the spacecraft's attitude is stable, the 1-2-2-1 shape memory alloy robotic arm on the inner wall of the spacecraft unlocks, and unfolds from the folded state to perform on-orbit testing.

[0037] A flexible, large-space intelligent operation control method, such as Figure 7 As shown, its characteristics include the following steps: Step 1, Pre-launch preparation: Inflate high-pressure gas cylinder 1-2-1-3-1 through one-way valve 1-2-1-2-2, and bring the gas cylinder to the on-orbit working pressure according to the reading of pressure sensor 1-2-1-4-1; each equipment unit is fixed on the chassis of the module, the robotic arm 1-2-2-1 is retracted and locked to the module mounting platform, and the gasbag is assembled with the module through flange sealing; the entire module is evacuated to keep the gasbag in a folded and retracted state, and then docked with the adapter in the fairing; power is supplied to the module before launch to complete the equipment self-test; Step 2, Orbital Insertion and Separation: After launch, the rocket enters the predetermined orbit and the fairing is jettisoned; the onboard avionics system issues a separation command, the capsule separates from the rocket, and the control circuit 1-2-1-1-1 inside the capsule receives the signal; Step 3, Inflation and Deployment: Control circuit 1-2-1-1-1 drives solenoid valve 1-2-1-2-3 to open, high-pressure gas cylinder 1-2-1-3-1 inflates the space capsule airbag section 1-1, and the gas is evenly released through the pipeline to reduce disturbance to the capsule's attitude; pressure sensor 1-2-1-4-1 continuously monitors the pressure, and temperature sensor 1-2-1-4-2 synchronously records the internal temperature data; Step 4, Initial Attitude Damping: After separation of the spacecraft and rocket, satellite platform 2 is immediately activated—the gyroscope outputs the angular velocity, the magnetometer measures the geomagnetic field, and the onboard computer determines whether the satellite is tumbling; if the angular velocity exceeds the limit, the magnetic torque generator is immediately energized to generate a magnetic moment, which dissipates the angular momentum by interacting with the geomagnetic field. At the same time, the flywheel is energized to participate in the control, so that the satellite stabilizes to an angular velocity of less than 0.5° / s within tens of seconds. Step 5: Solar panel 2-1 unfolds: After the attitude is stabilized, the programmable command triggers the unlocking mechanism of solar panel 2-1, and solar panel 2-1 unfolds from the folded state and locks in place. After the power controller confirms the output current, it begins to charge the battery. Step Six: Unlocking of Robotic Arm 1-2-2-1: After the flexible space capsule stabilizes, the shape memory alloy of robotic arm 1-2-2-1 on the capsule wall is unlocked, and robotic arm 1-2-2-1 unfolds from its folded state, entering the on-orbit testing phase. Step 7: Control system sub-1-2-1-1 controls the extension of robotic arm 1-2-2-1 to grab biological reagent from biological reagent fixing platform; deliver the biological reagent into the internal space of space capsule airbag section 1-1; conduct an exposure test on the biological reagent using the space radiation environment.

