CN104898668A - On-orbit fault detection and maintenance method based on inspection robot - Google Patents
On-orbit fault detection and maintenance method based on inspection robot Download PDFInfo
- Publication number
- CN104898668A CN104898668A CN201510218252.6A CN201510218252A CN104898668A CN 104898668 A CN104898668 A CN 104898668A CN 201510218252 A CN201510218252 A CN 201510218252A CN 104898668 A CN104898668 A CN 104898668A
- Authority
- CN
- China
- Prior art keywords
- target satellite
- robot
- satellite
- cruising
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an on-orbit fault detection and maintenance method based on an inspection robot. First of all, the inspection robot is sent to a target satellite through a rescue satellite and is absorbed at an absorption surface at the surface of the target satellite, then, the inspection robot is enabled to arrive at a satellite surface test interface position of the target satellite, a control center computer is connected with the target satellite, finally, through the control center computer of the inspection robot, handshake signals are sent to the target satellite, return signals of each device of a satellite system are received, the work state of each subsystem of the target satellite is determined, and faults are eliminated through initializing or taking over the target satellite. Compared to the prior art, the method provided by the invention has the following advantages: the robot is used for inspection and detection maintenance on the surface of the satellite, the disadvantage in the prior art is overcome that when the satellite faults are determined through analyzing remote measuring information transmitted back by the satellite, if a measuring and control system generates faults, the remote measuring information cannot be obtained for fault analysis, and physical fault restoration of the target satellite can be realized.
Description
Technical field
The present invention relates to a kind of satellite on-orbit fault to detect and maintaining method, particularly a kind of on-orbit fault based on robot of cruising detects and maintaining method.
Background technology
Current space technology has entered the fast-developing phase, estimate to the year two thousand twenty, quantity is by breakthrough 200 in-orbit in China Satecom, and these satellites are mainly distributed in GEO, MEO and SSO track, comprise earth observation, communication, navigation, electronic reconnaissance and the applied satellite such as antagonism, early warning.These satellite costs are high, complex structure, life cycle are long, once break down in life cycle, can cause huge economic loss.In these satellite failures, a part switches by TTC channel start up system redundancy backup or surface instruction to be recovered, however another part fault due to attitude of satellite rolling, observing and controlling lost efficacy, the reason such as complicated malfunction cannot repair.Therefore, for ensureing that high value satellite long-term stability is run, the service ability such as satellite In-flight measurement, fault recovery must be developed.
Current satellite fault detect major part by land station to the telemetry intelligence (TELINT) that satellite transmission returns carry out analyze judge, this mode is under being based upon satellite TT&C system condition working properly, once TT&C system breaks down, relevant telemetry intelligence (TELINT) just cannot obtain.High-performance is cruised the very strong gesture stability ability of robot, and the satellite surface that can land under high loading conditions carries out traversal and cruises.At present, bionical class robot of cruising obtains Preliminary Applications on international space station, can substitute cosmonaut and find the chance failures such as air leakage, and detects recovery for satellite or spacecraft on-orbit fault and there is not yet document announcement.
Summary of the invention
The technical matters that the present invention solves is: can not obtain the deficiency that telemetry intelligence (TELINT) carries out satellite failure detecting Yu safeguarding when overcoming TT&C system fault in prior art, provides a kind of on-orbit fault based on robot of cruising implemented at satellite surface and detects and maintaining method.
