CN108082537A - Space trash clears up satellite equipments - Google Patents
Space trash clears up satellite equipments Download PDFInfo
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- CN108082537A CN108082537A CN201711289616.5A CN201711289616A CN108082537A CN 108082537 A CN108082537 A CN 108082537A CN 201711289616 A CN201711289616 A CN 201711289616A CN 108082537 A CN108082537 A CN 108082537A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/283—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using reaction wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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Abstract
The invention discloses a kind of space trashes to clear up satellite equipments, including satellite body and task execution module, satellite body includes first structure case, the power module being placed in inside first structure case, navigation module, orbits controlling module, flight control modules and wireless communication module, solar battery array, first structure case is cube, and each face of babinet is fixed by mechanical structure；Task execution module includes the second structure case, the task control module being placed in inside the second structure case, detection identification module, trapping module, crushing module, transport module and laser ablation module, second structure case is cube, its left surface is stationary plane and satellite body mechanical interlocking, remaining five face is distressed structure, can be unfolded and close up in the range of 60~60 °.The device can capture and clear up the smaller space trash of size, and can to the space trash containing conductive material after laser ablation module ablation, can secondary use, provide energy for laser ablation module.
Description
Technical field
The invention belongs to satellite body control technology research fields, and in particular to space trash clears up satellite equipments.
Background technology
Space trash is also referred to as space junk, and source is varied.Such as the various artificial satellites to have failed, it is discarded
Rocket propulsion remains, the fragment that various satellite body explosions or collision are formed, even small component of machine, space flight
Rubbish that member accidentally leaves in space operation etc..Space trash can be divided into three classes according to diameter：10 centimetres or more too
Empty rubbish can be arrived by instrument monitoring, their quantity is at 1.9 ten thousand pieces or so；Rubbish between 1 centimetre to 10 centimetres, instrument
Device can not track, it is estimated that at 200,000 pieces or so, can cause the induction discharge of internal sensing element, even result in satellite body knot
Structure damages；And space trash of the diameter less than 1 centimetre can cause satellite body surface rugged, scarred, quantity
In terms of necessarily.
These rubbish in low orbit, can constantly decline mostly with the effect of resistance, until burnt into atmosphere,
But need prolonged effect.It is even millions of then to retain tens thousand of years in orbit for the space trash of high-rise track
Year.Up to per hour 40,000 kilometers of the flying speed of space trash, so high speed, even if one piece of small paint chipping is all
The International Space Station of other satellites and space equipment and satellite body-even can be damaged.The quantity of space trash is with annual 5%
Speed is continuously increased, and is even more with annual 40% speed increase, as space trash quantity is on the increase, these fragments in recent years
Between collision probability be also continuously increased, so as to generate avalanche effect, when fragment quantity accumulation to a certain extent, it will make boat
Its activity can not carry out, and terrestrial space then loses use value completely.
Disclose in the prior art using rope be robot for space cleaning space trash method, but this method exist
Following shortcoming：First, large scale space trash can only be captured, it is impossible to capture reduced size fragment；Second is that space rubbish can only be captured
Rubbish does not clear up the function of space trash.
The content of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of space trash cleaning satellite equipments, utilizes deformable case
Body structure, space trash supercharging device, two-stage cleaning structure and Photoelectric Detection module realize the accurate positionin to space trash
With effective cleaning.
The invention discloses a kind of space trashes to clear up satellite equipments, and the satellite equipments includes satellite body and task is held
Row module, the satellite body include first structure case, solar battery array, the power supply being placed in inside the first structure case
Module, navigation module, orbits controlling module, flight control modules and wireless communication module, the first structure case are cube,
Each face of babinet is fixed by mechanical structure, and solar battery array is placed in the outside of first structure case top surface, the power module,
Navigation module, orbits controlling module, flight control modules and wireless communication module multilayer vertical pile, the task execution module
Including the second structure case, the task control module being placed in inside the second structure case, detection identification module, trapping module, crushing mould
Block transports module and laser ablation module, and second structure case is cube, wherein the second structure case left surface is fixation
Face, the right flank mechanical interlocking with first structure case, remaining five face can be unfolded and close up in the range of 60~60 °, described
Second each face of structure box body is connected by direct current generator push rod, wherein, task control module is fixed on second structure case
Left surface, the detection identification module are placed in the inside of the second structure case top surface；At the second structure case top surface, the second structure case bottom
The inside corner in face is installed by one supercharging device respectively；It detects second structure case under identification state to be unfolded, under trapped state
Second structure case is closed up；Task control module and orbits controlling module direct communication, each son in control task execution module
Module is carried out the work.
