Space system and space service providing method

Abstract

The purpose of this invention is to solve various problems with conventional technologies where a propellant is replenished by using a robot arm. A space system 1 for providing a predetermined service to a client C present in a space includes: a servicer 10 for navigating the space; and a drone 20 connected to the servicer 10 by a connection means and configured so as to approach or approach and join the client C. The connection means includes a wire having a mooring function and / or an optical fiber having a signal transmission function.

Description

Space systems and space service provision methods

[0001] The present invention relates to a space system and a method for providing space services.

[0002] In recent years, servicing satellites (servicers) that provide predetermined services to clients in space have been proposed. For example, in the application of propellant replenishment, an idea has been proposed in which a robot arm mounted on the servicer is connected to the client to secure a propellant replenishment path from the servicer to the client (see Non-Patent Document 1).

[0003] Chuck Holme, “FINAL REPORT OF THE OSAM-1 INDEPENDENT REVIEW BOARD”, [online], February 29, 2020, NASA, [searched on April 17, 2020], Internet<URL:https: / / www.nasa.gov / mission / on-orbit-servicing-assembly-and-manufacturing-1 / >

[0004] However, the robot arm disclosed in Non-Patent Document 1 is a fairly large-scale device, which poses the problem of a large weight being loaded onto the servicer. Also, since there is a limit to the length of the robot arm, the distance between the servicer and the client connected by the robot arm must be short, which causes various interference problems related to communication, solar power generation, mechanical collisions, etc.

[0005] The present invention has been made in view of the above circumstances, and aims to provide a space system that can solve the various problems of the conventional technology in which propellant is replenished using a robot arm.

[0006] In order to achieve the above-mentioned object, a first aspect of the present invention is a space system that provides a predetermined service to a client in outer space, comprising: a servicer that navigates in outer space; and a drone that is connected to the servicer by a connection means and configured to approach or join to the client, wherein the connection means includes at least one of a wire with a mooring function and an optical fiber with a signal transmission function.

[0007] A second aspect of the present invention is a space system that provides a predetermined service to a client in outer space, comprising a servicer that navigates in outer space and a drone that is configured to detach from the servicer and approach or dock with the client.

[0008] A third aspect of the present invention is a method for providing a predetermined service to a client using a drone that is connected to a servicer navigating in space by a connection means and configured to approach or join to the client, wherein the connection means is at least one of a wire with a mooring function and an optical fiber with a signal transmission function.

[0009] A fourth aspect of the present invention is a method for providing space services to a client using a drone configured to detach from a servicer navigating in space and approach or approach and attach to the client.

[0010] By adopting this configuration and method, the servicer can access the client via a drone. Therefore, compared to conventional technologies in which the servicer accesses the client via a robotic arm, a relatively long distance (e.g., approximately 50 m) can be maintained between the servicer and the client, thereby resolving various interference problems caused by the servicer being located close to the client. Furthermore, drones can be miniaturized, eliminating the need for a large robotic arm, allowing the mass of the drone mounted on the servicer to be reduced compared to a robotic arm. Furthermore, whereas attaching a robotic arm to a client requires the suppression of attitude control of either the servicer or the client, attaching a drone to a client has a smaller mechanical impact on the client side, thereby reducing the likelihood of interference problems between the control systems of both parties.

[0011] The space system according to the first aspect of the present invention may include a hose for supplying propellant from the servicer to the client via the drone. In this case, after the drone is joined to the client, the hose can be unwound from the servicer and connected to a hose connector provided on the drone.

[0012] In the space system of the first aspect of the present invention, a reinforcement mechanism can be provided that realizes a rigid connection between the servicer and the drone after the drone is joined to the client.

[0013] The reinforcement mechanism can have a pipe consisting of multiple interconnectable units that is unwound from the servicer while the drone is close to the client or after it has been connected close to the client, and a wire can be inserted through the center of the pipe. In this case, the servicer can apply a force that presses the pipe toward the drone by generating a force that pulls the wire toward the servicer after the pipe unwound from the servicer reaches the drone.