Technical solution of the present invention is: a kind of on-orbit fault based on robot of cruising detects and maintaining method, comprises the steps:
(1) robot of cruising is put in rescue satellite will rescue satellite head for target satellite launch, when rescuing satellite and target satellite distance is not more than 1km, target satellite topographical information, attitude and track are also delivered to control center's computing machine of cruising in robot after the attitude of solving target satellite and track by rescue Satellite observation target satellite topographical information, control robot of cruising is separated with rescue satellite, and order robot of cruising relies on its orbits controlling thruster close towards target satellite according to the track of target satellite; Described robot of cruising comprises control center's computing machine, detection communication module, orbits controlling thruster, attitude control thruster;
(2) after cruising robot satellite being separated with rescue, make the attitude track of the real-time measurement target satellite of rescue satellite and deliver to robot of cruising, order cruise robot real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, use its orbits controlling thruster correction displacement track to come close to target satellite, use simultaneously measure the position calculation of target satellite obtained cruise robot and target satellite distance and judge;
(3) if the distance of cruise robot and target satellite is not more than 100m, then make the attitude unlatching attitude control thruster adjustment athletic posture of robot according to target satellite of cruising, receive the attitude of the target satellite that rescue satellite sends in real time simultaneously and proceed to step (4); If cruised, the distance of robot and target satellite is greater than 100m, then make to cruise robot continue real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, use its orbits controlling thruster correction motion track near target satellite, until cruise, the distance of robot and target satellite is not more than 100m, then make the attitude unlatching attitude control thruster adjustment athletic posture of robot according to target satellite of cruising, receive the attitude of the target satellite that rescue satellite sends in real time simultaneously and proceed to step (4);
(4) if the attitude difference of cruise robot and target satellite is not more than 10
-3°, the target satellite topographical information then sent according to rescue satellite finds the adsorption plane of target satellite, then robot of cruising is made to use attitude control thruster to regulate the attitude of robot of cruising until robot of cruising is parallel with the adsorption plane of target satellite, if the attitude difference of cruise robot and target satellite is greater than 10
-3°, then make robot of cruising use attitude control thruster to regulate its attitude until the attitude difference of cruise robot and target satellite is not more than 10
-3°, the target satellite topographical information then repeating to send according to rescue satellite finds the adsorption plane of target satellite, and the robot that makes to cruise uses attitude control thruster to regulate the attitude of robot of cruising until robot of cruising is parallel with the adsorption plane of target satellite; Described adsorption plane is have better flatness in target satellite surface and area is greater than the region of robot of cruising;
(5) robot vertical that makes to cruise collides to the adsorption plane of target satellite, and cruise the sticking attachment of polymers of robotic surface to target satellite adsorption plane in Contact dependence, then the robot that makes to cruise to rely on around detection communication module detection adsorption plane after star catalogue information, use control center's computer project to the path of the star catalogue test interface position of target satellite, after obtaining path planning, make Robot path planning of cruising creep to the star catalogue test interface position of target satellite;
(6), after arriving the star catalogue test interface position of target satellite, its control center's computing machine is connected with the star catalogue test interface of target satellite by the robot that makes to cruise, and sets up it and is connected with the link of target satellite;
(7) control center's computing machine of robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, then all subsystem equipment of control center's computing machine to target satellite of robot of cruising are made to carry out bus cycles property poll,
If " service request bit " that each subsystem equipment of target satellite returns in bus cycles property poll command status word is all set to 1, then this target satellite subsystem equipment is in running order, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected
If target satellite exists " service request bit " that subsystem equipment returns in bus cycles property poll command status word be set to 0, then proceed to step (8),
If both shake hands unsuccessful, then control center's computing machine adapter target satellite of the robot that makes to cruise is connected to each subsystem equipment of bus, proceeds to step (8);
(8) the control center's computing machine of robot of making to cruise is obtained target satellite and is connected to the flag of each subsystem equipment of bus and is forwarded by rescue satellite and deliver to ground, then the initiation parameter of the target satellite each subsystem device identification position sent by the ground of rescue satellite transfer is received, use each subsystem device initialize of this initiation parameter control objectives satellite, again bus cycles property poll is carried out to each subsystem of target satellite
If there is " service request bit " that subsystem equipment returns in bus cycles property poll command status word in target satellite is set to 0, then corresponding target satellite subsystem physical fault, make control center's computing machine adapter target satellite bus control right of robot of cruising, send target satellite there is subsystem equipment physical fault and cruise robot adapter target satellite instruction and by rescue satellite be forwarded to ground, on-orbit fault has detected
If " service request bit " that each subsystem equipment of target satellite returns in bus cycles property poll command status word is all set to 1, the subsystem equipment failure that then target satellite breaks down is excluded, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected.
Described robot of cruising comprises the identical joint of multiple planform, joint pairwise orthogonal is connected, two ends, joint are respectively provided with mounting hole and the mounting hole at two ends is orthogonal, and robot of cruising after obtaining path planning is creeped to the star catalogue test interface position of target satellite by the relative motion in each joint.
