JP3355669B2 - Spacecraft system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spacecraft, and more particularly to a spacecraft system in which a plurality of spacecrafts perform a certain function.

[0002]

2. Description of the Related Art Conventionally, a spacecraft is disclosed in
No. 99899, JP-A-61-268599,
This is discussed in Japanese Patent Application Laid-Open No. 2-24073, and in the 31st Space Science and Technology Alliance Lecture Meeting, 3G2 "Examination of a proximity work system in space" and the like.

In the above-mentioned publications and documents, one spacecraft is physically divided into two. That is, a moving part and a part to be stopped are distinguished from each other so that the objects can be easily achieved.

[0004]

The above prior art aims at simply operating a spacecraft having a single function separately, and does not depart from the concept of a conventional large satellite.

An object of the present invention is to provide a plurality of spacecraft with specific missions, and to execute the respective missions while communicating with each other. To provide a spacecraft system capable of performing the following.

Another object of the present invention is to provide a spacecraft system capable of reusing a spacecraft whose service life has expired and maintaining a good space environment.

Another object of the present invention is to provide a spacecraft system capable of performing various missions by combining a plurality of spacecrafts.

Another object of the present invention is to provide a spacecraft system capable of executing a mission by removing and combining a failed spacecraft.

It is another object of the present invention to provide a spacecraft system capable of assembling a larger system by operating each spacecraft autonomously.

[0010]

In order to achieve the above object, a communication control unit is provided for each spacecraft, and the spacecraft has a mechanism for deciding its own operation by exchanging or communicating with each other. It was done.

In deciding the above-mentioned operation, not only its own processing function is realized, but also the operation decided by another processing unit (other spacecraft or terrestrial equipment, etc.) is surely executed. It has a function to perform.

[0012]

In order to determine one's own operation, it is possible to simulate the operation of another spacecraft based on information from another spacecraft to perform a desired operation. It is possible for each of the spacecrafts to execute such processing and confirm the information to execute an error-free operation.

[0013] In addition, there may be a case where the above-mentioned simulation is executed only by one central spacecraft or a central facility on the ground, and the other spacecraft only executes the operation in response to the result. Even in this case, accurate operation cannot be ensured unless information of each spacecraft is transmitted to at least the central spacecraft or the central facility.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A feature of the present invention is that a spacecraft has at least a communication device and a mission device having at least one work function, and a mission object floats outside the atmosphere together with the spacecraft and is combined by the mission device, And, the central controller is to operate the spacecraft and the mission device through the communication device.

By the way, one mission corresponds to one mission. The mission of a spacecraft refers to a specific mission given to the spacecraft, and functions and performance for that purpose are essential for the spacecraft. However, it is possible to perform different missions with the same function and configuration.

The spacecraft communicates with the central controller via a communication device, but it is also possible to communicate from the central controller via a space repeater.

The central control unit can be installed in space or on a planet such as the earth.

The mission device is stored in the system dock for each work function and divided into a plurality of units that can be separated from the spacecraft. Examples of the plurality of units are a robot, a communication unit, and a posture. There are a control unit, a propulsion unit, a data processing unit, and the like.

The robot has a manipulator, and includes at least a communication unit, a propulsion unit for propelling the robot itself, and a drive unit for driving the manipulator.

The object of the mission is a solar power generation facility having a power receiving unit for receiving solar energy, a power transmitting unit for transmitting power converted by the power receiving unit to the ground, and a structure for assembling the power receiving unit and the power transmitting unit. Or structures, devices, materials, etc. used for the space station. Also,
Mission targets include a robot, a communication unit, an attitude control unit, a propulsion unit, a data processing unit, and the like after a plurality of units stored in the system dock are separated from the spacecraft. In addition, mission objects include spacecraft whose service life has passed.

The central control device may be a ground control station,
It may be a space control station.

The robot is used for assembling at least any one of the communication unit, the attitude control unit, the propulsion unit, and the data processing unit separated from the spacecraft by a command from the central control device and the spacecraft. In addition, the robot is provided with at least one of a communication unit, an attitude control unit, a propulsion unit, and a data processing unit separated from the spacecraft according to a command from the central control device and the spacecraft, and a solar power generation facility, structures, devices, and materials. Used to combine with etc.

The robot cooperates with a robot of another spacecraft in accordance with a command of the spacecraft in which the robot is stored, and is used for assembling a mission object.