[0014] Furthermore, the reinforcement mechanism may include multiple support pillars that are unwound from positions around the position where the pipe is unwound from the servicer after the pipe has been reinforced with the wire. Each support pillar may include a sub-pipe made up of multiple interconnectable units and a sub-wire inserted through the center of the pipe. In such a case, the ends of the support pillars may be connected to each other by a horizontal member extending in a direction intersecting the pipe. The servicer may unwound the support pillars until the horizontal member reaches the drone, thereby improving the pipe's strength against horizontal stress.

[0015] The space system according to the present invention may include a position detection mechanism for detecting the relative position of the drone with respect to the servicer. The drone may also be configured to perform orbital and attitude control and information sharing in cooperation with the servicer and / or other drones, and to provide cooperative services with other drones.

[0016] According to the present invention, it is possible to provide a space system that can solve the various problems of the conventional technology in which propellant is replenished using a robot arm.

[0017] FIG. 1 is a diagram showing the configuration of a space system according to a first embodiment of the present invention. FIG. 2 is a diagram showing a state in which propellant is being replenished to a client using the space system according to the first embodiment of the present invention. FIG. 3 is a diagram for explaining a hose connection method in the space system according to the first embodiment of the present invention. FIG. 4 is a diagram for explaining pipes that constitute the reinforcement mechanism in the space system according to the first embodiment of the present invention. FIG. 5 is a diagram for explaining supports and the like that constitute the reinforcement mechanism in the space system according to the first embodiment of the present invention. FIG. 6 is a diagram showing the configuration of a space system according to a second embodiment of the present invention. FIG. 7 is a diagram showing the configuration of a space system according to a third embodiment of the present invention.

[0018] Hereinafter, each embodiment of the present invention will be described with reference to the drawings.

[0019] First Embodiment First, a space system 1 according to a first embodiment of the present invention will be described with reference to FIGS.

[0020] The space system 1 of this embodiment provides a predetermined service to a client C located in outer space (specifically, supplies propellant to the client C), and as shown in FIG. 1, includes a servicer 10 that navigates in outer space, a drone 20, a reinforcement mechanism 30, a position detection mechanism 40, and the like.

[0021] The servicer 10 is configured to be attached to a spacecraft such as a rocket with the drone 20 mounted thereon and launched into space, and is equipped with various devices for providing predetermined services to a client C in space. As shown in Fig. 2 , the servicer 10 in this embodiment has a tank 11 that stores propellant to be supplied to the client C, and a hose rack 12 that winds up and unwinds a hose H (described below) for supplying the propellant stored in the tank 11 to the client C.

[0022] The drone 20 is connected to the servicer 10 by a connection means such as a wire W or an optical fiber (means capable of realizing at least one of a mooring function and a signal transmission function), and is configured to approach or be joined to the client C. For example, as shown in Fig. 1, the drone 20 can approach a marker M installed on the client C as a target while navigating in space autonomously or based on commands from the ground or the servicer 10 using an on-board propulsion device and camera 21 (not shown), and can connect to a docking port D located at the center of the marker M as shown in Fig. 2.

[0023] As shown in FIGS. 2 and 3, the drone 20 in this embodiment includes a wire rack 22 for winding and unwinding a connecting means such as a wire W, and an end E of a hose H unwound from the servicer 10. Ｈand a hose connection portion 23 for inserting and connecting the wire W. The wire W is reeled out by the required length from a wire rack 22 built into the drone 20, with one end connected to the wire rack 22 and the other end connected to the servicer 10. This has the advantage of facilitating modifications to the servicer 10 and enabling support operations according to the application.

[0024] In the case of propellant supply, after the drone 20 is connected to the client C, when the hose H is unwound from the servicer 10, the hose H for sharing the propellant can be pulled in by relying on the wire W. Ｈ As shown in FIG. 3, a jig J for connecting a wire W is attached to the drone 20. The jig J is drawn into a wire guide portion 24 provided on the drone 20, and the end E of the hose H is Ｈ is connected to the hose connection part 23. As a result, the tank 11 built in the servicer 10 is connected to the tank T of the client C via the hose H and the drone 20. Ｃ Propellant will be supplied to the