The present invention's advantage is compared with prior art:
(1) robot of cruising is used for detection and the maintenance of the on-orbit fault of satellite or spacecraft by the inventive method, make robot cruise at satellite surface and carry out detection to safeguard, overcome prior art when the telemetry intelligence (TELINT) passed back by analyzing satellite judges satellite failure, if TT&C system breaks down, the deficiency that telemetry intelligence (TELINT) carrys out analysis of failure can not be obtained, can detect satellite failure when TT&C system breaks down and repair;
(2) the inventive method compared with prior art, when satellite subsystem equipment generation physical fault is not repaired by initialization, by control center's computing machine adapter satellite bus controller of robot of cruising, and then control be related to the target satellite subsystem equipment of bus, realize the physical fault reparation to target satellite;
(3) the inventive method compared with prior art, and the robot integration interface of cruising of proposition is connected is formationed, has high degree of deformation, in firing a rocket, can roll up gathering to reduce volume; After being launched out, can independently launch by configuration, its own shape is utilized to change the relative attitude precision controlling itself and target landing face, set up accurate landing state, land after target satellite, robot can be realized the multi-motion modes such as wriggling, winding, rolling and climbing and execute the task by self change of configuration.
Accompanying drawing explanation
Fig. 1 is the inventive method process flow diagram.
Embodiment
The present invention proposes a kind of on-orbit fault based on robot of cruising and detects and maintaining method, for on-orbit fault Detection task, describe in detail the inventive method below in conjunction with accompanying drawing and example, a kind of detection of the on-orbit fault based on robot of cruising of the present invention and maintaining method comprise the steps: as shown in Figure 1
(1) robot of cruising is put in rescue satellite will rescue satellite launch to target satellite, when rescuing satellite and target satellite distance is not more than 1km, order rescue Satellite observation target satellite topographical information by target satellite topographical information after the attitude of solving target satellite and track, control center's computing machine of cruising in robot delivered to by attitude and track, by on rescue flight device release separating mechanism control cruise robot with rescue satellite be separated, and order is cruised, robot relies on its orbits controlling thruster close towards target satellite according to the track of target satellite, wherein, robot of cruising comprises control center's computing machine, detection communication module, orbits controlling thruster, attitude control thruster,
(2) after cruising robot satellite being separated with rescue, rescue the attitude track of the real-time measurement target satellite of satellite and deliver to robot of cruising, order cruise robot real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, open its orbits controlling thruster correction displacement track to come close to target satellite, use simultaneously measure the position calculation of target satellite obtained cruise robot and target satellite distance and judge;
(3) if the distance of cruise robot and target satellite is not more than 100m, then make the attitude unlatching attitude control thruster adjustment athletic posture of robot according to target satellite of cruising, the Attitude Calculation target satellite of target satellite simultaneously using rescue satellite to send in real time is in the attitude of cruising under robot inertial coordinates system and judge, if cruised, the distance of robot and target satellite is greater than 100m, then make to cruise robot continue real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, open its orbits controlling thruster correction motion track near target satellite, until cruise, the distance of robot and target satellite is not more than 100m, then above-mentioned robot adjustment athletic posture of cruising is repeated, calculate target satellite in the process of the attitude under robot inertial coordinates system judgement of cruising,
(4) if the attitude difference of cruise robot and target satellite is not more than 10
-3°, the target satellite topographical information then sent according to rescue satellite obtains the adsorption plane of target satellite, then robot of cruising is made to use attitude control thruster to regulate the attitude of robot of cruising until robot of cruising is parallel with the adsorption plane of target satellite, if the attitude difference of cruise robot and target satellite is greater than 10
-3°, then make robot of cruising use attitude control thruster to regulate its attitude until the attitude difference of cruise robot and target satellite is not more than 10
-3°, then repeat the adsorption plane of above-mentioned acquisition target satellite, regulate the attitude of robot of cruising until the adsorption plane parallel process of cruise robot and target satellite, wherein, adsorption plane is have better flatness in target satellite surface and area is greater than the region of robot of cruising; In the pose adjustment process of landing before adsorbing, robot of cruising is the multi-body system of a multiple degrees of freedom structure changes, reaches overall attitudes vibration by the relative motion in each joint;
(5) adsorption plane of the parallel surface Vertical dimension target satellite of cruise robot and target satellite adsorption plane is made to collide, and at its adsorption-buffering mechanism of Contact unloading collision energy, target satellite adsorption plane is adhered to by the adhesion Array of heteropolymer material, then the robot that makes to cruise to rely on around detection communication module detection adsorption plane after star catalogue information, control center's computing machine is used to plan the path to the star catalogue test interface position of target satellite according to the Artificial Potential Field Method path planning algorithm based on real-time detection information, Robot path planning of cruising is made to move to the star catalogue test interface position of target satellite after obtaining path planning, robot of cruising cruises in process on target satellite surface, the impact of the Three-Dimensional contact reacting force produced when the disturbance being mainly subject to coming from target satellite contacts with robot adhesion Array of cruising with target satellite surface.The pitch angle that robot can be caused to seek connections with target surface due to target satellite attitude motion changes, make the change of contact force in adsorption and desorption process more complicated, need to carry out predicted estimate according to the motion of robot to disturbance, carry out feedforward simultaneously and add feedback complex control, make its motion process more steadily reliable, there will not be unexpected desorption.