According to the above configuration, the plurality of spacecraft execute their specific missions, so that the space station, the communication satellite, the monitoring satellite, and the like can be rationally assembled. In addition, it is possible to collect communication satellites that have exceeded their useful life and remove parts that can be reused, and to remove useless space suspended matter by replacing some parts. The space environment can be maintained well.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of the spacecraft system of the present invention. In FIG. 1, reference numerals 1a, 1b, and 1c denote distributed spacecraft having missions 1, 2, and 3, respectively. 2a,
2b and 2c are communication control units of the spacecrafts 1a, 1b and 1c, respectively. FIG. 2 shows a conventional divided spacecraft 3. 3a is a central processing unit, and 3b, 3c and 3d are mission blocks having missions 1, 2 and 3.
The distributed spacecrafts 1a, 1b, and 1c shown in FIG. 1 communicate with each other or communicate with a ground control station or a space control station (not shown), and each of the spacecrafts 1a, 1b, and 1c autonomously operates in a space. Mission 1
Steps 2 and 3 are respectively performed. An operator (usually a human) is present at the ground control station, and all commands are usually given by the operator. However, even if the instruction is given as an operator command, the level varies. Operation
Although the command of the data indicates only one purpose, the level of the command varies from the case where the spacecraft performs all the operations automatically to the case where all the operations are individually issued by the operator. Shall include all levels. The operator shall monitor all operations of the spacecraft and have a right and a responsibility to execute an emergency process such as an emergency stop when an abnormality occurs. On the other hand, since the conventional split type spacecraft 3 is integrated, a plurality of missions 1, 2,
3 is not autonomous and is executed one by one over time. FIG. 3 is an explanatory diagram comparing the distributed spacecrafts 1a, 1b, 1c with the divided spacecraft 3. Here, the expansiveness indicates the possibility of successively creating new spacecraft systems.In the distributed type, launching a new spacecraft and combining it with the original spacecraft to execute a new mission it can. It is difficult to carry out a new mission with the split type. As for the maintainability, it is shown that the fault tolerance due to the replacement of parts is better in the distributed type.

However, when a distributed spacecraft is actually operated, if the spacecraft is capable of completely autonomous operation, it can function sufficiently only by issuing an operation command, but the autonomy is insufficient. , Consider the case of manual operation,
Operation becomes complicated. Also, to complete autonomous operation,
It will include many development elements.

Regarding continuity of operation, a distributed type in which parts can be easily replaced is excellent.

In the case of a large-scale structure, for example, a solar power generation satellite or the like, if it is constructed in a distributed manner, it is possible to sequentially assemble, and the operation can be started from a smaller system (earlier). As described above, the split-type spacecraft 3 is excellent in operability, but is developable, maintainable, continuity of operation,
It is not feasible. On the other hand, the distributed spacecrafts 1a, 1b, and 1c have difficulty in operability, but satisfy other requirements. Also, the feasibility of partial operation of the mission is very high. A solar power generation satellite will be described below as an example of achieving this.

FIG. 4 shows a conventional split-type solar power satellite (Solar).
Power Satellite) system. Reference numeral 11 denotes an on-orbit solar power generation satellite including a solar cell array and a power transmission antenna for transmitting the power generated there. In FIG. 4, 4 is a solar cell array, 5 is a power transmitting antenna, 6 is a terrestrial power receiving antenna, and 7 is the earth. An attitude control device 4a is attached to the solar cell array 4 to control the attitude so as to receive sunlight most efficiently. The solar cell array 4 and the power transmission antenna 5 are connected by a superconducting power collecting network 4b, and transmit power to the power transmission antenna 5. The power transmission antenna 5 is provided with an attitude control device 4a, a refrigeration device 4c, and the like. The microwave is transmitted from the power transmitting antenna 5 to the ground power receiving antenna 6.

Although the solar power satellite shown in FIG. 4 has been studied from various angles as a power transmission system since it was proposed by Dr. Glaser, the present invention will specifically discuss the construction of the solar power satellite.

Construction and maintenance of a solar power satellite is one of the major technical challenges. After launching a device assembled on the ground, it is impossible to place it in orbit,
After the materials are launched, they will be assembled on orbit.
However, it is quite impossible for an astronaut to operate in space away from the spacecraft in terms of danger, cost efficiency, construction time, and the like. From this, the development of space activities by unmanned spacecraft is conceivable. That is, the units constituting the solar power satellite itself become spacecraft, and each unit receives a command and connects each other, and a space robot (Orbital Space Worker) forms a solar power satellite on behalf of a human To perform a combination of units. The development of the basic technology for the construction of a solar power satellite will be described below with reference to FIGS.