[0038] The flexible large-space intelligent operation system of the present invention for on-orbit testing comprises three parts: a flexible space capsule airbag section 1-1, a flexible space capsule rigid section 1-2, and a satellite platform 2. The airbag section 1-1 is made of polyimide material with a thickness of 0.1mm to 100mm, and can be a single layer or a composite layer; the airbag section 1-1 has a diameter of 2.5m and a length of 2.5m after deployment. The rigid section consists of a first rigid section 1-2-1, a second rigid section 1-2-2, and a third rigid section 1-2-3. The rigid section shell is made of stainless steel, with a diameter of 1m, a column height of 0.6m, and a thickness of 0.8mm at the bottom and on the column. First, the first rigid section 1-2-1 is constructed by welding a chassis and a column section with a height of 0.2m. The chassis is equipped with an inflation and signal acquisition system, specifically including: a limiting block on the chassis, a high-pressure gas cylinder 1-2-1-3-1, a gas cylinder buckle 1-2-1-3-2, a gas cylinder limiting baffle 1-2-1-3-3, an inflation pipeline 1-2-1-2-4, and uniformly spaced air outlets 1-2-1 on the inflation pipeline 1-2-1-2-4. 2-5, four-way valve 1-2-1-2-1, one-way valve 1-2-1-2-2, solenoid valve 1-2-1-2-3, air pressure sensor 1-2-1-4-1, control circuit 1-2-1-1-1, module power supply 1-2-1-1-2, etc.; high-pressure gas cylinder 1-2-1-3-1 is fixed in position by a limiting block on the chassis, and the limiting block 1-2-1-3-4 is manufactured in one piece by an integral milling process. Bolt holes are provided on the limiting block (1-2-1-3-4). The gas cylinder buckle (1-2-1-3-2) and the gas cylinder limiting baffle are fixed to the limiting block with bolts, thereby fixing the high-pressure gas cylinder. The outlet of the high-pressure gas cylinder enters a four-way valve through the inflation pipeline. The four-way valve is connected to a solenoid valve, a one-way valve, and a pressure sensor. Before launch, the gas cylinder is pressurized and filled with gas through the one-way valve to meet the service requirements. The pressure sensor can read the pressure data. During operation in orbit, the control circuit controls the solenoid valve to open, and the high-pressure gas cylinder inflates the gasbag through the inflation pipeline. The evenly spaced air outlets on the pipeline ensure uniform inflation and prevent the spacecraft from becoming unstable during inflation due to excessive pressure in one direction. Both the solenoid valves and pressure sensors are connected to the control circuit via wiring. The control circuit is the core module for receiving the rocket separation signal, controlling inflation, and collecting data on the internal environment. It is powered by two DC power supplies at 25V. A temperature sensor is installed on the control circuit. When the airbags deploy, the temperature sensor activates, collecting, storing, and transmitting the internal temperature data. Secondly, the second rigid section 1-2-12 has a height of 0.3m. Inside this rigid section is a smart robotic arm mounting platform. The robotic arm's shell is made of aluminum alloy and is fixed to the platform with screws. The maximum deployed length of the robotic arm is 0.7m. It is powered by a lithium battery and unlocked using a shape memory alloy after the spacecraft's orbital attitude stabilizes.Finally, the third rigid module 1-2-3 and its connecting flange consist of a column section, connecting flange, sealing flange, rubber gaskets, sealing bolts, and sealing nuts. The total height of the third rigid module 1-2-3 and its connecting flange is 0.1m. The column section and connecting flange are machined as a single unit. A sealing groove is provided on the connecting flange, and a rubber gasket is installed in the sealing groove. The sealing flange and connecting flange press the flexible airbag together using two rings of 72 sealing bolts and nuts, or 36 sealing bolts per ring, to ensure the airtightness of the cabin. Furthermore, at the bottom of the rigid module of the spacecraft, i.e., the bottom of the chassis of the first rigid module 1-2-1, it connects to the satellite platform. The satellite platform consists of a box-type cubic frame and a solar cell array. The box-type structure is made of aluminum honeycomb panels or aluminum alloy skin, combining lightweight and high strength. Internally, it houses: an attitude and orbit control system, an integrated electronic system, a communication system, an energy system, a thermal control system, and a propulsion system. Thrusters are located externally on the box-type structure, primarily used for orbital maneuvering and attitude control.