Preferably, the first structure case left surface is expansion face, for expanding the task execution module of similary specification.
Preferably, six faces of the first structure case and/or the second structure case are aluminium alloy structure plate, inner space
Glass fibre gasket is installed between aluminium alloy structure plate.
Preferably, the power module includes power-supply controller of electric, Li-ion batteries piles, multiple sun sensors, Yi Jiduo
A array of temperature sensor；The power-supply controller of electric includes sampling array, management of charging and discharging module and distribution management module.
Preferably, the navigation module includes GNSS receiver, IMU Inertial Measurement Units, sun sensor, navigation information
Processing unit, power interface, information interface and data transfer interface；Wherein, power interface connects power module to navigation module
Power supply, for connecting flight control modules and emitting navigation information, data transfer interface is used to connect ground control information interface
It stands and emits navigation information.
Preferably, the posture of the orbits controlling module control satellite body and position, specifically include solar-electricity
Pond array Direct to the sun control, antenna direction control, information control, Compliance control, gesture stability.
Preferably, task execution module is realized or passed through to the gesture stability by counteraction flyback and magnetic torquer
In microthruster realize, the microthruster be arranged on before the second structure case and the second structure case behind outside.
Preferably, the microthruster is micro vacuum arc thruster.
Preferably, the hardware of the flight control modules uses redundancy backup structure, including secondary power supply, the first center
Processing unit, the second central processing unit, two FPGA, the first monitoring unit and the second monitoring unit, the first monitoring unit and
Second central processing unit connects AD acquisition interfaces respectively；First central processing unit passes through the first link with the first monitoring unit
Connection, a FPGA are used to detect the state of the first link；Second central processing unit passes through the second chain with the second monitoring unit
Road connects, and a FPGA is used to detect the state of the second link.
Preferably, the detection identification module is located at the inside of the second structure case top surface, and identical light is formed including three
Electro-detection submodule, each photoelectron detection module include photo-electric telescope, big target surface scientific grade CCD camera and inclined shaft rotation cloud
Platform.
Preferably, the module that crushes includes being fixed on two panels internal before the second structure case and behind the second structure case
Mill is respectively mounted pressure sensor on the two panels mill.
Preferably, the transport module includes a flexible link, two steering engines and a crank, the both sides of flexible link
A metal sensor is respectively provided with, the flexible link is connected by two steering engines, with the second structure case bottom surface.
Beneficial effects of the present invention are as follows：
(1) space trash of the invention cleaning satellite equipments employs deformable second structure case so that reduced size
Space trash is drawn into deformable second structure case, and the device is simple and practicable, and it is smaller too to capture size
Empty rubbish；
(2) space trash of the invention cleaning satellite equipments detects identification module to space rubbish by symmetric form space trash
Rubbish is detected, identified and positioned, and can be accurately detected space trash；
(3) space trash of the invention cleaning satellite equipments, by crushing module and laser ablation module, realizes various
The crushing and cleaning of size space trash；Meanwhile the space trash containing conductive material is carried out by laser ablation module after crushing
Ablation can be used as fuel to be sent into cathode, provide energy for laser ablation module, and then realize secondary use.
Description of the drawings
Fig. 1 is space trash cleaning satellite equipments composition figure disclosed by the invention；
Fig. 2 is space trash cleaning satellite equipments 3D structure charts disclosed by the invention；
Fig. 3 is space trash cleaning satellite equipments satellite body 3D structure charts disclosed by the invention；
Fig. 4 is space trash cleaning satellite equipments task execution module 3D structure charts disclosed by the invention；
Fig. 5 is the detection identification module structure chart in task execution module disclosed by the invention；
Fig. 6 is mechanical crushing apparatus structure schematic diagram disclosed by the invention；
Fig. 7 is transport modular structure schematic diagram disclosed by the invention；
Fig. 8 is the space trash method for cleaning flow chart disclosed by the invention based on satellite equipments.