FIG. 5A shows the conventional solar power generation satellite 11 shown in FIG.
Has been described, but an example of the solar power generation satellite 11 according to the present invention is shown. That is, after materials constituting the solar power satellite 11 are launched outside the atmosphere by a space rocket,
It shows an autonomously assembled orbit. The operation of assembling the solar power satellite 11 in orbit will be described later. In FIG. 5A, the solar cell array 4 and the power transmitting antenna 5 according to the present invention each have a rectangular shape, and FIG. 5B shows an enlarged detail of a portion surrounded by a circle. In FIG. 5B, the solar cell array 4 includes a plurality of power generation units 9, and these power generation units 9 are supported by the structural unit 8. A power control unit 13 is attached to the structure unit 8 so as to control the level of power generated by the power generation unit 9, and a solar cell array for the sunlight is monitored so that the power generation unit 9 is efficiently received. A command unit 12 for monitoring the angle and the like of No. 4 is attached. The power transmission antenna 5 includes a plurality of power transmission antenna units 10, and these power transmission antenna units 10 are supported by the structural unit 8. Although not shown in FIGS. 5A and 5B,
A communication unit for receiving commands from the spacecrafts 1a, 1b, 1c described with reference to FIG. 1 is also attached. FIG. 6 shows FIG.
5B is a side view showing details of the structural unit 8 of the solar cell array 4 and the power transmission antenna 5 shown in FIGS. 5A and 5B. The power generation unit connection portion 9a is mounted on the structure unit 8 so that the power generation unit 9 is mounted thereon, so that the power generation unit 9 can be easily mounted on the track. A docking module 8a is attached to one end of the structural unit 8 so that it can be connected to another structural unit 8, and a thruster 8b is attached so that the structural unit 8 can move. A thruster 8b is attached to the other end of the structural unit 8 in the same manner, and a core vehicle 8c that is contracting the extending portion of the structural unit 8 at the time of launching is attached.
The structure shown in FIG. 6 is one operation unit of the solar cell array 4, and one core vehicle 8c is attached to each operation unit. A plurality of solar cell arrays 4 are assembled with the operation unit of the solar cell array 4 as a center. FIG. 7 is a plan view of the power generation unit, which is one operation unit of the solar cell array 4. The power generation unit 9 includes a plurality of solar arrays 9b. The structural unit 8 shown in FIG. 6 configures one spacecraft by including the thrusters 8b, the core vehicle 8c, and the docking module 8a. That is, the structural unit 8 constitutes an autonomous spacecraft, which means that it constitutes a distributed spacecraft as described above.

After the structural unit 8 and the power generation unit 9 described above are launched on orbit, they receive a command from the central control station to a communication control unit incorporated in each unit.
For example, first, the structure unit 8 and the power generation unit 9 perform an operation of deploying the structure to complete the shape as shown in FIGS. Next, both units approach the dockable position, and subsequently start docking. As they dock one after another, each unit operates to enable its own mission. For example, the power generation unit takes into account the other connected unit (provided that it is connected) to make the angle of exposure to sunlight approach 90 degrees. In addition, the solar cell array-4 is controlled by a command (a command from the central control device or a command that autonomously detects and issues the direction of sunlight) of the command unit 12 for each unit (for each fixed number of units). It controls the attitude of each unit.

As described above, each unit referred to here is regarded as an independent spacecraft having a certain mission, and by relating them organically, the solar power generation satellite 11
Can be assembled. The system configured as described above embodies the present invention of FIG.

FIG. 8 shows the arrangement of materials and devices required for assembling the solar power generation satellite 11 as described above. That is, the command unit 12, the power generation unit 9, the power transmission antenna unit 10, the structure unit 8, the power control unit 13, and the space robot 14, the material warehouse 15, and the propellant daypot 16 are required in addition to the above-described devices. . Of these, the structure unit 8 and the power generation unit 9 have already been described with reference to FIGS. 6 and 7, but the other units are similarly equipped with a communication unit and a propulsion unit, and are autonomous. It constitutes a spacecraft. Therefore, the power transmitting antenna unit 10 and the command unit 1 of the solar cell array 4 and the power transmitting antenna 5 shown in FIG. 5A and FIG.
2. The power control unit 13 constitutes an autonomous spacecraft similarly to the structure unit 8 and the power generation unit 9. That is, it constitutes a distributed spacecraft. These units are put together or launched into orbit from the ground in order to be launched out of the atmosphere.

Of the units required to assemble the solar power satellite 11 as described above, the command unit 12
Receives a command from the ground control station or the space control station, and instructs driving of the thrusters 8b and the like so that one operation unit of the solar power generation satellite 11 is connected to another operation unit as shown in FIG. The plurality of units shown in FIG. 8 are the main ones. Assuming that the plurality of units shown in FIG. 8 are one system dock, this system dock is composed of about 200 units. System dog is solar power satellite 1
This is one unit for putting 1 into practical use. Therefore,
When the construction of the solar power generation satellite 11 is executed, the operation is performed in system dock units.

