Method for planning and controlling strong coupling of extravehicular activity and cargo transfer

Abstract

The application discloses an astronaut egress and cargo access strong coupling task planning and control implementation method, and belongs to the technical field of spaceflight. The method comprises the following steps: S1, constructing a strong coupling task basic layout; S2, carrying out pre-planning and simulation verification of the coupling task; S3, performing control operation of cargo egress in advance; S4, implementing coupling control of astronaut egress and cargo access; S5, carrying out on-orbit dynamic regulation and control and emergency control of the coupling task; and S6, performing recovery and cabin section recovery control of the coupling task. The application can realize strong coupling of astronaut egress and cargo access, greatly improve the extravehicular operation efficiency, reduce the astronaut load, and be more safe and suitable for the normal operation of a space station.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, specifically relating to a method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry and exit. Background Technology

[0002] After the space station was fully completed and entered the application and development phase, tasks such as extravehicular assembly and construction, equipment installation, and space science experiments became increasingly frequent. Extravehicular activities (EVAs) and cargo handling became core tasks for the space station's on-orbit operation control. Currently, EAs and cargo handling are mostly carried out independently: Astronauts exit the spacecraft through the Tianhe core module node and the Wentian experimental module airlock, carrying their own equipment. This is limited by the carrying capacity of the robotic arm and spacesuit, as well as the size of the EAs exit passage, resulting in a limited equipment load and increased extravehicular load on the astronauts. Cargo handling is mostly completed separately through the Mengtian experimental module cargo airlock, lacking temporal and spatial coordination with EAs missions. This leads to problems such as cumbersome operational procedures, long astronaut transfer distances, extended operation times, and rapid wear and tear on spacesuits during extravehicular activities.

[0003] Meanwhile, existing space station extravehicular activity (EVA) mission planning and control are mostly designed for single mission types, lacking a coupled control logic for astronaut EVA and cargo entry / exit, and lacking linkage rules between the two in terms of timing, space, and commands. Furthermore, when large-scale extravehicular assembly and construction missions are required, independent mission modes cannot meet the demands of efficient operation, easily leading to wasted extravehicular resources and long mission cycles. In addition, although existing EVA control methods are equipped with contingency plans, they lack specific emergency control procedures designed for the special scenarios of coupled missions, making it difficult to ensure mission safety when astronaut EVA and cargo entry / exit are carried out simultaneously.

[0004] Therefore, there is an urgent need to develop a mission planning and control implementation method that strongly couples astronaut extravehicular activity (EVA) with cargo entry and exit, so as to achieve efficient and safe implementation of extravehicular missions on the space station through the synergistic coupling of the two, and adapt to the mission requirements of routine operation of the space station. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the aforementioned related technologies.

[0006] Therefore, the purpose of this invention is to provide a method for planning and controlling the strong coupling of astronaut extravehicular activity (EVA) and cargo entry / exit, which can realize the strong coupling of EVA and cargo entry / exit, greatly improve the efficiency of extravehicular operations, reduce the astronaut's workload, and more safely adapt to the normalized operation of the space station.

[0007] To solve the above-mentioned technical problems, the present invention is implemented as follows: This invention provides a method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit, the method comprising the following steps: S1. Construct the basic layout for tightly coupled tasks; S2. Conduct preliminary planning and simulation verification of coupled tasks; S3. Perform control operations to allow cargo to leave the warehouse ahead of schedule; S4. Implement coupled control for astronaut extravehicular activity and cargo retrieval; S5. Conduct on-orbit dynamic control and emergency response for coupled tasks; S6. Perform recovery and compartment restoration control for coupled tasks.

[0008] In addition, the astronaut extravehicular activity and cargo entry / exit mission planning and control implementation method according to the present invention may also have the following additional technical features: In some implementations, step S1 includes: Based on the existing layout design of the space station's existing modules, the spatial location of the temporary transfer point outside the module is planned; the transfer point is close to the core working area after the astronauts exit the spacecraft, and is adapted to the spatial requirements of the robotic arm's cargo transfer and the astronauts' loading and unloading operations.