(6), after arriving the star catalogue test interface position of target satellite, its control center's computing machine is connected with the star catalogue test interface of target satellite by the robot that makes to cruise, and sets up it and is connected with the link of target satellite; Target satellite star catalogue test interface provides the several functions such as externally fed, simulating signal excitation, wired remote control, wire-link telemetry, this manipulation in-orbit based on star catalogue test interface is a kind of information control mode, and by being connected with target satellite peripheral circuits, instruction transmits and realize.Rely on this mode, robot of cruising can implement fault detect, instruction reparation or adapter to target satellite and control;
The star catalogue ground test interface that the high rail satellite platform part of typical case is general mainly comprises satellite and the rocket breakaway plug interface, controls subsystem test star catalogue interface and BCRB power-off plug interface.Wherein, satellite and the rocket breakaway plug Interface realization whole star centrally connected power supply, confession sub power distribution system monitoring, wired forms remote measuring and controlling (observing and controlling of whole star all subsystems), priming system module are enable, the satellite and the rocket are connected with rocket by umbilical cable before being separated, and after being separated, torsion spring drives door closure to be covered; Control subsystem test star catalogue interface be mainly used in simulation sensor pumping signal upload with topworks examine signal under pass, specifically comprise too quick pumping signal, OBC detection signal, satellite and the rocket separating switch signal, thruster jet pulse signal, reaction wheel detection signal, gyro pumping signal, SADA collection signal, the quick pumping signal of star, pylon has been tested the plastic slab that rear use matches and has been covered the sealing of blend compounds cloth; BCRB power-off plug interface is used for relay when the whole star of ground surveillance turns interior electricity and whether is in off-state, and pylon test plastic slab that rear use matches and covered blend compounds cloth and seal.Satellite in orbit time, although these interfaces are in seal protection or short-circuit protection state, its internal circuit is still connected with whole star, and loop is complete, if apply instruction or excitation by wired forms, can implement status surveillance or adapter controls to satellite.
Cruise robot after control is implemented in decision, steering order is compiled as electric signal by certain coding rule, the command receiver of target satellite is passed to again by interface, after receiver decoding, director data is sent to integrated electronics subsystem, the central computer of target satellite integrated electronics subsystem drives respective distal end equipment to perform steering order by data bus in star again; Measuring circuit is contrary with above-mentioned control loop sense.Part star catalogue interface is directly connected with unit in star, can directly control without integrated electronics subsystem or measure actuating station unit.