Each unit in one system dock has a command reader (not shown),
The command reader of each unit executes connection with each other in response to a command from the central control device or the like. The command reader can designate any one of the command units 12 as a command reader. For example, one space robot 14 described later among the units is provided for every ten system docks. The space robot 14 performs a joint work by one or a plurality of space robots.
The material warehouse 15 stores materials required for the solar power satellite 11, and the propellant daypot 16 stores fuel for propulsion.

Next, the space robot 14 will be described. Each of the above-mentioned units constituting the solar cell satellite 11 constitutes one spacecraft, each of which performs rendezvous and docking based on the command of the command unit 12, but the space robot 14 is operated by a human. Performing advanced tasks that can be replaced. Space Robot 1
Reference numeral 4 denotes construction and maintenance work, which can move freely in orbit in response to a command from the ground control station or the space control station.

FIG. 9 shows an example of the space robot 14. The space robot 14 includes a work execution unit 21 and a management / control unit 22. Work execution unit 21 and management / control unit 2
2 has docking boards 100 and 110, respectively.
In the case of launching or moving, the docking boards 100 and 110 are usually connected to each other. After the space robot 14 has been put into orbit, the docking ports 100 and 110 are disengaged from each other at the start of work, and they are separated as shown in FIG. The space robot 14 may receive a command from at least one of the command units 12 because it is one unit in the system dock. On the other hand, the space robot 14 receives a command from the ground control station or the space control station. Space robot 14 to receive
Has the same function as the command unit. The management / control unit 22 corresponds to the command unit. The management / control unit 22 receives an instruction from the ground control station or the space control station, a long-range communication unit 115 that amplifies the command to a predetermined level, and receives a signal from the long-range communication unit 115. A data processing unit 112 for discriminating a signal, a short-range communication unit 111 and an antenna 24 for transmitting the processed signal to the task execution unit 21, a high-performance computer 113, a large capacity battery 117, A power supply unit 114 for charging the capacity battery 117 with electric power from the solar battery paddle 119 and a fuel tank 116 are provided. The fuel tank 116 is a management / control unit 22
Is connected to another unit (propellant depot 16 etc.)
You can receive fuel supply. Also, the management / control unit 2
A thruster 8b is attached to 2 similarly to other units. On the other hand, the work execution unit 21 includes a management / control unit 22
24, a transponder 101 for relaying the received command, and a transponder 1
01, a command decoder 102 for decoding a command from
A drive control unit 106 that drives the arm 23 in accordance with the decoded command. Further, a sensor circuit 105 that detects the operation of the arm 23 through the drive control unit 106, and a reaction control subsystem (RC) that controls the drive control unit 106 so that the arm 23 performs a predetermined operation.
S) 107, the battery 104, and the thruster 8b
And a propellant tank 103 for supplying fuel to the fuel tank. A thruster 8b is attached to the work execution unit 21 as well as the management / control unit 22. FIG. 10 shows the appearance of the management / control unit 22 and the work execution unit 21.

The space robot 14 has the following functions.

Changing the orbit and transporting material between the mother ship and the solar power generation satellite 11 under construction when transporting the material.

Approaching a target position of the solar power generation satellite 11;

Docking and berthing with other units.

-Unit assembly and maintenance work.

Inspection and testing of the solar power satellite itself, the unit, and the parts of the unit.

Diagnosis and maintenance of solar power satellites,
Diagnosis and maintenance of other solar power satellites.

FIG. 11 shows the working state of the space robot 14. In this case, upon receiving a command from the management / control unit 22 of one spacecraft,
The work execution unit 21 of the machine transports and deploys the structural unit 8.

The space robot 14 shown in one embodiment of the present invention shown in FIGS.
It consisted of: Various other configurations are possible for this configuration. The most crucial thing is that only the work execution unit 21 operates directly from a space station, for example. When work cannot be performed only by the management / control unit 22 and the work execution unit 21, for example, a communication control unit is required in a place where communication is not possible. If the communication delay time is long and work instructions from a central control station or the like are difficult, an autonomous operation can be performed by considering a spacecraft having a more advanced signal processing function in the vicinity.

As described above, the space robot 14 has a distributed configuration, which will be described below. Such a configuration method is an example of a virtual concatenated spacecraft system.

When a failure occurs in such a virtual connected spacecraft system, a large system can be maintained by replacing each unit (spacecraft).

