Collaborative objectification system and collaborative objectification method

Abstract

Provided is a system configured so that when, for example, a service satellite approaches a non-cooperative outer-space object in order to provide an on-trajectory service or to remove debris, it is possible to obviate normally-necessary complex functions or high-precision control. A system 1 for making an object cooperative makes cooperative a non-cooperative outer-space object C which is present in the space of outer space, and the system comprises: an outer-space flying body S which is configured to move in the space of outer space; and a cooperative interface M which is attached to the surface of the non-cooperative outer-space object C by the outer-space flying body S.

Description

[Technical Field]

[0001] The present invention relates to a collaborative objectification system and a collaborative objectification method. [Background technology]

[0002] In recent years, technology has been proposed for servicing satellites that are configured to approach non-cooperative space objects that do not have interfaces such as markers (such as satellites that have run out of fuel or space debris) to provide on-orbit servicing or remove the debris (see, for example, Patent Document 1). Such servicing satellites are equipped with advanced sensing functions and relative position and attitude control functions that are necessary for approaching and connecting with objects that have irregular shapes, thermo-optical properties, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-65689 Summary of the Invention [Problem to be solved by the invention]

[0004] However, such servicing satellites have the following problems: The sensing functions and position / attitude control functions required to approach uncooperative space objects and provide on-orbit servicing or remove debris are often complex, and it is difficult to perform sensing and position / attitude control with high precision.

[0005] The present invention has been made in light of the above circumstances, and aims to provide a system that can eliminate the complex functions and high-precision control required when a servicing satellite approaches an uncooperative space object to provide on-orbit servicing or remove debris. [Means for solving the problem]

[0006] In order to achieve the above object, the cooperative object system of the present invention converts a non-cooperative space object existing in outer space into a cooperative object, and comprises a spacecraft configured to move in outer space and a cooperative interface attached to the surface of the non-cooperative space object by the spacecraft.

[0007] In addition, the cooperative object creation method of the present invention is a method for creating a cooperative object from a non-cooperative space object existing in outer space, and includes a step of attaching a cooperative interface to the surface of the non-cooperative space object by a spacecraft configured to move in outer space.

[0008] By adopting such a configuration and method, a cooperative interface can be attached to the surface of a non-cooperative space object (such as a satellite that has run out of fuel or space debris) using a spacecraft configured to travel in outer space. Therefore, a servicing satellite configured to provide on-orbit servicing or perform debris removal can easily approach the non-cooperative space object using the cooperative interface, and can easily perform monitoring and docking after approach. This eliminates the complex functions and high-precision control required when a servicing satellite approaches a non-cooperative space object for on-orbit servicing or debris removal, facilitating rendezvous, approach operations, and on-orbit servicing. As a result, costs required for debris removal and on-orbit servicing can be reduced, and debris removal and on-orbit servicing can be provided more safely. Furthermore, various design margins required to ensure safety can be kept to a minimum, thereby reducing costs required for debris removal and on-orbit servicing.

[0009] In the cooperative object system according to the present invention, a plate-like object having an optical marker configured to reflect light can be used as the cooperative interface. In this case, the surface of the plate-like object can be provided with adhesive properties, and a gripping unit for gripping the plate can be provided on the spacecraft. The surface of the plate-like object held by the gripping unit can be pressed against the surface of the non-cooperative space object, thereby adhering the surface of the plate-like object to the surface of the non-cooperative space object, thereby attaching the plate-like object to the non-cooperative space object. The surface of the plate-like object can be provided with adhesive properties by using adhesive textile, gecko, Velcro, and / or cold welding.

[0010] In addition, in the cooperative object creation system according to the present invention, the spacecraft can be provided with an application unit that applies an approach marker as a cooperative interface to the surface of a non-cooperative space object.

[0011] The cooperative object system according to the present invention may also employ a spacecraft having a robot arm and a gripping mechanism provided at the tip of the robot arm. In this case, the gripping mechanism may be configured to be attached to a cooperative interface, to grip a non-cooperative space object, and to be detached from the robot arm together with the cooperative interface.

[0012] By adopting such a configuration, the cooperative interface can be attached to the gripping mechanism of a robotic arm of a spacecraft configured to move in outer space, the gripping mechanism can grasp a non-cooperative space object, and the gripping mechanism can be detached from the robotic arm together with the cooperative interface, thereby integrating the cooperative interface and the non-cooperative space object. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a system that can eliminate the complex functions and high-precision control required when a servicing satellite approaches an uncooperative space object for the purpose of providing on-orbit servicing or debris removal. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram showing an overview of a collaborative objectification system according to a first embodiment of the present invention. [Figure 2] FIG. 10 is a diagram showing another application example (a mode in which a single spacecraft processes multiple uncooperative space objects) of the cooperative object processing system according to the first embodiment of the present invention. [Figure 3] 1 shows an overview of a cooperative object system according to a second embodiment of the present invention, in which (A) is a diagram showing a state in which a non-cooperative space object is grasped by the grasping mechanism of a spacecraft's robotic arm, and (B) is a diagram showing a state in which the grasping mechanism of the spacecraft has been detached from the robotic arm. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, each embodiment of the present invention will be described with reference to the drawings.