[0009] In some implementations, step S2 includes: The content of the extravehicular activity (EVA) for astronauts and the types, weights, and envelope dimensions of cargo entering and leaving the spacecraft were clearly defined. The timing sequence, space path, and equipment linkage rules of the coupled mission were formulated. The entire process of the coupled mission was simulated through a digital simulation verification system set up on the ground, and the mission implementation parameters were optimized.

[0010] In some implementations, step S3 includes: Cargo or operating equipment is transferred to the airlock via the load transfer mechanism of the cargo airlock, and the airlock depressurization and gas reuse are controlled. The cargo is then precisely placed and secured at a pre-set temporary transfer point outside the cabin by an external robotic arm.

[0011] In some implementations, step S4 includes: The astronaut extravehicular activity (EVA) process is initiated according to the preset timing sequence. The appropriate cabin is selected and configured to carry out astronaut preparation inside the cabin, cabin door opening and closing and EVA operations. After the astronauts exit the cabin, they are controlled to transfer to the transfer point along the shortest path to complete the loading, unloading and debugging of cargo or operating equipment.

[0012] In some implementations, step S5 includes: The system monitors the astronauts' extravehicular status, cargo securing status, and space station equipment operating parameters in real time via a space-to-ground telemetry and control link. If any deviation occurs, dynamic timing adjustments or path corrections are made. In case of an emergency, a matching emergency plan is invoked to safely handle the coupled mission.

[0013] In some implementations, step S6 includes: After completing extravehicular activities, the astronauts will bring the recovered cargo or equipment back to the transfer point or directly back into the cabin. They will then control the robotic arm to complete the recovery and transfer of the extravehicular cargo. Subsequently, they will sequentially complete the astronaut reentry, hatch closure, cabin repressurization, and equipment reset and status restoration of the cargo airlock, astronaut airlock, and / or node modules.

[0014] In some implementations, the entire process of the coupled task is simulated using a ground-based digital simulation verification system. The optimization of task implementation parameters includes: The digital simulation verification system simulates the mission execution process under normal and slightly deviated conditions. Through full-process simulation and deduction, the feasibility of the design process is verified, and the solar array control strategy, robotic arm motion path, astronaut operation position, and coupling timing mission parameters of cargo entry and exit and astronaut exit are optimized. The digital simulation verification system is built by integrating the kinematic model of the space station, the lighting and shadow change model, the flexible solar array control strategy, the robotic arm motion model, the cargo entry and exit model, and the astronaut operation model.

[0015] In some implementation methods, dynamic timing adjustments or path corrections are performed if implementation deviations occur, and matching contingency plans are invoked to handle the safety of coupled tasks in case of emergencies. If the astronaut's actual working posture is not suitable, the robotic arm posture will be adjusted according to the astronaut's requirements. If the estimated total duration of extravehicular activities (EVA) for astronauts, T1, exceeds the maximum support capacity of the EVA suit, T2, then the contingency plan will be activated to cancel some EVA tasks. In the event of any sudden emergency, including space debris warnings, deteriorating weather conditions, and / or equipment malfunctions, the corresponding emergency response plan shall be activated immediately.