Reference sign：
1- satellite bodies, 2- task execution modules, 3- ground control stations, 4- first structures case, 4-1- first structure casees top
Face, 4-2- first structure casees right flank, 4-3- first structure casees left surface, 5- power modules, 6- navigation modules, 7- orbits controllings
Module, 8- flight control modules, 9- wireless communication modules, 10- solar battery arrays, the second structure cases of 11-, 11-1- second
Structure case left surface, the second structure cases of 11-2- top surface, before the second structure cases of 11-3-, behind the second structure cases of 11-4-, 11-
The second structure cases of 5- bottom surface, the second structure cases of 11-6- right flank, 12- task control modules, 13- detections identification module, 13-1-
The big target surface scientific grade CCD camera of photo-electric telescope, 13-2-, 13-3- inclined shafts rotary head, 14- trapping modules, 15- crush mould
Block, 15-1,15-2- mill, 16- transport module, 16-1- flexible links, 16-2,16-3- steering engine, 16-4- cranks, 16-5,16-
6- metal sensors, 17- laser ablations module, 18- direct current generators push rod, 19- supercharging devices, 20- microthrusters.
Specific embodiment
For the purposes of the present invention, technical solution and advantage are more clearly understood, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further details technical scheme.
As shown in Figures 1 to 4, a kind of space trash cleaning satellite equipments, including satellite body 1 and task execution module 2,
The satellite body 1, by communications and processing, provides dynamic under the control of ground control station 3 to task execution module 2
Power, and it is controlled to carry out identification, capture and the cleaning of space trash.The satellite body 1 includes first structure case 4, solar energy
Array 10, the power module 5 being placed in inside the first structure case 4, navigation module 6, orbits controlling module 7, flight control
Molding block 8 and wireless communication module 9, the first structure case 4 are cube, and each face of 4 babinet of first structure case is tied by machinery
Structure is fixed, and solar battery array 10 is placed in the outside of first structure case top surface 4-1, the power module 5, navigation module 6, rail
9 multilayer vertical pile of road control module 7, flight control modules 8 and wireless communication module, the task execution module 2 include the
Two structure cases 11, the task control module 12 being placed in inside the second structure case 11, detection identification module 13, trapping module 14, powder
Broken module 15 transports module 16 and laser ablation module 17, and second structure case 11 is cube, wherein the second structure case is left
Side 11-1 is stationary plane, and with first structure case right flank 4-2 mechanical interlockings, remaining five face can open up in the range of -60~60 °
It opens and closes up, each face of babinet is connected by direct current generator push rod 18, wherein, task control module 2 is fixed on described second
Structure case left surface 11-1, the detection identification module 13 are placed in the inside of the second structure case top surface 11-2.In the second structure case
A supercharging device 19 is installed in top surface 11-2, the inside corner of the second structure case bottom surface 11-5 respectively.Detect institute under identification state
It states the second structure case 11 to be unfolded, second structure case 11 is closed up under trapped state；Task control module 12 and orbits controlling mould
7 direct communication of block, each submodule is carried out the work in control task execution module 2.
(1) satellite body
(1) first structure case 4
As shown in figure 3, the shape of first structure case 1 is cube, and as one embodiment of the present of invention, cubical ruler
Very little is 200*200*200mm, and six faces are ENAW-5083 aluminium alloy structure plate matter.To reduce range of temperature in star,
Ensure the uniformity and stability in temperature field in star, the satellite body uses two layers of heat-insulated mode, and first layer is in solar-electricity
The Kapton thermal insulation films of 50 μ m-thicks are placed between pond array 10 and substrate；The second layer is in the inner space of first structure case 1
Glass fibre gasket between structural slab is installed and carries out thermal insulation.Further, in six faces of the first structure case 1, first
Structure case left surface 4-3 is expansion face, and for expanding the task execution module 2 of similary specification, the satellite body 1 is using suitable
Two cell cube structures of ISIS-POD separators, are designed using structural redundancy, and stable hot ring is provided for satellite body 1
Border, shielding space high energy charged particles, ensure star on electronic apparatus system normal work.Energetic particle is mainly derived from
The solar cosmic ray when cosmic ray in the milky way galaxy, solar burst, by irradiating charged particles of earth's magnetic field capture etc..