[0016] First Embodiment First, the configuration of a cooperative object creation system (hereinafter referred to as "this system") 1 according to a first embodiment of the present invention will be described using Figure 1. This system 1 creates a cooperative object from a non-cooperative space object C (such as a satellite that has run out of fuel or space debris) that exists in outer space, and includes a spacecraft S configured to move through outer space, and a cooperative interface M that is attached to the surface of the non-cooperative space object C by the spacecraft S.

[0017] In this embodiment, a plate-like body having an optical marker is used as the cooperative interface M. The optical marker is attached to one surface of the plate-like body and is configured to reflect light. The optical marker may, for example, have a retroreflective material that can align the light emission direction with the light incidence direction. If a heat insulating film is formed on the surface on which the optical marker is attached, an optical marker that reflects light in a predetermined wavelength range that is absorbed by the heat insulating film (for example, near-ultraviolet light having a wavelength range of 300 to 400 nm) can also be used. Furthermore, the other surface of the plate-like body in this embodiment is provided with adhesive force by utilizing adhesive textile, gecko, Velcro, and / or cold welding.

[0018] The spacecraft S in this embodiment has a gripping unit (such as a robot arm) that grips a plate-like body as the cooperative interface M. By gripping the plate-like body with the gripping unit of the spacecraft S and pressing the surface of the plate-like body (the surface with adhesive force opposite the optical marker) against the surface of the non-cooperative space object C, the surface of the plate-like body can be attached to the non-cooperative space object C by adsorbing it to the surface of the non-cooperative space object C.

[0019] A method for converting a non-cooperative space object C into a cooperative object using this system 1 (cooperative object conversion method) includes a step of attaching a cooperative interface M to the surface of the non-cooperative space object C by a spacecraft S configured to move in outer space. In this step, for example, as already explained, by gripping a plate-like body as the cooperative interface M with a gripping portion of the spacecraft S and pressing the surface of the plate-like body (the surface having an adhesive force on the opposite side from the optical marker) against the surface of the non-cooperative space object C, the surface of the plate-like body can be attached to the non-cooperative space object C by adsorbing it to the surface of the non-cooperative space object C.

[0020] In the cooperative object system 1 according to the above embodiment, a cooperative interface M can be attached to the surface of a non-cooperative space object C by a spacecraft S configured to move in outer space. Therefore, a servicing satellite R (see FIG. 1) configured to provide on-orbit servicing or debris removal can easily approach the non-cooperative space object C using the cooperative interface M, and can easily perform monitoring and docking after approach. This eliminates the complex functions and high-precision control required when the servicing satellite R approaches the non-cooperative space object C for on-orbit servicing or debris removal, facilitating rendezvous, approach operations, and on-orbit servicing. This reduces the costs required for debris removal and on-orbit servicing, and enables safer debris removal and on-orbit servicing. Furthermore, various design margins required for ensuring safety can be kept to a minimum, thereby reducing the costs required for debris removal and on-orbit servicing.

[0021] The configurations of the spacecraft and the cooperative interface are not limited to those described in this embodiment. For example, the cooperative interface may employ an approach marker applied to the surface of the non-cooperative space object C, and the spacecraft may have an application unit that applies the approach marker to the surface of the non-cooperative space object C.

[0022] In addition, in the embodiment of Figure 1, an example is shown in which a single spacecraft S is used to attach a cooperative interface M to a ``single'' non-cooperative space object C, and various services (provision of on-orbit services and debris removal) are provided to the non-cooperative space object C, but a single spacecraft S can also be used to accommodate ``multiple'' non-cooperative space objects C.

[0023] That is, as shown in Figure 2, a single Servicer (spacecraft S) traveling in low Earth orbit at an altitude of, for example, 400 km is brought close to Target-A (first non-cooperative space object C) in orbit at an altitude of, for example, 800 km, and a cooperative interface M is attached to Target-A. Then, the Servicer is brought close to Target-B (second non-cooperative space object C) in a different orbit or in the same orbit, and a cooperative interface M is attached to Target-B. Then, the Servicer is brought close again to Target-C (third non-cooperative space object C) in a different orbit or in the same orbit, and a cooperative interface M is attached to Target-C.

[0024] In this way, multiple non-cooperative space objects C (Target-A, Target-B, Target-C) to which cooperative interfaces M are attached by a single spacecraft S (Servicer) can be handled by separate or the same servicing satellite. For example, if these multiple non-cooperative space objects C are space debris, as shown in Figure 2, multiple debris removal servicing satellites R can approach each of these non-cooperative space objects C using cooperative interfaces M. These debris removal servicing satellites R can then capture each of these non-cooperative space objects C and re-enter the atmosphere together with them (or release the space debris C at a low altitude) to remove the debris.