As described above, in the distributed spacecraft, each unit has an autonomous function, so that the operation becomes complicated, but the spacecraft is excellent in terms of developability, maintainability, and feasibility. That is, stepwise operation of the constructed portion is possible, and the period from the start of construction to the start of operation can be shortened. In addition, since addition and change can be performed in units of units, it is easy to redo construction and maintenance.

Each unit constituting the solar power generation satellite 11 described so far with reference to FIGS. 5 to 11 is provided with each function independently. The working order in which the units are connected in such a state is called a virtual connected spacecraft system.

Next, a description will be given of a transform spacecraft system in which the functions of the respective units are subordinately arranged in the virtual connected spacecraft system in which the functions of the respective units are independently provided as described above. I do. FIGS. 12, 13 and 14 show a space robot 14 based on this transform spacecraft system.

In FIG. 12, the dock 25 is stored in a mother ship or the like, and the dock 25 stores a plurality of units. When assembling the space robot 14, each unit combines any units from the dock 25 on orbit to form the space robot 14 suitable for the mission. Main units include a command unit 12, a communication unit 25a, a posture control unit 25b, a propulsion unit 25c, a robot body 14a, and a data processing unit 25e. These units are subordinately connected in orbit from the dock 25 as an operation configuration 26. In FIG. 12, the units are connected except for the propulsion unit 25c and the like. These units are connected by the command unit 12
This is done by a command to each unit. The space robot 14 is created by combining these units.

In the virtual connected spacecraft system, each unit has one mission, and each constitutes a distributed spacecraft. On the other hand, it is considered that each unit of the transform spacecraft system is often distributed for each function. For example, it is classified into a communication device unit, an attitude control unit, and a propulsion system unit. Of these, the transform spacecraft system is to construct and operate one spacecraft by combining components in each unit that is optimal for the mission. Considering this, a transform spacecraft corresponding to one operation purpose may be one of the distributed spacecraft, which may be combined to form a virtual connected spacecraft system. Naturally, if each unit itself is considered as a distributed spacecraft, reconfiguration of the spacecraft according to the operation purpose while executing communication between the units constitutes the distributed spacecraft of the present invention. There is nothing to do. The effect of this case is that if the reconfigured spacecraft breaks down, it can be repaired as necessary by replacing parts.

FIG. 13 shows an example of a plurality of units stored in the system dock 25 for creating the space robot 14. These units include a robot truss unit 200, a propulsion unit 201 including a propellant tank and a reaction control subsystem (RCS) and a thruster, and a core including an antenna, a transbonder, a data processing unit, a power supply unit, and a battery. Unit 202
An extended power supply unit 203 including a paddle 119, a power control unit, and a large battery; a robot control unit 204 including an antenna 24, a transponder, a data processing / control unit, a sensor circuit, and a stereo camera; an arm 23, an arm control unit; It comprises a robot arm unit 205 including a sensor circuit, a docking unit 206 including a docking port, and an extended propellant tank unit 207 including a large propellant tank.

FIGS. 14A, 14B, and 14C show a state in which the units are connected in a subordinate manner. The subordinate connection of the units is made by the space robot 14. That is, the space robot itself is a set of a plurality of units, and the connected space robot 14 performs the connection work. FIG. 14A shows a robot truss block 200, a robot control block 204,
It shows a part of a space robot in which an extended power supply block 203 is cascaded. FIG. 14B shows the propulsion unit 20
1. Core unit 202, extended power supply unit 203, robot control unit 204, robot arm unit 2
05 and the like are subordinately connected, indicating that the space robot 14 is itself. FIG. 14C shows the small space robot 14 in which the propulsion unit 201, the core unit 202, the robot arm unit 205, and the docking unit 206 are connected in a subordinate manner.

With the above-described transform spacecraft system, for example, a space robot having various functions as required can be realized by combining a plurality of units as described above. System can be achieved. The transform spacecraft system has the following advantages. Repair and replacement in the event of a unit failure are easy.

An optimal spacecraft configuration can be selected according to the mission.

The consumption of fuel and materials can be minimized.

The concept of the transform spacecraft system described above can be applied to the realization of a very small space microrobot whose development is awaited.

Next, as another embodiment of the present invention, a more feasible transform spacecraft system will be considered.