(2) power module 5
Power module includes：Power-supply controller of electric, Li-ion batteries piles, multiple sun sensors and multiple temperature sensors
Array.Wherein, power-supply controller of electric includes sampling array, management of charging and discharging module and distribution management module.
The solar azimuth detected by sampling array acquisition sun sensor, while receive the array of temperature sensor
The temperature information of each module and device in the space trash cleaning satellite equipments of transmission；Management of charging and discharging module is according to collecting
Solar azimuth adjusts the angle of the solar battery array, is optimal the sunlight value that solar battery array collects
Value, solar battery array start to charge up.Three kinds of tactful supplying power for outside are taken according to electric discharge demand：First, solar battery array
Directly power, be for second solar battery array by storage battery power supply, the third be if power supply be more than it is required, will be surplus
Remaining electric energy is stored in Li-ion batteries piles.
(3) navigation module 6
Navigation module 6 include GNSS receiver, IMU Inertial Measurement Units, sun sensor, navigation information processing unit,
Power interface, information interface and data transfer interface.GNSS receiver is used to receive the location information of satellite body 1, IMU inertia
Optical fibre gyro and sun sensor in measuring unit are used to measure the posture of satellite body 1, in IMU Inertial Measurement Units
Accelerometer is used to measure the speed of satellite body 1, and GNSS receiver, IMU Inertial Measurement Units and sun sensor three match somebody with somebody
The all the period of time navigation data of satellite can just be obtained by closing.
Power interface connects power module 5, is powered by power module 5 to navigation module 6；Information interface is winged for connecting
Row control module 8 emits navigation information to flight control modules 8；Data transfer interface passes through for connecting ground control station 3
Data-interface establishes communication port, and earthward control station 3 emits navigation information, realizes the real-time delivery of navigation information.As this
One embodiment of invention, the leading indicator of navigation module 6 are：(36) 0.1 ° of attitude accuracy, positional precision (36) 10m, speed
Precision 0.1m/s.
(4) orbits controlling module 7
Gesture stability information necessary to orbits controlling module 7 provides flight for satellite body 1, specifically for described in reception
The control instruction that flight control modules 8 are sent then according to the control instruction, controls the posture of satellite body 1 and institute in place
It puts, specifically includes the control of 10 Direct to the sun of solar battery array, antenna direction control, information control, Compliance control and posture
Control.
As the embodiment of the present invention, gesture stability realizes that counteraction flyback is used by counteraction flyback and magnetic torquer
In carrying out gesture stability to the satellite body 1, and pass through magnetic torquer and unload flywheel；It can also be by task execution module 2
In microthruster 20 realize.Preferably, microthruster 20 uses Vacuum Arc thruster, is arranged on two mills 15-1,15-2
Before second structure case at place behind 11-3 and the second structure case 11-4 outside.The power of satellite body 1 and volume it is tight
Lattice limitation limitation, generally at 10w grade or so, it is necessary to which power and volume requirement can be met using one kind, again guaranteed efficiency with
Higher performance.Preferably, it is a kind of impulsive thruster that microthruster 20, which selects micro vacuum arc thruster VAT, VAT, structure
Simply, required power is small, and voltage and current is all very low, can easily adjust running parameter, using IESPPU as electricity
Source ensures its volume and quality all very littles.The operation principle of VAT is ablation solid state cathode, sprays vacuum arc plasma to produce
Raw thrust, specific impulse can reach 1000-3000s.In addition, any conductive material can be as the cathode of VAT.VAT is as satellite
The thruster of body 1 has unique advantage.In the present invention, after cathode consumption is complete, fed, cycled by space trash
Using space trash, while the working life of satellite body 1 is greatly extended, it can continuous work.