[0025] The reinforcement mechanism 30 functions to realize a relatively rigid connection between the servicer 10 and the drone 20 while the drone 20 is in proximity to the client C or after the drone 20 is connected to the client C. As shown in FIG. 4 , the reinforcement mechanism 30 has a pipe 31 that is let out from the servicer 10 after the drone 20 is connected to the client C and is composed of multiple interconnectable units 31U. A wire W is inserted through the center of the pipe 31. In this embodiment, the servicer 10 generates a force T that pulls the wire W toward the servicer 10 after the pipe 31 let out from the servicer 10 reaches the drone 20, thereby applying a force F that presses the pipe 31 toward the drone 20. This makes it possible to realize reinforcement of the wire W by the pipe 31 and maintain a relatively rigid connection.

[0026] 5, the reinforcement mechanism 30 in this embodiment has a plurality of (for example, four) support posts 32 that are pulled out from specific positions on the servicer 10 (positions around the position where the pipe 31 is pulled out) after the reinforcement of the wire W by the pipe 31 has been completed. Each of the support posts 32 has a sub-pipe 32a made up of a plurality of units that can be connected to each other, and a sub-wire 32b that is inserted through the center of the sub-pipe 32a. The sub-pipe 32a and the sub-wire 32b can be the same as the pipe 31 and the wire W.

[0027] 5, the reinforcing mechanism 30 in this embodiment connects the ends of multiple struts 32 with horizontal members 33 extending in a direction intersecting the pipe 31. The servicer 10 can improve the strength of the pipe 31 against lateral stress by extending the struts 32 until the horizontal members 33 come into contact with the drone 20.

[0028] The position detection mechanism 40 functions to detect relative position information of the drone 20 with respect to the servicer 10, and as shown in Fig. 1, has a camera 41 provided on the servicer 10 and a lighting device (such as an LED light) 42 provided on the drone 20. In this embodiment, a synchronization mechanism based on communication between the servicer 10 and the drone 20 is used to cyclically turn on and off the lighting device 42 to facilitate image analysis, while the direction of the lighting device 42 is detected by the camera 41, and the distance between the servicer 10 and the drone 20 and the relative position of the drone 20 with respect to the servicer 10 can be measured by triangulation.

[0029] In the space system 1 according to the above embodiment, the servicer 10 can access the client C via the drone 20. Therefore, compared to conventional technology in which the servicer accesses the client via a robotic arm, a relatively long distance (e.g., approximately 50 m) can be ensured between the servicer 10 and the client C, thereby resolving various interference problems caused by the servicer 10 being located close to the client C. In addition, the drone 20 can be miniaturized, eliminating the need for a large-scale robotic arm, and therefore the mass of the drone 20 mounted on the servicer 10 can be reduced compared to a robotic arm. Furthermore, whereas connecting a robotic arm to a client requires suppressing the attitude control of either the servicer or the client, connecting the drone 20 to the client C has a small mechanical impact on the client C side, which has the advantage of making interference problems between the mutual control systems less likely to occur.

[0030] Second Embodiment Next, a space system 1A according to a second embodiment of the present invention will be described with reference to FIG.

[0031] The space system 1A of this embodiment provides a predetermined service to a client C located in outer space (specifically, observes and diagnoses the surroundings of the client C from multiple directions and performs repairs, etc. as necessary), and as shown in Figure 6, is equipped with a servicer 10A that navigates in outer space and multiple drones 20A, 20B, and 20C.

[0032] The servicer 10A in this embodiment is configured to be attached to a spacecraft such as a rocket with drones 20A, 20B, and 20C mounted thereon and launched into space, and is equipped with various devices for providing predetermined services to a client C located in space. Specifically, the servicer 10A in this embodiment is equipped with software for diagnosing the client C, devices for repair and maintenance, replacement parts, etc. Furthermore, as shown in FIG. 6 , the servicer 10A in this embodiment is equipped with a camera 11A for detecting an object and an illumination device (such as an LED light) 12A for indicating its own position.