FIGS. 15 and 16 show a unit configuration of a test transform spacecraft system as another embodiment according to the present invention. FIG. 15 shows a plurality of units. These units include a command unit 31 for receiving instructions from a central control device or the like and giving instructions to other units, and two units for moving on a track and approaching a target position. Propulsion units 32 and 33 having thrusters 8b,
It comprises an extended power supply unit 34 for backup, a data processing unit 35 for determining the command received by the command unit 31, and a robot 36 having an arm and the like. These units are launched, for example, together from the earth into orbit outside the atmosphere. FIG. 16 shows the spacecraft 30 launched into orbit. The spacecraft 30
A test for constructing a full-scale transform spacecraft system as shown in FIG. 14 can be performed.
The spacecraft 30 can be constituted by a small satellite unitized. Using such a spacecraft 30, for example, the following test is performed.

Change of unit.

Manipulator operation by the robot 36.

Docking and berthing of units.

・ Payload towing.

A test example of the above-described transform spacecraft system will be described with reference to FIG. First, spacecraft 3
The 0 is launched by the rocket out of the atmosphere, and the orbital and antenna etc. are opened and orbit. This is performed as a deployment test. On the other hand, the structural unit 30a is launched into orbit by a rocket, and this structural unit 30a
Is expanded so as to have a predetermined size. This is also performed as a deployment test. Thereafter, both the spacecraft 30 and the structural unit 30a perform a rendezvous. After timing of this rendezvous test, the spacecraft 30 is separated into four parts and docked with the structure 30a at an appropriate timing. That is, the units of the spacecraft 30 are separated into four parts: propulsion units 32 and 33, an extended power supply unit 34, a command unit 31 and a data processing unit 35, and propulsion units 32 and 33 and a robot 36. An extended power supply unit 34 is provided on one of the structural units 30a, a command unit 31 and a data processing unit 35 are provided on the other of the structural units 30a.
The propulsion unit 3 is located between the structural unit 30a.
2, 33 and the robot 36 are incorporated. This combination will be referred to as a spacecraft 30b. The propulsion units 32 and 33 remain separated. This is performed as a test for separation, reconfiguration, and docking. Thereafter, the spacecraft 30b is towed by the propulsion units 32 and 33, and a towing test is performed.

When the towing test is completed, the propulsion units 32 and 33 and the robot 36 are separated from the spacecraft 30b, and the separation and reconfiguration tests are executed. Thereafter, the extended power supply unit 34, the command unit 31, and the data processing unit 35 are separated from the structural unit 30a by the robot 36, and the extended power supply unit 34, the command unit 31, the data processing unit 35, and the propulsion units 32, 33 are integrated. Manipulation tests are performed subordinately.
At this time, the robot 36 is similarly incorporated. The combination obtained in this manner is referred to as a spacecraft 30c. A test of a so-called transform spacecraft system is performed. Thereafter, a berthing test is performed between the spacecraft 30c and the structural unit 30a, and
A towing test of the structural unit 30a by the spacecraft 30c is executed. Note that the residual object when the spacecraft 30c is assembled moves together with the structural unit 30a.

The above operation commands are usually issued by an operator who operates the central control device. Of course, it is considered that there is also a system for managing the operator, but the command signal is issued by the operator. This command signal is input to the communication control units of each of the distributed spacecraft, and the operation is started by understanding this.

Next, a test of the virtual connected spacecraft system will be described. FIG. 18 illustrates the space robot 14 shown in FIG. FIG.
The space robot 14 includes a management / control unit 22 and a work execution unit 21. The management / control unit 22 has basically the same configuration as that shown in FIG. 9, and an antenna 24 and a paddle 119 extend from the main body. On the other hand, the work execution unit 21
9 is basically the same as that shown in FIG. 9, and the arm 23 extends from the main body. The spacecraft robot 14 of FIG. 18 differs from that of FIG. 10 in that each spacecraft can be configured at low cost by unitized small satellites. The following test is performed using such a space robot 14.

Confirmation of driving technology of space robot 14 Confirmation of propellant replenishment technology Confirmation of battery charging technology In addition to the above test, the following test is also performed.

Attitude control of a flexible structure. Orbit control of a flexible structure. Rendezvous and docking of a flexible structure. Coordinated control of spacecraft. Cooperative operation of spacecraft. Handling of large deployed structures. Figure 1 test
9 will be described. Integrated management / control unit 22
And the work execution unit 21 are launched by a rocket into an orbit outside the atmosphere. Then, a deployment test is performed so that the paddle 119 and the like are opened. Thereafter, an operation test of the arm 23 and the thruster 8b of the work execution unit 21 is executed. Then, a test in which the task execution unit 21 and the management / control unit 22 are separated is performed, and the mobility and operability of the task execution unit 21 are tested. Next, the work execution unit 21 is moved closer to the structural unit 8 to perform a remote operation test of the manipulator such as the arm 23. Thereafter, a test is performed in which the work execution unit 21 is docked with the management / control unit 22, and then each of the propellant replenishment and battery charge tests is performed. Finally, the detailed functions of the work execution unit 21 and the management / control unit 22 are tested.