As one embodiment of the present of invention, the leading indicator of orbits controlling module 7 is：Inertia angular speed tracing control misses
Difference is 0.006 °/s, and inertia angle increment 0.02 ° of error of control is directed toward target angular speed control 0.025 °/s of error, to target
It is 0.05 ° that orientation angle, which controls error,.
(5) flight control modules 8
Flight control modules 8 are used to receive the posture and location information of satellite body 1, related data are generated, by wireless
Communication module 9 sends signal to ground control station 3；Meanwhile the instruction of ground control station 3 is received, to orbits controlling module 7
Order is sent, carries out flight control.
As one embodiment of the present of invention, the hardware components of flight control modules 8 are using redundancy backup structure, including two
Secondary source, the first central processing unit, the second central processing unit, two FPGA, the first monitoring unit and the second monitoring unit,
First monitoring unit and the second central processing unit connect AD acquisition interfaces respectively；First central processing unit and the first monitoring are single
Member is used to detect the state of the first link by the first link connection, a FPGA；Second central processing unit and the second monitoring
Unit is used to detect the state of the second link by the second link connection, a FPGA.
(6) wireless communication module 9
Wireless communication module 9 is transceiver, is communicated based on the agreement of QB50 projects.Transceiver follows Ax.25
Agreement, uplink work in VHF amateur bands, and using AFSK modulating modes, it is 1200bps that number, which passes bit rate,；Downlink working is in UHF
Amateur band, using BPSK modulating modes, it is 1200~9600bps that number, which passes bit rate,.Ground control station 3 passes through radio communication mold
Block 9 sends to satellite body 1 and instructs, satellite is controlled.
(2) task execution module
(1) second structure case 11
As shown in Fig. 3, Fig. 5, Fig. 6, shape, size and the material of the second structure case 11 are identical with first structure case, and institute is not
Same is that the second structure case 11 has the function of to be unfolded and close up, including being consolidated with satellite body 1 by what mechanical interlocking mode was connected
Determine face 11-1 and the distressed structure of remaining 5 faces composition, the maximum range of distressed structure expansion is the second structure babinet length of side
1.5 times.It is connected between face, face by direct current generator push rod 18.5 deformation plances of the second structure case 11 can be at -60~60 °
In the range of be unfolded.Space trash cleaning satellite equipments flies in the deployed state.
(2) task control module 12
Task control module 12 and 7 direct communication of orbits controlling module, when satellite injection and every in-orbit signal is just
It starts to work after normal, to including detecting identification module 13, trapping module 14, crushing module 15, transport module 16, laser ablation
Module 17 carries out in-orbit control, and 2 each submodule of driving task execution module is carried out the work.Task control module 12 is arranged on second
The inside of structure case left surface 11-1.
(3) identification module 13 is detected
As shown in fig. 6, detection identification module 13, the detection identification module are installed inside the second structure case top surface 11-2
13 detect identification module for symmetric form space trash, and identical Photoelectric Detection submodule is formed including three.Each photoelectron inspection
Surveying module includes photo-electric telescope 13-1, big target surface scientific grade CCD camera 13-2 and inclined shaft rotary head 13-3, inclined shaft rotation cloud
The bottom of platform 13-3 is equipped with servomotor.Wherein, photo-electric telescope 13-1 uses the refractive optical knot of small-bore, big potential field
Structure is equipped with big target surface scientific grade CCD camera 13-2, by collecting the photon of space trash reflected sunlight and the light of background fixed star
Son realizes the detection identification to space trash.When not capturing space trash, task control module 12 sends control command,
Servomotor drives three inclined shaft rotary heads to rotate 13-3, finds space trash, can realize the maximum in system monitoring region
Change.When some Photoelectric Detection submodule captures space trash, task control module 12 drives other two Photoelectric Detection
Module rotates, until finding space trash；Meanwhile big target surface scientific grade CCD camera 13-2 obtains space trash image, by dividing
The image information obtained is analysed, shape, the size and location of fragment can be estimated, and then space trash is positioned.