[0033] As shown in FIG. 6 , the multiple drones 20A, 20B, and 20C in this embodiment are all connected to the servicer 10A via a connection means such as a wire W, and are configured to use their onboard propulsion devices and cameras 21A, 21B, and 21C to navigate through space autonomously or based on commands from the ground or the servicer 10A, approach the client C, and observe the client C from multiple directions. Also, as shown in FIG. 6 , the drones 20A, 20B, and 20C in this embodiment have lighting devices (e.g., LED lights) 22A, 22B, and 22C for indicating their own positions, and robot arms 23A, 23B, and 23C for providing predetermined services to the client C (e.g., repairing or replacing a faulty part). With this configuration, each drone 20A (20B, 20C) can perform trajectory and attitude control and information sharing in cooperation with the servicer 10A and / or other drones, and can provide cooperative services with other drones.

[0034] The space system 1A according to the above embodiment can also achieve the same effects as those of the first embodiment. That is, since the servicer 10A can approach or connect to the client C via the drones 20A, 20B, and 20C, compared to conventional technology in which the servicer accesses the client via a robotic arm, the distance between the servicer 10A and the client C can be kept relatively long (for example, about 50 m). Furthermore, the opposite side (back side) of the servicer 10A, which is invisible from the servicer 10A and difficult to reach with a robotic arm, can also be accessed. This solves various physical interference problems between the robotic arm and the client C, etc., caused by the servicer 10A being located close to the client C. Furthermore, the drones 20A, 20B, and 20C can be miniaturized, eliminating the need for a large robotic arm. This allows the mass of the drones 20A, 20B, and 20C mounted on the servicer 10A to be reduced compared to a robotic arm. Furthermore, while connecting a robot arm to a client requires suppressing the attitude control of either the servicer or the client, even when drones 20A, 20B, and 20C are connected to client C for repairs or the like, there is little mechanical impact on client C, which has the advantage that interference problems regarding the mutual control systems are unlikely to occur. Also, by having these drones 20A, 20B, and 20C fly cooperatively (or in formation), it becomes possible to simultaneously obtain composite observations from multiple directions, simultaneously access from multiple directions, and the like.

[0035] Third Embodiment Next, a space system 1B according to a third embodiment of the present invention will be described with reference to FIG.

[0036] The space system 1B of this embodiment provides a predetermined service to a client C located in outer space (for example, by connecting to the client C and providing it with a specific function), and as shown in Figure 7, is equipped with a servicer 10B that navigates in outer space and a drone 20D.

[0037] The servicer 10B in this embodiment is configured to be attached to a spacecraft such as a rocket with the drone 20D mounted thereon and launched into space, and is equipped with various devices for providing predetermined services to the client C in space. For example, the servicer 10B in this embodiment can be equipped with various devices for imparting specific functions to the client C. Furthermore, as shown in FIG. 7 , the servicer 10B in this embodiment is equipped with a camera 11B for detecting the drone 20D, a sensor 12B for detecting a marker M provided on the client C, a star tracker 13B, and the like.

[0038] The drone 20D in this embodiment is configured to detach from the servicer 10B and approach or approach and dock with the client C. Specifically, as shown in Fig. 7 , the drone 20D navigates in space autonomously or based on commands from the ground or the servicer 10B while performing translational and rotational control using eight mounted cold gas thrusters 21D and three reaction wheels (not shown), and can approach a marker M installed on the client C using a mounted camera 22D as a target and connect to a docking port located at the center of the marker M.

[0039] Furthermore, the drone 20D in this embodiment is provided with a lighting device (such as an LED light) 23D for indicating its own position. The camera 11B provided in the servicer 10B detects light emitted from the lighting device 23D of the drone 20D, and the direction of the lighting device 23D is detected by the camera 11B, making it possible to measure the distance between the servicer 10 and the drone 20 and the relative position of the drone 20 with respect to the servicer 10 by a triangulation method. In other words, the camera 11B and the lighting device 23D in this embodiment constitute a position detection mechanism in the present invention.

[0040] Furthermore, in this embodiment, by detecting a marker M provided on client C using a sensor 12B provided on servicer 10B, it is possible to measure the distance between servicer 10B and client C and the relative position of client C with respect to servicer 10B.