[0016] In some of these implementations, the emergency plan includes temporarily calling upon telemetry and control resources, including Tianlian satellites, to implement emergency collision avoidance control for the space station, increasing the movement speed of the robotic arm to reduce the duration of extravehicular activities, astronauts and the robotic arm working together to handle cargo anomalies, adjusting the duration of cargo extravehicular activity, performing emergency return of astronauts to the capsule, emergency cargo recovery, or terminating coupling mission operations.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: The astronaut extravehicular activity (EVA) and cargo entry / exit mission planning and control implementation method provided in this embodiment of the invention can significantly improve the efficiency of extravehicular activities on the space station: by having cargo exit the spacecraft in advance to the transfer point, astronauts are not required to carry equipment themselves during EVA, thus shortening the extravehicular transfer distance and extravehicular operation time, which is suitable for the mission requirements of large-scale assembly and construction of the space station. In this embodiment of the invention, the astronaut extravehicular activity (EVA) and cargo entry / exit mission planning and control implementation method with strong coupling can reduce the EVA load and equipment wear and tear: astronauts do not need to carry equipment out of the cabin, effectively reducing the physical exertion of extravehicular movement, while also reducing the wear and tear on spacesuits, extending the on-orbit service life of spacesuits, and reducing the on-orbit material consumption cost of the space station. In this embodiment of the invention, the astronaut extravehicular activity and cargo entry / exit strongly coupled mission planning and control implementation method can achieve efficient mission coordination and precise control: it constructs a three-dimensional strongly coupled logic of time sequence, space, and command, clarifies the linkage rules of each module and each device, and combines digital simulation and on-orbit dynamic control to ensure the precise implementation of the coupled mission; In this embodiment of the invention, the planning and control implementation method for strongly coupled astronaut extravehicular activity and cargo entry and exit is provided, which can improve the safety and reliability of the coupled mission: the extravehicular activity backup of the node module and the airlock module is set up, and multiple types of emergency plans are designed for the coupled mission, which can realize rapid fault handling and emergency response, and ensure the safety of astronauts and the stability of space station equipment. The astronaut extravehicular activity (EVA) and cargo entry / exit mission planning and control implementation method provided in this embodiment of the invention can adapt to the diverse needs of routine operation of the space station: This method can flexibly adjust the layout of transfer points, cargo transfer process and astronaut extravehicular activity path according to different extravehicular operation missions, and is compatible with the entry / exit requirements of various cargo types such as disposable operation equipment, reusable payloads and large assembly equipment, and has good versatility and scalability.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is an overall flowchart of a strongly coupled task planning and control implementation method disclosed in one embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and specific examples and application scenarios.

[0022] Please see Figure 1 As shown, in some embodiments of the present invention, a method for planning and controlling a strongly coupled mission of astronaut extravehicular activity (EVA) and cargo entry / exit is provided. Based on the existing design layout of the Tianhe core module node module, the Wentian experimental module airlock, and the Mengtian experimental module cargo airlock, a strongly coupled mission implementation mode of "cargo exiting the spacecraft in advance to the transfer point and being directly retrieved by the astronauts after exiting the spacecraft" is constructed. Through six core steps—pre-planning simulation, advance cargo transfer, astronaut EVA coupling, on-orbit dynamic control, emergency response, and module recovery—the entire process planning and control of the coupled mission is completed. The specific technical solution is as follows: 1. Construct a basic layout for strongly coupled missions: Based on the hardware layout of the three-module combination of the space station, and combined with the core work area for astronauts' extravehicular activities, plan multiple temporary transfer points outside the cabin. The transfer points need to be close to the work area and maintain a reasonable distance from the exit, with no obstructions. At the same time, cargo limiting structures and astronaut foot restraint devices are configured. The Tianhe core module node module and the Wentian experimental module airlock module serve as extravehicular activity backups for each other. The Mengtian experimental module cargo airlock module is the only channel for cargo to enter and exit the cabin. Clarify the equipment linkage relationship between the robotic arm, the payload transfer mechanism, and the hatches of each module.

[0023] 2. Conduct pre-planning and simulation verification of coupled tasks: Based on the on-orbit mission requirements of the space station, determine the astronaut's extravehicular activity (EVA) tasks, including the content, duration, and location of the EVA, as well as the types, weights, and dimensions of the cargo / equipment that need to enter and exit the spacecraft; formulate the timing sequence of coupled tasks, clarifying the time nodes for each stage of cargo EVA, astronaut EVA, extravehicular activities, and cargo return, ensuring that cargo is transferred and secured in advance; integrate the space station kinematic model, illumination and shadow variation model, flexible solar array control strategy, robotic arm motion model, cargo EVA model, and astronaut operation model to build a simulation verification model of coupled tasks, simulating the mission execution process under normal and slightly deviated conditions. Through full-process simulation, verify the feasibility of the design process, optimize mission parameters such as solar array control strategy, robotic arm motion path, astronaut operation position, and coupling timing of cargo EVA and astronaut EVA, ensuring the feasibility and efficiency of the process.