FIGS. 20 and 21 correspond to FIGS. 6 and 7 and show an example of a small satellite. The purpose of this study is to conduct experiments on small solar power satellites. The structural unit 8 can be docked in the axial direction and can be extended straight. The connecting portion 9a of the power generation unit 9 is attached to the expandable structure unit 8, and the power generation unit 9 shown in FIG. 21 can be docked. The power generation unit 9 and the structure unit 8 are flexible structures, and can perform a rendezvous docking test between the flexible structures.

FIG. 22 shows a test example using the power generation unit 9 and the structure unit 8 shown in FIGS. 20 and 21, and this test will be described. The power generation unit 9 is launched in a contracted form by a rocket onto an orbit outside the atmosphere. Then, a deployment test is performed. On the other hand, the structural unit 8 is also launched into orbit by a rocket in a contracted form, and a deployment test is performed. After completing the rendezvous test for the power generation unit 9 and the structure unit 8, a docking test for combining the two is performed. In this test, the docking module 8a of the power generation unit 9 is connected to a predetermined position of the structural unit 8. This docking test is an indispensable test for construction of a solar power satellite. Next, a test for separating the power generation unit 9 from the structural unit 8 is performed, and a docking test for connecting the power generation units 9 is performed. Thereafter, it is tested that the power generation unit 9 rotates around the docking module 8a. Then, a pointing test is performed so that the surface of the power generation unit 9 is perpendicular to, for example, the direction of the sun. Such a test is important when the power generation unit 9 is like a deployment array.

Next, a spacecraft system called a follow-on mission will be described. The follow-on mission is to prevent the spacecraft used for the test from floating in space and disturbing the space environment, as described above.
A spacecraft such as a communication satellite that has exceeded its useful life is used effectively so that the spacecraft will not float in space and obstruct other spacecraft. Among such follow-on missions, an unmanned space experiment base using a spacecraft with a certain mission, which is an experimental spacecraft using a small satellite shown in FIGS. 18, 19, 20, and 21 is conceivable. . For example, FIG. 23 shows a configuration of a main unit of the unmanned space experiment base 40. Among these units, the power generation unit 9, the structure unit 8, and the robot 14 are selected from the residues of the solar power generation satellite, and newly control the recovery capsule 42, the experimental material 41, and the temperature during the experiment. Radiator 43 for unmanned space experiment base 40
Launched from Earth in an orbit outside the atmosphere as an additional unit. 24A and 24B show the unmanned space experiment base 40 constructed. The space robot 14 is used for construction and maintenance of the unmanned space experiment base 40.

FIG. 25 shows an example of the construction of the unmanned space experiment base 40. That is, as described above with reference to FIG. 22, the combination of the power generation unit 9 and the structure unit 8 used in the test of the virtual connected spacecraft system, the space robot 14, and further launched into orbit. It shows a state in which an unmanned space experiment base 40 is constructed in combination with an additional unit. Further, FIG. 26 shows a state in which the collection capsule 42 is launched into orbit after the space experiment base 40 has been constructed, and the product generated in the experiment is collected. That is, a state in which the space robot 14 separates the collection capsule 42 storing the product from the space experiment base 40 and collects the collection capsule 42 on the ground is shown. In this way, a spacecraft system that has the potential for development, maintainability, and feasibility can be configured.

[0078]

According to the present invention, since each unit has an autonomous function, a stepwise operation can be performed on the constructed portion, and the period from the start of construction to the start of operation can be shortened. In addition, since addition and change can be performed in units of units, re-construction and maintenance can be easily performed.

In the transform spacecraft system, a space robot having various functions can be realized as required by combining a plurality of units, so that an efficient spacecraft system can be achieved. . That is, according to the present invention, a spacecraft system that is excellent in developability and maintainability and that is easy to implement can be configured.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing the principle of a distributed spacecraft system according to the present invention.

FIG. 2 is an explanatory diagram showing a conventional split-type spacecraft system.

FIG. 3 is an explanatory diagram comparing a distributed spacecraft system and a divided spacecraft system.

FIG. 4 is an explanatory diagram showing an example of a solar power generation satellite.

FIG. 5 is a plan view showing another example of the solar power generation satellite and an enlarged detailed view showing details.

FIG. 6 is a side view showing a structural unit.

FIG. 7 is a plan view of the power generation unit.

FIG. 8 is an explanatory diagram showing a main configuration of a solar power generation satellite based on a virtual connected spacecraft system.