[0041] The space system 1B according to the above embodiment can also achieve the same effects as those of the first embodiment. That is, because the servicer 10B can access the client C via the drone 20D, the distance between the servicer 10B and the client C can be relatively long (e.g., about 50 m) compared to conventional technology in which the servicer accesses the client via a robotic arm. This solves various interference problems caused by the servicer 10B being located close to the client C. Furthermore, the drone 20D can be miniaturized, eliminating the need for a large robotic arm. Therefore, the mass of the drone 20D mounted on the servicer 10B can be reduced compared to a robotic arm. Furthermore, while attaching a robotic arm to a client requires the suppression of attitude control of either the servicer or the client, even if the drone 20D is attached to the client C for repairs or the like, the mechanical impact on the client C is small, which has the advantage of reducing interference problems between the mutual control systems.

[0042] 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 these 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 these 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.

[0043] For example, elements of the second embodiment can be incorporated into the third embodiment. That is, although the third embodiment shows an example in which "one" drone 20D that can be detached from the servicer 10B is employed, it is also possible to employ "multiple" drones that can be detached from the servicer 10B, and provide cooperative services using these "multiple" drones (for example, observing and diagnosing the surroundings of client C from multiple directions, or repairing or replacing a faulty part of client C).

[0044] 1, 1A, 1B...Space system 10, 10A, 10B...Servicer 11B...Camera (position detection mechanism) 20, 20A, 20B, 20C, 20D...Drone 23D...Lighting device (position detection mechanism) 30...Reinforcement mechanism 31...Pipe 31U...Unit 32...Support 32a...Sub-pipe 32b...Sub-wire 33...Horizontal member 40...Position detection mechanism 41...Camera (position detection mechanism) 42...Lighting device (position detection mechanism) C...Client E Ｈ ...End of hose F...Force pressing the pipe toward the drone H...Hose T...Force pulling the wire toward the servicer W...Wire (connection means)

Claims

1. A space system that provides a predetermined service to a client in outer space, comprising: a servicer that navigates in outer space; and a drone that is connected to the servicer by a connection means and configured to approach or join to the client, wherein the connection means includes at least one of a wire with a tethering function and an optical fiber with a signal transmission function.

2. The space system of claim 1, further comprising a hose for supplying propellant from the servicer to the client via the drone, wherein the hose is configured to be unwound from the servicer after the drone is joined to the client, and an end of the hose is connected to a hose connection portion provided on the drone.

3. A space system as described in claim 1 or 2, comprising a reinforcement mechanism that ensures a rigid connection between the servicer and the drone after the drone is joined to the client.

4. The space system described in claim 3, wherein the reinforcement mechanism has a pipe consisting of multiple interconnectable units that is unwound from the servicer when the drone is in close proximity to the client or after being joined in close proximity to the client, the wire is inserted through the center of the pipe, and the servicer applies a force to press the pipe toward the drone by generating a force that pulls the wire toward the servicer after the pipe unwound from the servicer reaches the drone.

5. A space system according to claim 4, wherein the reinforcement mechanism has a plurality of supports that are unwound from positions around the position where the pipe is unwound from the servicer after the reinforcement of the wire by the pipe is completed.

6. A space system as described in claim 5, wherein each of the struts has a sub-pipe made up of a plurality of units that can be connected to each other and a sub-wire that is inserted through the center of the sub-pipe, the ends of the struts are connected to each other by a horizontal member that extends in a direction that intersects with the pipe, and the servicer improves the strength of the pipe against lateral stress by extending the strut until the horizontal member reaches the drone.

7. A space system that provides a predetermined service to a client in outer space, comprising: a servicer that navigates in outer space; and a drone configured to detach from the servicer and approach or dock with the client in close proximity.

8. A space system according to claim 1 or 7, comprising a position detection mechanism for detecting relative position information of the drone with respect to the servicer.

9. A space system as described in claim 1 or 7, wherein the drone is configured to perform orbit and attitude control and information sharing in cooperation with the servicer and / or other drones, and to provide cooperative services with the other drones.

10. A method for providing a predetermined service to a client using a drone that is connected to a servicer traveling in space by a connection means and configured to approach or join to the client, wherein the connection means uses at least one of a wire with a tethering function and an optical fiber with a signal transmission function.

11. A space service provision method that provides a specified service to a client using a drone configured to detach from a servicer navigating in space and approach or approach and join a client.

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