[0024] 3. Perform control operations for early cargo exit: Astronauts complete the assembly and securing of cargo / equipment in the working compartment of the Mengtian Experiment Module and place it on the payload transfer mechanism; the ground sends a command to control the opening of the cargo airlock door, the payload transfer mechanism transfers the cargo to the airlock, and after closing the inner door, the depressurization and repressurization control of the airlock is completed. After the depressurization and repressurization is completed, the outer door is opened, the external robotic arm grabs the cargo and accurately places it at the preset transfer point, and the robotic arm resets after the cargo is secured.

[0025] 4. Implement coupled control of astronaut extravehicular activity (EVA) and cargo retrieval: Select the appropriate EVA channel (Tianhe core module node module, Wentian experimental module airlock module) according to the preset sequence to complete the astronaut's in-cabin preparation; control the opening of the EVA hatch, and after the astronaut exits the cabin, transfers to the transfer point along the planned shortest path or by means of a robotic arm, uses foot limiters to fix their own position, and completes the retrieval, placement, debugging, and installation of cargo / equipment; during this process, the ground monitors the status of the astronauts and cargo in real time to ensure that the operation is compliant.

[0026] 5. Conduct on-orbit dynamic control and emergency response for coupled missions: Collect astronaut extravehicular physiological parameters, spacesuit operating parameters, cargo payload status, and robotic arm and module equipment operating data through the space-to-ground telemetry and control link. Compare these data with preset thresholds. If the astronaut's actual working posture is unsuitable, adjust the robotic arm's posture according to the astronaut's requirements. If the estimated total duration of the astronaut's extravehicular activities (T1) exceeds the maximum support capacity of the extravehicular spacesuit (T2), initiate the contingency plan and delete some extravehicular activities. In case of sudden emergencies, such as space debris warnings, deteriorating weather conditions, or equipment failures, immediately invoke the corresponding emergency plan. This includes temporarily utilizing telemetry and control resources such as Tianlian satellites, implementing emergency collision avoidance control for the space station, increasing the robotic arm's movement speed to reduce extravehicular activity time, coordinating astronaut and robotic arm to handle cargo anomalies, adjusting the cargo's extravehicular stay time, and executing emergency astronaut return to the capsule, emergency cargo recovery, or coupling mission abort operations.

[0027] 6. Completion of the coupling mission's recovery and module restoration control: After completing their extravehicular activities, the astronauts will bring reusable cargo / equipment back to the transfer point or directly back into the cabin. For cargo to be recovered at the transfer point, it will be transferred to the cargo airlock by a robotic arm, then transported back into the cabin via the payload transfer mechanism and stored. After completing their work, the astronauts will return to the cabin along the original path, close the extravehicular activity (EVA) hatch, and repressurize the modules. Finally, the equipment in the cargo airlock and the astronaut EVA hatch will be reset, restoring each module to normal operating status and completing the entire coupling mission.

[0028] The following section provides a detailed explanation of the planning and control implementation method for a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit, based on a real-world example of the Shenzhou-20 crew's extravehicular activity and cargo entry / exit.

[0029] Example 1: The core objective of this coupled mission is for astronauts to install space debris protection devices on the Mengtian module during extravehicular activity (EVA) and to conduct inspections of external auxiliary facilities. The required space debris protection devices and inspection equipment are cargo that needs to be exited from the cabin. The envelope size is adapted to the transfer requirements of the cargo airlock of the Mengtian experimental module. The core operating area is located outside the Mengtian experimental module and is close to the exit of the Tianhe core module node module. Therefore, the Tianhe core module node module is selected as the astronaut exit passage, and the Mengtian experimental module cargo airlock module is selected as the cargo exit passage. A temporary extravehicular transfer point is planned outside the Mengtian experimental module.