FIG. 9 is a block diagram illustrating a configuration of a space robot.

FIG. 10 is a perspective view showing a state of the space robot in space.

FIG. 11 is a perspective view showing a state of a plurality of space robots in space.

FIG. 12 is an explanatory diagram showing a configuration of a space robot based on a transform spacecraft system.

FIG. 13 is an explanatory diagram illustrating a configuration of a space robot created by combining the units.

14A, 14B, and 14C are perspective views showing examples of a space robot created by combining the units shown in FIG. 13;

FIG. 15 is an explanatory diagram showing another configuration of the space robot based on the transform spacecraft system.

16 is a perspective view of the space robot having the configuration shown in FIG.

FIG. 17 is an explanatory diagram showing a test state of the transform spacecraft system.

FIG. 18 is a perspective view showing a space robot used for testing the virtual connected spacecraft system.

FIG. 19 is an explanatory diagram showing a test state of the virtual connected spacecraft system.

FIG. 20 is a perspective view showing an example in which a management / control unit and a work execution unit of the space robot cooperate to transport a structural unit.

FIG. 21 is a perspective view showing an example of transporting a flexible structure.

FIG. 22 is an explanatory diagram showing a state of a test in which a flexible structure is assembled to a structural unit.

FIG. 23 is an explanatory diagram showing a configuration of main units of the unmanned space experiment base.

FIG. 24 is a perspective view showing an example of an unmanned space experiment base and a space robot.

FIG. 25 is a perspective view showing an example of construction of an unmanned space experiment base.

FIG. 26 is an explanatory diagram showing a state of collecting waste from the space experiment device.

[Explanation of symbols]

 1a, 1b, 1c: Spacecraft 2a, 2b, 2c: Communication control unit 8: Structure unit 9: Power generation unit 10: Power generation antenna unit 11: Solar power generation satellite (SPS) 14: Space robot (OSW) 21: Work execution Unit 22: management / control unit 23: arm 24: antenna

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoshihiro Tomita 216 Totsuka-cho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture Inside the Information and Communication Division, Hitachi, Ltd. (72) Inventor Masaharu Tatuchi Totsuka-ku, Yokohama-shi, Kanagawa Prefecture 216-cho, Hitachi, Ltd. Information and Communication Division, Hitachi, Ltd. (56) References JP-A-58-103839 (JP, A) JP-A-56-71339 (JP, A) JP-A-3-153495 (JP, A) JP-A-2-24073 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B64G 1/24 B64G 3/00 G05D 1/08

Claims (9)

(57) [Claims] A first communication unit for 1. A receiving a command signal sent from the central control unit medium, a data processing unit for processing the command signal to the received, the processing instruction signal of other went A first spacecraft having a second communication unit for transmitting to the spacecraft and relaying the command signal; a receiving unit for receiving a command signal transmitted from the first spacecraft; Command decoding means for decoding a signal,
A driving unit that drives the working unit according to the decoded command signal;
And a working portion, Bei example a plurality of second spacecraft to perform work, the first spacecraft is transmitted from the central control unit
And relays the received command signal to the plurality of second spacecrafts.
Cooperate based on a common command signal
A spacecraft system characterized by carrying out work. Wherein said working portion of the second spacecraft, spacecraft system according to claim 1, characterized in that it consists of a plurality of units can be separated from the spacecraft for each work function. 3. The plurality of units include at least a command unit, a power generation unit, a structural unit, a space robot, a communication unit, a posture control unit,
Propulsion unit, data processing unit, material warehouse,
The spacecraft system according to claim 2 , comprising a combination of one or more of a propellant daypot, an extended power supply unit, and a recovery capsule. Wherein said space robot has a manipulator, and at least a communication unit, a propulsion unit to propel the space robot itself, to the claim 3, characterized in that it comprises a driving unit for driving the manipulator Spacecraft system as described. 5. A structure for combining the power receiving unit receiving the solar energy, the power transmitting unit transmitting the power converted by the power receiving unit to the ground, and the power receiving unit and the power transmitting unit. The spacecraft system according to claim 1 , wherein the spacecraft system is a solar power generation facility having a unit. 6. The spacecraft system according to claim 1, wherein the devices on which the work is performed are an unmanned space experiment base and a space experiment device. Wherein said the device for which to work, spacecraft system of the in claim 1 serial <br/> mounting, characterized in that the spacecraft past life. 8. The spacecraft system according to claim 1, wherein said central control means is a ground control station installed on the ground. 9. The spacecraft system according to claim 1, wherein said central control means is a space control station installed in space.