(7) control center's computing machine of bionical robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, then all subsystem equipment of control center's computing machine to target satellite of robot of cruising are made to carry out bus cycles property poll (namely carrying out periodic poll to each subsystem being connected to satellite bus);
If each subsystem equipment of target satellite returns the instruction of bus cycles property poll (when namely carrying out poll to the subsystem being respectively connected to bus, the poll instruction that each subsystem of target satellite sends it back) " service request bit " in status word be all set to 1, then this target satellite subsystem equipment is in running order, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected
If target satellite exists " service request bit " that subsystem equipment returns in bus cycles property poll command status word be set to 0, then proceed to step (8),
If both shake hands unsuccessful, then proceed to step (8);
(8) make control center's computing machine of robot of cruising obtain target satellite be connected to the flag of each subsystem equipment of bus and deliver to ground by the forwarding of rescue satellite, then the initiation parameter of the target satellite each subsystem device identification position sent by the ground of rescue satellite transfer is received, use each subsystem device initialize of this initiation parameter control objectives satellite, again bus cycles property poll is carried out to each subsystem of target satellite
If there is " service request bit " that subsystem equipment returns in bus cycles property poll command status word in target satellite is set to 0, then corresponding target satellite subsystem physical fault, make control center's computing machine adapter target satellite bus control right of robot of cruising, send target satellite there is subsystem equipment physical fault and cruise robot adapter target satellite instruction and by rescue satellite be forwarded to ground, on-orbit fault has detected
If " service request bit " that each subsystem equipment of target satellite returns in bus cycles property poll command status word is all set to 1, the subsystem equipment failure that then target satellite breaks down is excluded, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected.
Robot of cruising comprises the snakelike emulated robot in the identical joint of multiple planform, two ends, joint are respectively provided with mounting hole and the mounting hole at two ends is orthogonal, each joint is connected by the mounting hole pairwise orthogonal that two ends are vertical, when a joint rotates at yawing moment, another joint rotates in pitch orientation, realizes the motion in three dimensions.To cruise each intra articular integrate motor of robot, speed reduction unit, driving circuit, sensor (detection communication module) and bus communication circuitry, each joint is undertaken being mechanically connected and heat transfer by axle, magnet, connector body, the connection of power and signal electricity is carried out in two joints by female and public plug, close intersegment angle and measured by scrambler.Large specific impulse thruster (orbits controlling thruster, attitude control thruster) is furnished with at the head and the tail two ends of robot of cruising, can control autonomous flight aloft, and outer surface is coated with the viscosity absorption array and curved solar energy cell panel of heteropolymer of custom-designed strong absorption, weak disengaging, wherein, the viscosity absorption array of the heteropolymer robot that can make to cruise adheres to target satellite celestial body surface, and curved solar energy cell panel can provide electric energy for robot of cruising.Robot of cruising also is provided with control center's computing machine, and to control to cruise, robot communicates with the external world, position and attitude changes, detect surrounding enviroment and data processing.
In addition, robot of cruising has high degree of deformation, in firing a rocket, can roll up and draw in reduce volume; After being launched out, independently can launch by configuration, utilize its own shape to change the relative attitude precision controlling itself and target landing face, set up accurate landing state; Land after target satellite, robot of cruising can be realized the multi-motion modes such as wriggling, winding, rolling and climbing and execute the task by self change of configuration.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.
Claims (2)
1. the on-orbit fault based on robot of cruising detects and a maintaining method, it is characterized in that comprising the steps:
(1) robot of cruising is put in rescue satellite will rescue satellite head for target satellite launch, when rescuing satellite and target satellite distance is not more than 1km, target satellite topographical information, attitude and track are also delivered to control center's computing machine of cruising in robot after the attitude of solving target satellite and track by rescue Satellite observation target satellite topographical information, control robot of cruising is separated with rescue satellite, and order robot of cruising relies on its orbits controlling thruster close towards target satellite according to the track of target satellite; Described robot of cruising comprises control center's computing machine, detection communication module, orbits controlling thruster, attitude control thruster;