(4) trapping module 14
After satellite body 1 is found and positions space trash, the change rail to satellite body 1 is completed by orbits controlling module 7
Road controls so that satellite body 1 is close to space trash, until the relative distance of the two is less than the maximum range of distressed structure.This
When, task control module 12 drives direct current generator push rod 18 so that distressed structure deformation, tasks carrying is captured by space trash
Inside module 2.
When space trash is captured to 2 inside of task execution module, the big target surface Scientific Grade inside the second structure case 11
CCD camera 13-2 carries out space trash secondary positioning, and task control module 12 sends order, and driving supercharging device 19 is aligned too
Space trash is squeezed into and crushes module 15 by empty rubbish.
(5) module 15 is crushed
15 whole process of module is crushed to be controlled by task control module 12.Module 15 is crushed for the space trash to 1~10cm
It is roughly ground, most space trash becomes the fragment that diameter is less than 5mm at last.
It is crushed for the space trash of varying strength using different strategies：One kind is mechanical crushing method, is applicable in
In the weak outer structural parts fragment of intensity, outer structural parts material is usually aluminium alloy, as shown in Fig. 3, Fig. 5, crushes module 15
Including two panels mill 15-1, the 15-2 being separately fixed at before the second structure case behind 11-3 and the second structure case inside 11-4,
It is after capturing space trash and closing up all faces, two mills 15-1,15-2 are inside by direct current generator push rod 18
It collapses, and squeezes space trash.In the process, by the pressure sensor of two mills 15-1,15-2 for space rubbish
The stress of rubbish is tested, and judges the intensity of fragment, if intensity is smaller, continues to squeeze, after being expressed to minimum range always, two
A mill 15-1,15-2 are rotated around X-axis, and space trash is blended.After space trash size is less than 5mm, stop stirring,
Two mills reversely separate；
Second of strategy is laser cutting, suitable for the higher material of intensity, such as screw solid parts, directly with sharp
Light is cut into the fragment less than 5mm.
(6) module 16 is transported
Module 16 is transported to be used to supplement cathode material for laser ablation module 17.Space trash powder is completed when crushing module 15
After broken, laser ablation module 17 is sent by transporting module 16, ablation is carried out to the space trash after crushing.Such as Fig. 5, Fig. 7 institute
Show, the transport module 16 includes a flexible link 16-1, two steering engines 16-2,16-3 and a crank 16-4, and flexibility is even
The both sides of bar 16-1 are respectively provided with metal sensor 16-5,16-6, detect the space trash fragment after crushing module 15 and crushing
With the presence or absence of metal.Contain metal when detecting in space trash fragment after crushing, and detect that cathode material length is less than
During allowed minimum length, two steering engines 16-2,16-3 start, and drive flexible link 16-1 alignment space trashes, supercharging device
19 are transported to space trash in flexible link 16-1, and the space trash in flexible link 16-1 is sent to by crank 16-4 actions
In 17 cathode channel of laser ablation module, so that ablation provides power supply for it；If detect the space trash fragment after crushing
In when being free of metal, transport module 16 and the rubbish after crushing is increased into pressure by supercharging device 19 be conveyed laser ablation mould
In block 17, laser ablation is carried out.
(7) laser ablation module 17
Laser ablation is to irradiate opaque target using laser beam, with the deposition of laser energy, target material surface partial zones
Domain is heated heating, fusing and vaporization.The physical stages such as substance sprays at a high speed and plasma generates are vaporized, when laser intensity exists
1012-15W/cm2When, effective ablation can be carried out to material.Preferably, laser ablation module 17 uses short pulse miniature solid
Laser.The characteristics of solid state laser is that output energy is big, and peak power can reach gigawatt to the terawatt (TW) order of magnitude, it is sufficient to will be straight
Space trash of the footpath in 5mm or so vaporizes.In the present invention, 4 laser heads are set in the inside of task execution module 2, so as to more
Ablation well.