[0030] 1. Basic Layout Construction for the Mission: The transfer point is located in the area outside the Mengtian Experimental Module, near the Tianhe Core Module node module, with no solar cell wings or cabin obstacles. The transfer point is equipped with cargo fixing and limiting frames. The Tianhe Core Module node module is designated as the main exit channel, and the Wentian Experimental Module airlock is designated as a backup. The robotic arm adopts a combination mode of large and small arms to complete cargo transfer.

[0031] 2. Overall mission planning and simulation verification: Develop a timeline to ensure that cargo is transferred and secured ahead of schedule; conduct simulation verification through a ground-based digital simulation verification system to simulate the entire process of cargo transfer, astronaut extravehicular activity, and equipment installation, optimize mission parameters, and ensure the feasibility of the process.

[0032] 3. Cargo Exit in Advance: Astronauts secure the space debris protection device and inspection equipment to the payload transfer mechanism inside the Mengtian Experiment Module's working compartment. Ground commands are sent to open the cargo airlock's inner hatch, and the payload transfer mechanism transfers the cargo to the airlock. After closing the inner hatch, depressurization and repressurization control is initiated. Once depressurization and repressurization are complete, the outer hatch is opened, and the extravehicular robotic arm grabs the cargo and transfers it to a pre-set transfer point. After securing the cargo, the robotic arm resets, and the cargo airlock's outer hatch is closed.

[0033] 4. Coupling control of astronaut extravehicular activity and cargo retrieval: After the cargo is secured, the astronaut extravehicular activity process is initiated. Two astronauts complete the cabin preparation work in the Tianhe core module node module. The ground control of the Tianhe core module node module completes the pressure regulation and opens the extravehicular door. After exiting the cabin, the astronauts transfer to the transfer point along the planned path to complete the retrieval and installation of protective devices.

[0034] 5. On-orbit dynamic control and emergency response: During the mission, the space-to-ground telemetry and control link collected various parameters of the space station platform, cargo payload, extravehicular spacesuits, and astronauts in real time. The robotic arm, power supply, environmental control and life support systems of the space station platform operated normally. The extravehicular physiological parameters of the astronauts and the operating parameters of the spacesuits were all within the normal range. The cargo payload was in good condition with no deviations. Therefore, dynamic control was not initiated. The space debris and meteorological environment early warning systems were activated throughout the mission. There were no sudden emergencies, and all emergency plans were on standby.

[0035] 6. Mission Recovery and Platform Restoration Control: After the astronauts completed the installation of the space debris protection device, there was no waste cargo to handle. The astronauts returned to the Tianhe core module node along the original path. Ground control closed the extravehicular activity (EVA) door of the Tianhe core module node and completed the repressurization of the Tianhe core module node. Subsequently, the robotic arm transferred the cargo payload transfer device back into the module, completed the closure of the cargo airlock door, reset the payload transfer mechanism, and checked the equipment status of the Tianhe core module node and the Mengtian experimental module cargo airlock. All modules were restored to normal operating conditions, and this strongly coupled mission was successfully completed.

[0036] In this embodiment, through the strongly coupled mission planning and control implementation method of the present invention, astronauts do not need to carry equipment outside the cabin, the extravehicular transfer distance is greatly shortened, and no equipment failure or operational deviation occurs, verifying the effectiveness, safety and efficiency of the method.

[0037] For the parts of this invention not described in detail, please refer to the prior art or the art known to those skilled in the art. This embodiment does not limit these aspects and will not describe them in detail here.

[0038] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit, characterized in that, The steps of the method include: S1. Construct the basic layout for tightly coupled tasks; S2. Conduct preliminary planning and simulation verification of coupled tasks; S3. Perform control operations to allow cargo to leave the warehouse ahead of schedule; S4. Implement coupled control for astronaut extravehicular activity and cargo retrieval; S5. Conduct on-orbit dynamic control and emergency response for coupled tasks; S6. Perform recovery and compartment restoration control for coupled tasks.

2. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S1 includes: Based on the existing layout design of the space station's existing modules, the spatial location of the temporary transfer point outside the module is planned; the transfer point is close to the core working area after the astronauts exit the spacecraft, and is adapted to the spatial requirements of the robotic arm's cargo transfer and the astronauts' retrieval and placement operations.

3. The method for planning and controlling the strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S2 includes: The content of the extravehicular activity (EVA) for astronauts and the types, weights, and envelope dimensions of cargo entering and leaving the spacecraft were clearly defined. The timing sequence, space path, and equipment linkage rules of the coupled mission were formulated. The entire process of the coupled mission was simulated through a digital simulation verification system set up on the ground, and the mission implementation parameters were optimized.

4. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S3 includes: Cargo or operating equipment is transferred to the airlock via the load transfer mechanism of the cargo airlock, and the airlock depressurization and gas reuse are controlled. The cargo is then precisely placed and secured at a pre-set temporary transfer point outside the cabin by an external robotic arm.

5. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S4 includes: The astronaut extravehicular activity (EVA) process is initiated according to the preset timing sequence. The appropriate cabin is selected and configured to carry out astronaut preparation inside the cabin, cabin door opening and closing and EVA operations. After the astronauts exit the cabin, they are controlled to transfer to the transfer point along the shortest path to complete the loading, unloading and debugging of cargo or operating equipment.

6. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S5 includes: The system monitors the astronauts' extravehicular status, cargo securing status, and space station equipment operating parameters in real time via a space-to-ground telemetry and control link. If any deviation occurs, dynamic timing adjustments or path corrections are made. In case of an emergency, a matching emergency plan is invoked to safely handle the coupled mission.

7. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 1, characterized in that, Step S6 includes: After completing extravehicular activities, the astronauts will bring the recovered cargo or equipment back to the transfer point or directly back into the cabin. They will then control the robotic arm to complete the recovery and transfer of the extravehicular cargo. Subsequently, they will sequentially complete the astronaut reentry, hatch closure, cabin repressurization, and equipment reset and status restoration of the cargo airlock, astronaut airlock, and / or node modules.

8. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 3, characterized in that, The entire process of the coupled task was simulated using a ground-based digital simulation verification system. The optimization of task implementation parameters included: The digital simulation verification system simulates the mission execution process under normal and slightly deviated conditions. Through full-process simulation and deduction, the feasibility of the design process is verified, and the solar array control strategy, robotic arm motion path, astronaut operation position, and coupling timing mission parameters of cargo entry and exit and astronaut exit are optimized. The digital simulation verification system is built by integrating the kinematic model of the space station, the lighting and shadow change model, the flexible solar array control strategy, the robotic arm motion model, the cargo entry and exit model, and the astronaut operation model.

9. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 6, characterized in that, If implementation deviations occur, dynamic timing adjustments or path corrections will be made. In case of emergencies, the matching contingency plan will be invoked to handle the safety of coupled tasks. The content includes: If the astronaut's actual working posture is not suitable, the robotic arm posture will be adjusted according to the astronaut's requirements. If the estimated total duration of extravehicular activities (EVA) for astronauts, T1, exceeds the maximum support capacity of the EVA suit, T2, then the contingency plan will be activated to cancel some EVA tasks. In the event of any sudden emergency, including space debris warnings, deteriorating weather conditions, and / or equipment malfunctions, the corresponding emergency response plan shall be activated immediately.

10. The method for planning and controlling a strongly coupled mission of astronaut extravehicular activity and cargo entry / exit as described in claim 9, characterized in that, The emergency response plan includes temporarily calling upon tracking and control resources, including Tianlian satellites, to implement emergency collision avoidance control for the space station, increasing the movement speed of the robotic arm to reduce the duration of extravehicular activities, astronauts and the robotic arm working together to handle cargo anomalies, adjusting the duration of cargo extravehicular activity, performing emergency return of astronauts to the capsule, and emergency recovery of cargo or aborting coupling missions.

Images