(2) after cruising robot satellite being separated with rescue, make the attitude track of the real-time measurement target satellite of rescue satellite and deliver to robot of cruising, order cruise robot real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, use its orbits controlling thruster correction displacement track to come close to target satellite, use simultaneously measure the position calculation of target satellite obtained cruise robot and target satellite distance and judge;
(3) if the distance of cruise robot and target satellite is not more than 100m, then make the attitude unlatching attitude control thruster adjustment athletic posture of robot according to target satellite of cruising, receive the attitude of the target satellite that rescue satellite sends in real time simultaneously and proceed to step (4); If cruised, the distance of robot and target satellite is greater than 100m, then make to cruise robot continue real-time reception target satellite attitude track and after relying on the position of its detection communication module measurement target satellite, use its orbits controlling thruster correction motion track near target satellite, until cruise, the distance of robot and target satellite is not more than 100m, then make the attitude unlatching attitude control thruster adjustment athletic posture of robot according to target satellite of cruising, receive the attitude of the target satellite that rescue satellite sends in real time simultaneously and proceed to step (4);
(4) if the attitude difference of cruise robot and target satellite is not more than 10
-3°, the target satellite topographical information then sent according to rescue satellite finds the adsorption plane of target satellite, then robot of cruising is made to use attitude control thruster to regulate the attitude of robot of cruising until robot of cruising is parallel with the adsorption plane of target satellite, if the attitude difference of cruise robot and target satellite is greater than 10
-3°, then make robot of cruising use attitude control thruster to regulate its attitude until the attitude difference of cruise robot and target satellite is not more than 10
-3°, the target satellite topographical information then repeating to send according to rescue satellite finds the adsorption plane of target satellite, and the robot that makes to cruise uses attitude control thruster to regulate the attitude of robot of cruising until robot of cruising is parallel with the adsorption plane of target satellite; Described adsorption plane is have better flatness in target satellite surface and area is greater than the region of robot of cruising;
(5) robot vertical that makes to cruise collides to the adsorption plane of target satellite, and cruise the sticking attachment of polymers of robotic surface to target satellite adsorption plane in Contact dependence, then the robot that makes to cruise to rely on around detection communication module detection adsorption plane after star catalogue information, use control center's computer project to the path of the star catalogue test interface position of target satellite, after obtaining path planning, make Robot path planning of cruising creep to the star catalogue test interface position of target satellite;
(6), after arriving the star catalogue test interface position of target satellite, its control center's computing machine is connected with the star catalogue test interface of target satellite by the robot that makes to cruise, and sets up it and is connected with the link of target satellite;
(7) control center's computing machine of robot of cruising is made to send handshake to target satellite,
If both shake hands successfully, then all subsystem equipment of control center's computing machine to target satellite of robot of cruising are made to carry out bus cycles property poll,
If " service request bit " that each subsystem equipment of target satellite returns in bus cycles property poll command status word is all set to 1, then this target satellite subsystem equipment is in running order, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected
If target satellite exists " service request bit " that subsystem equipment returns in bus cycles property poll command status word be set to 0, then proceed to step (8),
If both shake hands unsuccessful, then control center's computing machine adapter target satellite of the robot that makes to cruise is connected to each subsystem equipment of bus, proceeds to step (8);
(8) the control center's computing machine of robot of making to cruise is obtained target satellite and is connected to the flag of each subsystem equipment of bus and is forwarded by rescue satellite and deliver to ground, then the initiation parameter of the target satellite each subsystem device identification position sent by the ground of rescue satellite transfer is received, use each subsystem device initialize of this initiation parameter control objectives satellite, again bus cycles property poll is carried out to each subsystem of target satellite
If there is " service request bit " that subsystem equipment returns in bus cycles property poll command status word in target satellite is set to 0, then corresponding target satellite subsystem physical fault, make control center's computing machine adapter target satellite bus control right of robot of cruising, send target satellite there is subsystem equipment physical fault and cruise robot adapter target satellite instruction and by rescue satellite be forwarded to ground, on-orbit fault has detected
If " service request bit " that each subsystem equipment of target satellite returns in bus cycles property poll command status word is all set to 1, the subsystem equipment failure that then target satellite breaks down is excluded, send all in running order instruction of target satellite all subsystems equipment and be forwarded to ground by rescue satellite, on-orbit fault has detected.