[0039] Before launch, the flexible space capsule is inflated with high-pressure gas cylinders via a one-way valve. Data from pressure sensors is monitored to ensure the cylinders reach the required in-orbit inflation conditions. Simultaneously, various equipment units are secured to the capsule's chassis, and the robotic arm is retracted and fixed to a mounting platform on the capsule's inner wall. The gasbags are then assembled with the capsule and sealed with flanges. Finally, the entire capsule is evacuated, placing the gasbags in a folded, collapsed state, and connected to the adapter inside the rocket fairing. Before launch, the capsule is powered and the equipment performs a self-check. After launch, the capsule reaches its designated orbit, and the fairing separates. At this point, the onboard avionics system outputs a separation signal, indicating capsule-rocket separation. The capsule's control circuit receives this signal and opens the solenoid valve, initiating inflation. Gas is released through inflation lines, ensuring uniform inflation and minimizing impact on the capsule's attitude. Pressure sensors monitor pressure data, and temperature sensors on the control circuit monitor and store internal temperature data. Simultaneously, at the same moment of separation from the launch vehicle, the satellite platform begins operation. The gyroscope in the box-plate structure initially outputs angular velocity information, and the magnetometer measures the local geomagnetic field vector. Based on this, the onboard computer determines whether the satellite is in a tumbling state. If the angular velocity is too high, it immediately instructs the magnetic torquer to generate a magnetic moment, which interacts with the geomagnetic field to dampen and dissipate the initial angular momentum. At the same time, the reaction flywheel, after the voltage stabilizes, is energized to participate in attitude control, allowing the satellite to recover from the disturbance caused by the separation impact to a safe state with an angular velocity below 0.5° / s within tens of seconds. Subsequently, the sun sensor begins scanning the sun's direction, and the onboard computer drives the magnetic torquer and flywheel to coordinate and adjust the satellite's attitude, putting the satellite into sun-oriented mode. At this time, the solar panel unlocking mechanism receives a programmed command and, through springs or motors, smoothly unfolds the solar panels from their folded state to the locked position. The power controller monitors the output current of the solar array and confirms successful deployment, then begins charging the battery pack and providing stable power to the entire platform. At this point, the spacecraft's attitude is stable, the shape memory alloy of the robotic arm on the inner wall of the spacecraft unlocks, and it unfolds from its folded state to perform on-orbit experiments.

[0040] System workflow: 1) Pre-launch preparations: High-pressure gas cylinders are filled with gas via one-way valves, and the cylinders are brought to the on-orbit working pressure based on the pressure sensor readings; each equipment unit is fixed to the chassis of the module, the robotic arm is retracted and locked to the mounting platform on the module wall, and the gasbags are assembled with flange seals to the module; the entire module is evacuated to keep the gasbags in a folded and retracted state, and then docked with the adapter inside the fairing. Power is supplied to the module before launch, and the equipment self-tests are completed.

[0041] 2) Orbital entry and separation: After the rocket is launched, it enters the predetermined orbit and the fairing is jettisoned; the onboard avionics system issues a separation command, the capsule separates from the rocket, and the control circuit inside the capsule receives the signal.

[0042] 3) Inflation and Deployment: The control circuit drives the solenoid valve to open, and the high-pressure gas cylinder inflates the cabin. The gas is released evenly through the pipeline to reduce disturbance to the cabin's attitude. The pressure sensor continuously monitors the pressure, and the temperature sensor records the cabin temperature data simultaneously.

[0043] 4) Initial attitude damping: After separation of the spacecraft and rocket, the satellite platform is immediately activated—the gyroscope outputs the angular velocity, the magnetometer measures the geomagnetic field, and the onboard computer determines whether to tumble; if the angular velocity exceeds the limit, the magnetic torque generator is immediately energized to generate a magnetic moment, which dissipates the angular momentum by interacting with the geomagnetic field. At the same time, the flywheel is energized to participate in the control, so that the satellite stabilizes to an angular velocity of less than 0.5° / s within tens of seconds.

[0044] 5) Solar panel deployment: After the attitude is stabilized, the programmable command triggers the solar panel unlocking mechanism, the solar panel unfolds from the folded state and locks in place, and the power controller starts charging the battery after confirming the output current.

[0045] 6) Robotic arm unlocking: After the spacecraft's attitude stabilizes, the shape memory alloy of the robotic arm on the cabin wall is unlocked, and the robotic arm unfolds from its folded state, entering the on-orbit testing phase.

[0046] This invention employs an on-orbit operation system that combines an inflatable flexible cabin with an intelligent robotic arm. From the perspective of overcoming the limitations of traditional rigid platform launch mass and volume and reducing the cost of a single launch, it has significant advantages such as folding and storing during launch and autonomously inflating and unfolding into a large-space test platform after entering orbit. At the same time, through the integrated design of modular rigid cabin sections and satellite platform, it realizes the autonomous operation and multi-functional expansion capabilities of the on-orbit intelligent robotic arm, providing a low-cost and reconfigurable test environment for disruptive applications such as space life science and new material preparation.