[0025] Second Embodiment Next, the configuration of a cooperative object system 1A according to a second embodiment of the present invention will be described with reference to Figure 3. Similar to the first embodiment, this system 1A converts a non-cooperative space object C existing in outer space into a cooperative object, and includes a spacecraft S configured to move in outer space, and a cooperative interface M attached to the surface of the non-cooperative space object C by the spacecraft S.

[0026] The spacecraft S in this embodiment is a robot arm S A and Robot Arm S A The gripping mechanism S is installed at the tip of theG This gripping mechanism S G is designed to grasp a space non-cooperative object C so that a cooperative interface M can be attached, and a robot arm S A The gripping mechanism S is configured to be separated from the cooperating interface M. G The configuration of the second element is not particularly limited as long as it can perform the above function.

[0027] In addition to the cooperative interface M, various devices such as a docking interface, an angular velocity detumbling device, a drag sail device, and an orbital descent tether device can be held by the grasping mechanism S. G In this way, the gripping mechanism S G The robot arm S grasps the space non-cooperative object C. A Grip mechanism S G By separating the device together with the non-cooperative space object C, the device and the non-cooperative space object C can be integrated.

[0028] The method for converting a non-cooperative space object C into a cooperative object using the present system 1A (cooperative object conversion method) includes a step of attaching a cooperative interface M to the surface of the non-cooperative space object C by a spacecraft S configured to move in space. In this embodiment, A Grip mechanism S G Attach the cooperative interface M to the gripping mechanism S G The robot arm S grasps the space non-cooperative object C. A Grip mechanism S G By detaching the cooperating interface M together with the cooperating interface M, the cooperating interface M can be attached to the non-cooperating object C in space.

[0029] The cooperative objectification system 1A according to the above embodiment can also achieve the same effects as those of the first embodiment.

[0030] The present invention is not limited to the above-described embodiments, and any design modifications made by a person skilled in the art to these embodiments as appropriate are also included within the scope of the present invention as long as they comprise the features of the present invention. In other words, the elements of the above-described embodiments and their arrangement, materials, conditions, shape, size, etc. are not limited to those exemplified and can be modified as appropriate. Furthermore, the elements of the above-described embodiments can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they comprise the features of the present invention. [Explanation of symbols]

[0031] 1·1A… Collaborative Objectification System C…Universe non-cooperative object M…Cooperative interface S…Spacecraft S A ...robot arm S G ...gripping mechanism

Claims

1. A system for converting a non-cooperative space object existing in outer space into a cooperative object, a spacecraft configured to travel in space; a cooperative interface attached by the spacecraft to a surface of the non-cooperative space object; A collaborative objectification system, wherein the collaborative interface is a plate-like body having optical markers configured to reflect light.

2. the surface of the plate-like body has an adhesive force, the spacecraft has a gripping portion that grips the plate-like body, The cooperative object system described in claim 1, wherein the surface of the plate-shaped body grasped by the gripping portion is pressed against the surface of the non-cooperative space object, thereby adsorbing the surface of the plate-shaped body to the surface of the non-cooperative space object and attaching the plate-shaped body to the non-cooperative space object.

3. The collaborative objectification system according to claim 2 , wherein the surface of the plate-shaped body is provided with the adhesive force by utilizing Adhesive Textile, Gecko, Velcro, and / or Coldwelding.

4. A system for converting a non-cooperative space object existing in outer space into a cooperative object, comprising: a spacecraft configured to travel in space; a cooperative interface attached by the spacecraft to a surface of the non-cooperative space object; The spacecraft has an application unit that applies a proximity marker as the cooperative interface to the surface of the non-cooperative space object.

5. A system for converting a non-cooperative space object existing in outer space into a cooperative object, comprising: a spacecraft configured to travel in space; a cooperative interface attached by the spacecraft to a surface of the non-cooperative space object; the spacecraft has a robot arm and a gripping mechanism provided at a tip of the robot arm, A cooperative object system, wherein the gripping mechanism is configured to grip the space non-cooperative object to which the cooperative interface is attached, and to be detached from the robot arm together with the cooperative interface.

6. A method for converting a non-cooperative space object existing in outer space into a cooperative object, comprising: attaching a cooperative interface to a surface of the non-cooperative space object by a spacecraft configured to travel in space; The cooperative objectification method, wherein the cooperative interface is a plate-like body having optical markers configured to reflect light.

7. A method for converting a non-cooperative space object existing in outer space into a cooperative object, comprising: attaching a cooperative interface to a surface of the non-cooperative space object by a spacecraft configured to travel in space; The spacecraft has an application unit that applies an approach marker as the cooperative interface to the surface of the non-cooperative space object.

8. A method for converting a non-cooperative space object existing in outer space into a cooperative object, comprising: attaching a cooperative interface to a surface of the non-cooperative space object by a spacecraft configured to travel in space; the spacecraft has a robot arm and a gripping mechanism provided at a tip of the robot arm, A cooperative object creation method, wherein the gripping mechanism is configured to grip the space non-cooperative object to which the cooperative interface is attached, and to be detached from the robot arm together with the cooperative interface.

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