2. a kind of on-orbit fault based on robot of cruising according to claim 1 detects and maintaining method, it is characterized in that described robot of cruising comprises the identical joint of multiple planform, joint pairwise orthogonal is connected, two ends, joint are respectively provided with mounting hole and the mounting hole at two ends is orthogonal, and robot of cruising after obtaining path planning is creeped to the star catalogue test interface position of target satellite by the relative motion in each joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510218252.6A CN104898668B (en) | 2015-04-30 | 2015-04-30 | A kind of on-orbit fault detection and maintaining method based on robot of cruising |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510218252.6A CN104898668B (en) | 2015-04-30 | 2015-04-30 | A kind of on-orbit fault detection and maintaining method based on robot of cruising |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104898668A true CN104898668A (en) | 2015-09-09 |
| CN104898668B CN104898668B (en) | 2017-06-27 |
Family
ID=54031378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510218252.6A Active CN104898668B (en) | 2015-04-30 | 2015-04-30 | A kind of on-orbit fault detection and maintaining method based on robot of cruising |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104898668B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444746A (en) * | 2016-08-30 | 2017-02-22 | 北京小米移动软件有限公司 | Autonomous robot and device and method for fault detection |
| CN106647286A (en) * | 2017-02-16 | 2017-05-10 | 吉林大学 | Early failure removal testing method for carrying industrial robot |
| CN106850051A (en) * | 2017-04-12 | 2017-06-13 | 上海航天控制技术研究所 | A kind of space junk cleaning system and method based on microsatellite |
| CN107255570A (en) * | 2017-05-18 | 2017-10-17 | 上海卫星工程研究所 | It is suitable for the attitude adjusting method of big part turnover type expansion experiment |
| CN108737004A (en) * | 2018-05-07 | 2018-11-02 | 青岛中电绿网新能源有限公司 | A method of the distribution automation terminal device based on CAN bus obtains the accurate remote signalling displacement time |
| CN109444917A (en) * | 2018-10-09 | 2019-03-08 | 中国人民解放军国防科技大学 | Space station external structure detection and maintenance system and method based on micro-nano satellite cluster |
| CN110138073A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN112141365A (en) * | 2020-08-27 | 2020-12-29 | 中国空间技术研究院 | On-orbit service module based on ground test interface |
| CN113156999A (en) * | 2021-05-08 | 2021-07-23 | 一飞(海南)科技有限公司 | Method, system and application for processing abnormal fault level of cluster formation airplane |
| CN114637322A (en) * | 2022-02-28 | 2022-06-17 | 中国人民解放军63921部队 | High-orbit satellite anti-collision method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6655637B1 (en) * | 2002-06-24 | 2003-12-02 | The Aerospace Corporation | Spacecraft for removal of space orbital debris |
| CN101726296A (en) * | 2009-12-22 | 2010-06-09 | 哈尔滨工业大学 | Vision measurement, path planning and GNC integrated simulation system for space robot |
| CN101733746A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Autonomously identifying and capturing method of non-cooperative target of space robot |
| CN104536449A (en) * | 2014-12-03 | 2015-04-22 | 中国空间技术研究院 | Real-time measurement method of relative pose of universal capture mechanism of high-orbit satellite |
-
2015
- 2015-04-30 CN CN201510218252.6A patent/CN104898668B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6655637B1 (en) * | 2002-06-24 | 2003-12-02 | The Aerospace Corporation | Spacecraft for removal of space orbital debris |
| CN101726296A (en) * | 2009-12-22 | 2010-06-09 | 哈尔滨工业大学 | Vision measurement, path planning and GNC integrated simulation system for space robot |
| CN101733746A (en) * | 2009-12-22 | 2010-06-16 | 哈尔滨工业大学 | Autonomously identifying and capturing method of non-cooperative target of space robot |
| CN104536449A (en) * | 2014-12-03 | 2015-04-22 | 中国空间技术研究院 | Real-time measurement method of relative pose of universal capture mechanism of high-orbit satellite |
Non-Patent Citations (2)
| Title |
|---|
| 李岩 等: "在轨服务飞行器总体技术分析", 《兵工自动化》 * |
| 梁斌 等: "空间机器人非合作航天器在轨服务研究进展", 《机器人》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444746A (en) * | 2016-08-30 | 2017-02-22 | 北京小米移动软件有限公司 | Autonomous robot and device and method for fault detection |
| CN106647286A (en) * | 2017-02-16 | 2017-05-10 | 吉林大学 | Early failure removal testing method for carrying industrial robot |
| CN106647286B (en) * | 2017-02-16 | 2020-04-28 | 吉林大学 | Early fault elimination test method for transport industrial robot |