As shown in figure 8, space trash is carried out using above-mentioned space trash cleaning satellite equipments the invention also discloses a kind of
The method of cleaning, this method comprise the following steps：
(1) the detection identification space trash of identification module 13 is detected；
(2) trapping module 14 captures space trash；
(3) crush module 15 and crush space trash；
(4) transport module 16 and transport space trash；
(5) laser ablation module 17 carries out laser ablation to space trash.
Step (1) specifically includes：
(1-1) task control module 12 drives inclined shaft rotary head 13-3 to rotate；
(1-2) photo-electric telescope 13-1 searches space trash；
(1-3) judges whether to find space trash, if so, (1-4) is entered step, if it is not, then continuing step (1-1) extremely
(1-3)；
(1-4) big target surface scientific grade CCD camera 13-2 obtains space trash image；
(1-5) analyzes image, positions space trash.
Step (2) specifically include：
(2-1) calculates the relative distance of satellite equipments and space trash；
(2-2) judges whether relative distance is more than setting value, if then orbits controlling module 7 converts the rail of satellite equipments
Road repeats step (2-1) to (2-2)；If it is not, then enter step (2-3)；
(2-3) task control module 12 drives direct current generator push rod 18, and distressed structure closes up, and captures waste particles；
(2-4) big target surface scientific grade CCD camera 13-2 carries out secondary positioning to space trash；
(2-5) task control module 12 sends order, and space trash is squeezed into crushing module by driving supercharging device 19
15。
Step (3) specifically includes：Two panels mill before second structure case behind 11-3 and the second structure case inside 11-4
Pressure sensor detection space trash intensity on 15-1,15-2；If space trash intensity is more than preset value, two mills
15-1,15-2 by direct current generator push rod 18 inwardly collapse, to space trash carry out mechanical crushing, if it is not, to space trash into
Row laser cutting.
Step (4) specifically includes：
Metal sensor 16-5,16-6 of (4-1) flexible link 16-1 both sides, detect the electric conductivity of space trash, if containing
There is metal, then enter step (4-2), if not containing metal, the space trash after crushing is delivered to laser ablation module 17,
Carry out laser ablation；
(4-2) judge 17 cathode material length of laser ablation module whether be less than setting value, if so, by after crushing too
Empty rubbish is delivered to the cathode of laser ablation module 17, and power supply is provided for laser ablation module 17 after progress ablation；If it is not, then will
Space trash after crushing is delivered to laser ablation module 17, carries out laser ablation.
Part that the present invention does not relate to is same as the prior art or the prior art can be used is realized.
Space trash disclosed by the invention clears up satellite equipments, employs deformable second structure case, symmetric form space
Rubbish detection identification module crushes module and laser ablation module, can capture and clear up the smaller space trash of size；Simultaneously
After the space trash containing conductive material after crushing is by laser ablation module ablation, can secondary use, be laser ablation mould
Block provides energy.
Obviously, described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.It is based on
The embodiment of the present invention, the every other implementation that those skilled in the art are obtained without making creative work
Example, belongs to the scope of protection of present invention.
Claims (12)
1. a kind of space trash clears up satellite equipments, which is characterized in that the satellite equipments includes satellite body (1) and task is held
Row module (2), the satellite body (1) include first structure case (4), solar battery array (10), are placed in first knot
Structure case (4) internal power module (5), navigation module (6), orbits controlling module (7), flight control modules (8) and channel radio
Believe module (9), the first structure case (4) is cube, and each face of babinet is fixed by mechanical structure, solar battery array
(10) outside of first structure case top surface (4-1), the power module (5), navigation module (6), orbits controlling module are placed in
(7), flight control modules (8) and wireless communication module (9) multilayer vertical pile, the task execution module (2) include second
Structure case (11) is placed in the internal task control module (12) of the second structure case (11), detection identification module (13), trapping module
(14), crushing module (15), transport module (16) and laser ablation module (17), second structure case (11) is cube,
Its second structure case left surface (11-1) is stationary plane, with first structure case right flank (4-2) mechanical interlocking, remaining five face energy
Enough to be unfolded and close up in the range of -60~60 °, each face of the second structure case (11) babinet is connected by direct current generator push rod (18)
It connects, wherein, task control module (12) is fixed on the second structure case left surface (11-1), the detection identification module (13)
It is placed in the inside of the second structure case top surface (11-2)；In the second structure case top surface (11-2), the second structure case bottom surface (11-5)
Inside corner is installed by one supercharging device (19) respectively；The second structure case (11) expansion under identification state is detected, captures shape
Second structure case (11) is closed up under state；Task control module (12) and orbits controlling module (7) direct communication, control task
Each submodule is carried out the work in execution module (2).
2. space trash according to claim 1 clears up satellite equipments, which is characterized in that the first structure case left surface
(4-3) is expansion face, for expanding the task execution module of similary specification (2).
3. space trash according to claim 1 clears up satellite equipments, which is characterized in that the first structure case (1) and/
Or (11) six faces of the second structure case are aluminium alloy structure plate, and glass fibers are installed between inner space and aluminium alloy structure plate
Tie up gasket.
4. space trash according to claim 1 clears up satellite equipments, which is characterized in that the power module (5) includes
Power-supply controller of electric, Li-ion batteries piles, multiple sun sensors and multiple array of temperature sensor；The power-supply controller of electric
Including sampling array, management of charging and discharging module and distribution management module.
5. space trash according to claim 1 clears up satellite equipments, which is characterized in that the navigation module (6) includes
GNSS receiver, IMU Inertial Measurement Units, sun sensor, navigation information processing unit, power interface, information interface sum number
According to transmission interface；Wherein, power interface connection power module (5) is powered to navigation module (6), and information interface flies for connecting
Control module (8) simultaneously emits navigation information, and data transfer interface is used to connect ground control station (3) and emit navigation information.
6. space trash according to claim 1 clears up satellite equipments, which is characterized in that orbits controlling module (7) controls
The posture of satellite body (1) and position specifically include the control of solar battery array (10) Direct to the sun, antenna direction control
System, information control, Compliance control and gesture stability.
7. space trash according to claim 6 clears up satellite equipments, which is characterized in that the gesture stability is made by counter
It is realized or is realized by the microthruster (20) in task execution module (2), the microthruster with flywheel and magnetic torquer
(20) outside of (11-4) behind (11-3) and the second structure case is arranged on before the second structure case.
8. space trash according to claim 7 clears up satellite equipments, which is characterized in that the microthruster (20) is micro-
Type Vacuum Arc thruster.
9. space trash according to claim 1 clears up satellite equipments, which is characterized in that the flight control modules 8
Hardware use redundancy backup structure, including secondary power supply, the first central processing unit, the second central processing unit, two
FPGA, the first monitoring unit and the second monitoring unit, the first monitoring unit and the second central processing unit connect AD acquisitions respectively
Interface；First central processing unit is with the first monitoring unit by the first link connection, and a FPGA is for the first link of detection
State；Second central processing unit is with the second monitoring unit by the second link connection, and a FPGA is for the second chain of detection
The state on road.
10. space trash according to claim 1 clears up satellite equipments, which is characterized in that the detection identification module
(13) it is located at the inside of the second structure case top surface (11-2), identical Photoelectric Detection submodule, each photoelectricity is formed including three
Sub- detection module includes photo-electric telescope (13-1), big target surface scientific grade CCD camera (13-2) and inclined shaft rotary head (13-3).
11. space trash according to claim 1 clears up satellite equipments, which is characterized in that the crushing module (15) is wrapped
The two panels mill (15-1,15-2) for being fixed on before the second structure case that (11-4) is internal behind (11-3) and the second structure case is included,
Pressure sensor is respectively mounted on the two panels mill (15-1,15-2).
12. space trash according to claim 1 clears up satellite equipments, which is characterized in that the transport module (16) is wrapped
Include a flexible link (16-1), two steering engines (16-2,16-3) and a crank (16-4), the both sides of flexible link (16-1)
Be respectively provided with a metal sensor (16-5,16-6), the flexible link (16-1) by two steering engines (16-2,16-3) with
Second structure case bottom surface (11-5) connects.
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