[0047] It should be emphasized that the above specific embodiments are merely explanations of the present invention and are not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to the above embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A flexible space capsule intelligent operation system for on-orbit testing, characterized in that: It includes a flexible space capsule (1) and a satellite platform (2); the flexible space capsule (1) consists of a space capsule airbag section (1-1) and a space capsule rigid section (1-2); one end of the space capsule rigid section (1-2) is connected to the space capsule airbag section (1-1), and the other end is connected to the satellite platform (2). The rigid section (1-2) of the space capsule consists of a second rigid section (1-2-2) in the middle and first rigid sections (1-2-1) and third rigid sections (1-2-3) at both ends; the first rigid sections (1-2-1) and the second rigid sections (1-2-2) are column sections, and the third rigid section (1-2-3) is equipped with a column section (1-2-3-1) and a connecting flange (1-2-3-2). The first rigid section (1-2-1) is connected to the satellite platform (2), and the connecting flange (1-2-3-2) of the third rigid section (1-2-3) is connected to the space capsule airbag section (1-1); the chassis of the first rigid section (1-2-1) is equipped with a control subsystem (1-2-1-1), an inflation subsystem with uniform air outlets (1-2-1-2), a high-pressure gas cylinder system (1-2-1-3), and a signal acquisition subsystem (1-2-1-4); the second rigid section (1-2-2) The inner wall of the -2) is equipped with a robotic arm (1-2-2-1); before rocket launch, this control subsystem (1-2-1-1) controls the inflation subsystem (1-2-1-2) with uniform air outlets (1-2-1-2-5) to inflate the high-pressure gas cylinders of its high-pressure gas cylinder system (1-2-1-3); after rocket launch, this control subsystem (1-2-1-1) controls its inflation subsystem (1-2-1-2) to open the high-pressure gas cylinders to... The space capsule airbag section (1-1) is inflated. After inflation, the control subsystem (1-2-1-2) controls the robotic arm (1-2-2-1) of the second rigid section to unlock and control the robotic arm (1-2-2-1) to deliver test samples to the space capsule airbag section (1-1). After inflation, the control subsystem (1-2-1-1) also controls the solar panels (2-1) of the satellite platform (2) to deploy, providing stable energy for the entire satellite platform. The satellite platform (2) is also responsible for transmitting the scientific data collected in the flexible space capsule (1) back to the ground station and sending the instructions from the ground station to the space capsule; it is also responsible for providing attitude and orbit control for the entire satellite platform (2) and the flexible space capsule (1); and it is also responsible for providing energy for the flexible space capsule. The inflation subsystem (1-2-1-2) is provided with an inflation pipeline (1-2-1-2-4), and the inflation pipeline (1-2-1-2-4) has a plurality of evenly distributed uniform air outlets (1-2-1-2-5) along its length direction for uniformly inflating the space capsule airbag section (1-1); the uniform air outlets (1-2-1-2-5) are evenly distributed along the axial direction of the inflation pipeline (1-2-1-2-4) and the diameter of the uniform air outlets (1-2-1-2-5) is the same. The extension length of the robotic arm (1-2-2-1) is sufficient to move its end effector from the inner wall of the rigid section to the internal area of ​​the spacecraft airbag section (1-1); The space capsule airbag section (1-1) is made of polyimide material with a thickness of 0.1mm to 100mm. It can be a single layer or a composite layer.

2. The intelligent operation system for a flexible large empty cabin applied to on-orbit testing according to claim 1, characterized in that: The space capsule airbag section (1-1) has a diameter of 2.5m and a length of 2.5m after deployment; the first rigid section (1-2-1) is constructed by welding a chassis and a column section with a height of 0.2m; the second rigid section (1-2-2) is made of stainless steel, with a diameter of 1m, a column section height of 0.6m, and a thickness of 0.8mm at the bottom of the section and the column section.

3. The flexible large empty cabin intelligent operation system for on-orbit testing according to claim 1, characterized in that: The subsystems of the first rigid section (1-2-1) include the following modules: The control subsystem (1-2-1-1) includes a control circuit (1-2-1-1-1) and a module power supply (1-2-1-1-2); the inflation subsystem (1-2-1-2) includes a four-way valve (1-2-1-2-1), a one-way valve (1-2-1-2-2), a solenoid valve (1-2-1-2-3), and an inflation pipeline with uniform inflation holes (1-2-1-2-4); the high-pressure gas cylinder system (1-2-1-3) includes a high-pressure gas cylinder (1-2-1-3-). 1) Cylinder buckle (1-2-1-3-2), cylinder limit baffle (1-2-1-3-3), limit block (1-2-1-3-4); the signal acquisition subsystem (1-2-1-4) includes a pressure sensor (1-2-1-4-1) and a temperature sensor (1-2-1-4-2); the solenoid valve of the inflation subsystem and the pressure sensor (1-2-1-4-1) of the signal acquisition subsystem are both connected to the control circuit (1-2-1-1-1) via wiring. The four-way valve of the inflation subsystem (1-2-1-2) is connected to the high-pressure gas cylinder (1-2-1-3-1), the solenoid valve (1-2-1-2-3), the one-way valve (1-2-1-2-2), and the pressure sensor (1-2-1-4-1), respectively. The solenoid valve (1-2-1-2-3) is connected to the inflation pipeline (1-2-1-2-4), and the inflation pipeline (1-2-1-2-4) passes through the second rigid section (1-2-2) and the connecting flange (1-2-3-2) to inflate the space capsule airbag section (1-1). The high-pressure gas cylinder system (1-2-1-3) is fixed in position by a limiting block (1-2-1-3-4) on the chassis. The limiting block (1-2-1-3-4) is manufactured as a single piece using an integral milling process. Bolt holes are provided on the limiting block (1-2-1-3-4). The gas cylinder buckle (1-2-1-3-2) and the gas cylinder limiting baffle (1-2-1-3-3) are fixed to the limiting block (1-2-1-3-4) by bolts, thereby fixing the high-pressure gas cylinder. The high-pressure gas cylinder outlet (1-2-1-3-1) enters the four-way valve (1-2-1-2-1) through the inflation pipe (1-2-1-2-4). The pressure sensor (1-2-1-4-1) of the signal acquisition subsystem (1-2-1-4) is connected to the four-way valve (1-2-1-2-1), and the temperature sensor (1-2-1-4-2) is connected to the control circuit (1-2-1-1-1). Before rocket launch, the control subsystem (1-2-1-1) pressurizes the high-pressure gas cylinder (1-2-1-3-1) through the one-way valve (1-2-1-2-2) to meet the service requirements. At this time, the pressure sensor (1-2-1-4-1) reads the pressure data and feeds it back to the control subsystem (1-2-1-1). During on-orbit operation, the control circuit (1-2-1-1-1) controls the solenoid valve (1-2-1-2-3) to open, and the high-pressure gas cylinder (1-2-1-3-1) inflates the space capsule airbag section (1-1) through the inflation pipeline (1-2-1-2-4). The control subsystem (1-2-1-1) is the core module for receiving the rocket separation signal, controlling inflation, and collecting cabin environmental data. It is powered by two DC power supplies with a supply voltage of 25V. A temperature sensor (1-2-1-4-2) is installed on the control circuit. When the spacecraft airbag section (1-1) is deployed, the temperature sensor (1-2-1-4-2) works to collect, store, and transmit cabin temperature data.

4. The intelligent operation system for a flexible large empty cabin applied to on-orbit testing according to claim 1, characterized in that: The satellite platform (2) consists of a cubic frame of box-type structure (2-2) and solar panels (2-1). The box-type structure (2-2) is made of aluminum honeycomb panels or aluminum alloy skin, which is both lightweight and high-strength. The internal components include: attitude and orbit control system, integrated electronic system, communication system, energy system, thermal control system and propulsion system. The external components of the box-type structure (2-2) are equipped with thrusters, which are mainly used for orbital maneuvering and attitude control.

5. The intelligent operation system for a flexible large empty cabin applied to on-orbit testing according to claim 1, characterized in that: The inner wall of the second rigid section (1-2-2) is equipped with a robotic arm mounting platform and a biological reagent fixing platform; the base of the robotic arm (1-2-2-1) is fixed to the robotic arm mounting platform; the biological reagent fixing platform is equipped with a structure for accommodating and positioning standard biological reagent containers; the robotic arm (1-2-2-1) is made of aluminum alloy and is fixed to the intelligent robotic arm mounting platform with screws; the height of the second rigid section (1-2-2) is 0.3m; the maximum extended length of the robotic arm (1-2-2-1) is 0.7m; it is powered by a lithium battery and is unlocked by a shape memory alloy after the spacecraft's orbital attitude is stable.

6. The intelligent operation system for a flexible large empty cabin applied to on-orbit testing according to claim 1, characterized in that: The third rigid section (1-2-3) consists of a column section (1-2-3-1), a connecting flange (1-2-3-2), a sealing flange, rubber gaskets, sealing bolts, and sealing nuts. The third rigid section (1-2-3) has a total height of 0.1m. The column section (1-2-3-1) and the connecting flange (1-2-3-2) are integrally machined. The connecting flange (1-2-3-2) is provided with a sealing groove, and a rubber gasket is installed in the sealing groove. The sealing flange and the connecting flange (1-2-3-2) compress the flexible airbag together using two rings of 72 sealing bolts and sealing nuts, i.e., 36 sealing bolts per ring, to ensure the airtightness of the space capsule airbag section (1-1).

7. The intelligent operation system for a flexible large empty cabin applied to on-orbit testing according to claim 2, characterized in that: Before rocket launch, the control subsystem (1-2-1-1) controls its control subsystem (1-2-1-1) to inflate its high-pressure gas cylinder (1-2-1-3-1). Specifically, before the flexible spacecraft is launched, the high-pressure gas cylinder (1-2-1-3-1) is inflated through a one-way valve (1-2-1-2-2). By observing the data from the pressure sensor (1-2-1-4-1), the high-pressure gas cylinder (1-2-1-3-1) is brought to the in-orbit inflation condition. At the same time, each equipment unit is fixed on the chassis of the module, the robotic arm (1-2-2-1) is folded and fixed on the robotic arm mounting platform on the inner wall of the module, the airbag is assembled with the module, and sealed and fixed by flange. Finally, the entire module is evacuated, so that the airbag is in a folded state and assembled and connected with the adapter in the rocket fairing.

8. A flexible large empty cabin intelligent operation system for on-orbit testing according to claim 2, characterized in that: After rocket launch, the control subsystem (1-2-1-1) controls the inflation subsystem (1-2-1-2) to open the high-pressure gas cylinder (1-2-1-3-1) to inflate the space capsule's airbag section (1-1). Specifically, after rocket ignition and launch, it reaches its predetermined orbit and the fairing separates. At this time, the onboard avionics system outputs a separation signal, and the capsule separates from the rocket. The cabin control circuit (1-2-1-1-1) receives the separation signal and controls the solenoid valve (1-2-1-2-3) to open, inflating the high-pressure gas cylinder (1-2-1-3-1) into the space capsule's airbag section (1-1). 1-3-1) Inflate the space capsule airbag section (1-1) and release the gas through the inflation pipe (1-2-1-2-4) to achieve uniform inflation and reduce the impact on the space capsule's attitude; the pressure sensor (1-2-1-4-1) works to monitor the pressure data; the temperature sensor (1-2-1-4-2) on the control circuit (1-2-1-1-1) works to monitor and store the cabin temperature data and control the solar panels (2-1) of the satellite platform (2) to deploy and generate solar power.

9. A flexible large empty cabin intelligent operation system for on-orbit testing according to claim 2, characterized in that: After rocket launch, the control subsystem (1-2-1-1) controls the deployment of the solar panels (2-1). Specifically, at the same moment of separation between the satellite and the rocket, the satellite platform (2) begins to work. The gyroscope in the box-plate structure (2-2) initially outputs angular velocity information, and the magnetometer measures the local geomagnetic field vector. Based on this, the onboard computer determines whether the satellite is in a tumbling state. If the angular velocity is too high, it immediately instructs the magnetic torque generator to be energized to generate a magnetic moment, which interacts with the geomagnetic field to dampen and dissipate the initial angular momentum. At the same time, the reaction flywheel is energized after the voltage stabilizes to participate in attitude control, so that the satellite can recover from the disturbance caused by the separation impact to a low angular velocity within tens of seconds. At a safe speed of 0.5° / s, the solar sensor then begins scanning the sun's direction. The onboard computer drives the magnetic torque converter and flywheel to adjust the satellite's attitude, enabling the satellite to enter a sun-oriented mode. At this point, the solar panel unlocking mechanism receives a programmable command and drives the solar panels to smoothly unfold from the folded state to the locked position via a spring or motor. After the power controller detects the output current of the solar array, it confirms that the solar panels have successfully unfolded. It then begins charging the battery pack and providing stable power to the entire platform. At this point, the spacecraft's attitude is stable, and the shape memory alloy of the robotic arm (1-2-2-1) on the inner wall of the spacecraft unlocks and unfolds from the folded state to perform on-orbit testing.

10. A flexible large-space intelligent operation control method for on-orbit testing based on any one of claims 1-9, characterized in that, Includes the following steps: Step 1, Pre-launch preparation: Inflate the high-pressure gas cylinder (1-2-1-3-1) using the one-way valve (1-2-1-2-2), and bring the cylinder to the on-orbit working pressure based on the reading from the pressure sensor (1-2-1-4-1); each equipment unit is fixed to the chassis of the module, the robotic arm (1-2-2-1) is retracted and locked to the bulkhead mounting platform, and the gasbag is assembled to the module via a flange seal; the entire module is evacuated to keep the gasbag in a folded and retracted state, and then docked with the adapter inside the fairing; power is supplied to the module before launch, and the equipment self-check is completed; Step 2, Orbital Insertion and Separation: After launch, the rocket enters the predetermined orbit and the fairing is jettisoned; the onboard avionics system issues a separation command, the capsule separates from the rocket, and the internal control circuit (1-2-1-1-1) receives the signal; Step 3, Inflation and Deployment: The control circuit (1-2-1-1-1) drives the solenoid valve (1-2-1-2-3) to open, and the high-pressure gas cylinder (1-2-1-3-1) inflates the space capsule's airbag section (1-1). The gas is evenly released through the pipeline to reduce disturbance to the capsule's attitude; the pressure sensor (1-2-1-4-1) continuously monitors the pressure, and the temperature sensor (1-2-1-4-2) simultaneously records the internal temperature data. Step 4, Initial Attitude Damping: After the separation of the capsule and rocket, the satellite platform (2) is immediately started - the gyroscope outputs the angular velocity, the magnetometer measures the geomagnetic field, and the onboard computer determines whether it is tumbling; if the angular velocity exceeds the standard, the magnetic torque generator is immediately energized to generate a magnetic moment, which dissipates the angular momentum by interacting with the geomagnetic field. At the same time, the flywheel is energized to participate in the control, so that the satellite stabilizes to an angular velocity of less than 0.5° / s within tens of seconds; Step 5, Solar Panel (2-1) Deployment: After the attitude is stabilized, the programmable command triggers the solar panel (2-1) unlocking mechanism, the solar panel (2-1) unfolds from the folded state and locks in place, and the power controller starts charging the battery after confirming the output current; Step Six: Unlocking the Robotic Arm (1-2-2-1): After the flexible space capsule stabilizes, the shape memory alloy of the robotic arm (1-2-2-1) on the capsule wall is unlocked, and the robotic arm (1-2-2-1) unfolds from its folded state, entering the on-orbit testing phase; Step 7: The control system (1-2-1-1) controls the extension of the robotic arm (1-2-2-1) to grab the biological reagent from the biological reagent fixing platform; the biological reagent is sent into the internal space of the space capsule airbag section (1-1); the biological reagent is exposed to the space radiation environment.

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