| CN106850051B (en) * | 2017-04-12 | 2020-04-03 | 上海航天控制技术研究所 | Space debris cleaning system and method based on microsatellite |
| CN106850051A (en) * | 2017-04-12 | 2017-06-13 | 上海航天控制技术研究所 | A kind of space junk cleaning system and method based on microsatellite |
| CN107255570A (en) * | 2017-05-18 | 2017-10-17 | 上海卫星工程研究所 | It is suitable for the attitude adjusting method of big part turnover type expansion experiment |
| CN108737004A (en) * | 2018-05-07 | 2018-11-02 | 青岛中电绿网新能源有限公司 | A method of the distribution automation terminal device based on CAN bus obtains the accurate remote signalling displacement time |
| CN110138073A (en) * | 2018-07-06 | 2019-08-16 | 洛阳视距智能科技有限公司 | Electric inspection process robot solar energy autonomous mixed charged device and method online |
| CN110138073B (en) * | 2018-07-06 | 2024-03-26 | 洛阳视距智能科技有限公司 | Solar online autonomous hybrid charging device and method for electric power inspection robot |
| CN109444917A (en) * | 2018-10-09 | 2019-03-08 | 中国人民解放军国防科技大学 | Space station external structure detection and maintenance system and method based on micro-nano satellite cluster |
| CN112141365A (en) * | 2020-08-27 | 2020-12-29 | 中国空间技术研究院 | On-orbit service module based on ground test interface |
| CN112141365B (en) * | 2020-08-27 | 2021-12-07 | 中国空间技术研究院 | On-orbit service module based on ground test interface |
| CN113156999A (en) * | 2021-05-08 | 2021-07-23 | 一飞(海南)科技有限公司 | Method, system and application for processing abnormal fault level of cluster formation airplane |
| CN113156999B (en) * | 2021-05-08 | 2022-11-11 | 一飞(海南)科技有限公司 | Cluster formation airplane abnormal fault level processing method, system and application |
| CN114637322A (en) * | 2022-02-28 | 2022-06-17 | 中国人民解放军63921部队 | High-orbit satellite anti-collision method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104898668B (en) | 2017-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104898668A (en) | On-orbit fault detection and maintenance method based on inspection robot | |
| Ollero et al. | The aeroarms project: Aerial robots with advanced manipulation capabilities for inspection and maintenance | |
| CN110753662B (en) | Formation of a plurality of satellites capable of flying in formation | |
| Xu et al. | A universal on-orbit servicing system used in the geostationary orbit | |
| ES2669572T3 (en) | Test bench system for spacecraft development | |
| CN103034232B (en) | Automatic failure handling and protection method of deep space probe global navigation chart (GNC) system base on layered structure | |
| Ma et al. | Advances in space robots for on‐orbit servicing: A comprehensive review | |
| CN102999042B (en) | Layering fault autonomic diagnostic method of global navigation chart (GNC) system of deep space probe | |
| CN103926845B (en) | The ground simulation system of robot for space visual servo capture movement target and analogy method | |
| Henshaw | The darpa phoenix spacecraft servicing program: Overview and plans for risk reduction | |
| CN105314102A (en) | Unmanned aerial vehicle provided with mechanical arm | |
| CN101733746A (en) | Autonomously identifying and capturing method of non-cooperative target of space robot | |
| CN104097791A (en) | Magnetic sensor and star sensor-based full attitude capture method and device thereof | |
| Suarez et al. | Experimental evaluation of aerial manipulation robot in contact with 15 kV power line: Shielded and long reach configurations | |
| Liu | An overview of the space robotics progress in China | |
| CN108423195B (en) | Mars surrounding device and method for establishing full-attitude gyro-free ground communication link of surrounding device | |
| Xu et al. | A pose measurement method of a non-cooperative GEO spacecraft based on stereo vision | |
| CN102736633B (en) | Navigation, control and imaging system for flexible monitor out of cabin of space station | |
| Alarcon et al. | UAV helicopter relative state estimation for autonomous landing on moving platforms in a GPS-denied scenario | |
| CN112650076A (en) | Constellation cooperative control ground simulation system | |
| Liang et al. | A Chinese small intelligent space robotic system for on-orbit servicing | |
| Gu et al. | Avionics design for a sub-scale fault-tolerant flight control test-bed | |
| Agarwal et al. | Evaluation of a commercially available autonomous visual inertial odometry solution for indoor navigation | |
| Rabbath | A finite-state machine for collaborative airlift with a formation of unmanned air vehicles | |
| CN107161350B (en) | Accident handling aircraft is independently continued a journey method and its system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |