CN109573110A - A kind of noncooperative target capture systems and method - Google Patents
A kind of noncooperative target capture systems and method Download PDFInfo
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- CN109573110A CN109573110A CN201811101005.8A CN201811101005A CN109573110A CN 109573110 A CN109573110 A CN 109573110A CN 201811101005 A CN201811101005 A CN 201811101005A CN 109573110 A CN109573110 A CN 109573110A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 230000006835 compression Effects 0.000 claims abstract 2
- 238000007906 compression Methods 0.000 claims abstract 2
- 230000004308 accommodation Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000006978 adaptation Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229920000271 Kevlar® Polymers 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000004761 kevlar Substances 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 206010058109 Hangnail Diseases 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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Abstract
The present invention relates to a kind of noncooperative target capture systems and methods, belong to technical field of space application.The system includes Target Detection unlit, storage cylinder, controller and several rotation capturing units；Each rotation capturing unit includes a rotation drive device, half rigid capture net and one for controlling the folding-unfolding mechanism of semi-rigid capture net gathering or expansion; rotation capturing unit is uniformly distributed centered on storing cylinder and is mounted on satellite head end panel; rotation axis is vertical with satellite head end panel, and rotating capturing unit can be around the rotation of respective rotation axis；Rotating capturing unit drives semi-rigid capture net to storage cylinder central synchronous rotation, reduces made of semi-rigid capture lock is crowded around and captures space, after several rotation capturing units contact compression with noncooperative target, realizes the capture to noncooperative target.After capture, realize that attitude updating and transfer to noncooperative target are stored by collapsing or being unfolded semi-rigid capture net.
Description
Technical field
The present invention relates to technical field of space application more particularly to a kind of noncooperative target capture systems and its methods.
Background technique
It is not spacecraft to dock or capturing design that space non-cooperative target, which refers to, i.e., does not install in the target for machine
The grasping mechanism (handle) that tool arm captures and cooperation marker and characteristic block for subsidiary, or not can be carried out posture control
System, the spacecraft of free to tumble in space.Generally comprise discarded inert satellite, space junk etc..
Currently, study both at home and abroad more noncooperative target catching method have mechanical arm arrest with space flying mesh capture etc..
Mechanical arm arrests noncooperative target structure feature point by end effector mechanism, mainly arrests discarded satellite engine jet pipe, star
The positions such as arrow connection ring, solar array, it is higher to the control measurement request of mechanical arm；Space flying mesh is only suitable for arresting space broken
Piece, but flying mesh cannot be reused, and it is also a technical problem that it, which withdraws,.Foreign countries also proposed using harpoon Acquisition Scheme,
Target surface is penetrated in harpoon and carries out capture connection using hangnail, and this mode is easy to produce fragment.
A kind of capture systems and method that this patent is proposed for the inert satellite or space junk of irregular figure, with tradition
The manipulator mode of arresting compare, have capture adaptation range it is big, it is transferable storage, it is reusable, to carrier spacecraft control
System require it is low, highly-safe, consumption little energy the advantages that.
Summary of the invention
The shortcomings that in order to overcome the above-mentioned prior art, the present invention provides a kind of noncooperative target capture systems,
A kind of noncooperative target capture systems, including Target Detection unlit, storage cylinder, controller and several rotation captures are single
Member；
Each rotation capturing unit includes a rotation drive device, half rigid capture net and one for controlling institute
The folding-unfolding mechanism that semi-rigid capture net collapses or is unfolded is stated, the rotation capturing unit is uniformly distributed simultaneously centered on storing cylinder
It is mounted on satellite head end panel, the rotation axis is vertical with satellite head end panel, and the rotation capturing unit is equal
It can be rotated around respective rotation axis；
A plane is formed after the semi-rigid capture net unfolding, the plane approximation is perpendicular to the satellite head end face
Plate；
Wherein, the rotation capturing unit drives semi-rigid capture net to storage cylinder central synchronous rotation, reduces semi-rigid
Property capture lock crowd around made of capture space, after several described rotation capturing units are contacted with noncooperative target and to be compressed,
Realize the capture to noncooperative target.
In certain embodiments, before capturing noncooperative target, the semi-rigid capture net is in unfolded state,
And several described semi-rigid capture net institute's envelope capture spaces are maximum rating；
When capturing noncooperative target, several semi-rigid captures are netted while being rotated, and are collapsed capture space, are contacted and catch
Obtain noncooperative target；
After the completion of capturing noncooperative target, the stretching, extension displacement of the semi-rigid capture net is adjusted, is realized to non-cooperative target
Target attitude updating, several described semi-rigid capture nets, which synchronize, to be collapsed, and realizes and noncooperative target is transferred to the storage
In cylinder.
In certain embodiments, the semi-rigid capture net volume is around being accommodated in folding-unfolding mechanism.
In certain embodiments, the quantity of the rotation capturing unit is 4.
The present invention also provides a kind of capture of noncooperative target and accommodation methods, include the following steps:
S1: several described semi-rigid capture nets are adjusted to unfolded state, the rotation drive device movement, adjustment
The capture space of the semi-rigid capture net is in maximum rating；
S2: the Target Detection unlit measures noncooperative target status information, feeds back to the satellite, and satellite is real-time
Adjustment movement and posture make it into the capture space close to noncooperative target；
S3: the controller controls the rotation driving after receiving " the capture signal " that the satellite issues
Device rotation, drives the semi-rigid capture net to collapse capture space, and noncooperative target connects with the semi-rigid capture net
Touching, noncooperative target is clamped, and realizes capture；
S4: measuring the posture of noncooperative target by the distance measuring sensor, adjusts separately the semi-rigid capture
Realize the attitude updating to noncooperative target in net unfolding position；
S5: by synchronous driving simultaneously, several described semi-rigid capture nets are collapsed, and noncooperative target are brought into described
Admission extinguisher body in, when reaching specified position in the admission extinguisher body, stop semi-rigid capture net and collapse to move；
S6: after storage cylinder closing, the storage of noncooperative target is completed.
In certain embodiments, in step s 2, the status information of the noncooperative target status information includes position
It sets, posture.
A kind of capture systems and method that the present invention is proposed for the inert satellite or space junk of irregular figure, with tradition
The manipulator mode of arresting compare, have capture adaptation range it is big, it is transferable storage, it is reusable, to carrier spacecraft control
System require it is low, highly-safe, consumption little energy the advantages that.
Detailed description of the invention
Fig. 1 is that noncooperative target captures schematic diagram in an alternate embodiment of the present invention；
Fig. 2 is rotation capturing unit schematic diagram in an alternate embodiment of the present invention；
Fig. 3 is semi-rigid capture net composition schematic diagram in an alternate embodiment of the present invention；
Fig. 4 is folding-unfolding mechanism theory of constitution schematic diagram in an alternate embodiment of the present invention；
Fig. 5 is rotation drive device composition schematic diagram in an alternate embodiment of the present invention；
Fig. 6 is storage cylinder schematic diagram in an alternate embodiment of the present invention；
Fig. 7 is noncooperative target acquisition procedure schematic diagram in an alternate embodiment of the present invention；
Fig. 8 is noncooperative target attitude updating schematic diagram after capturing in an alternate embodiment of the present invention.
In figure: 1- satellite, 2- noncooperative target, 3- front console, 100- rotation capturing unit, 110- rotation are driven
The fixed bracket of dynamic device, 111- motor, 112- retarder, 113- photoelectric encoder, 114-, the semi-rigid capture net of 120-,
121- wire side, 122- keel, 130- folding-unfolding mechanism, 131- take down the exhibits driving device, 132- spool, 133- be pressed against wheel, 134-
Bracket, 200- Target Detection unlit, 300- storage cylinder, 301- distance measuring sensor, 302- cover, 400- controller (figure
In do not show).
Specific embodiment
Detailed retouch is carried out to noncooperative target capture systems provided by the invention and method below with reference to Fig. 1 to Fig. 8
It states, is optional embodiment of the present invention, it is believed that those skilled in the art are in the model for not changing spirit of that invention and content
In enclosing, can it be modified and be polished.
Referring to FIG. 1, the present invention provides a kind of noncooperative target capture systems, including 4 rotation capturing units 100,1
200,1 400 (not shown) of storage cylinder 300 and 1 controller of a Target Detection unlit etc.；The rotation captures single
Member 100 is uniformly distributed centered on storing cylinder 300.Noncooperative target 2 to be captured is the discarded satellite with regular geometric shapes
Or space junk, noncooperative target 2 is a regular cylindrical shape in the present embodiment.The installation of noncooperative target capture systems
In on the front console 3 for the satellite 1 for having gesture stability and orbits controlling ability, the heading and front console 3 of satellite 1 hang down
Directly.
Optionally, noncooperative target capture systems also can be set 3,5 or 6 rotation capturing units be evenly arranged on it is described
300 periphery of storage cylinder.
The Target Detection unlit 200 is made of multiple laser radars etc., is installed on the front console 3, can
To detect spatial position and the targeted attitude of target to be captured.When noncooperative target 2 to be captured meets capture primary condition,
Noncooperative target capture systems are started to work.
With reference to Fig. 2, the rotation capturing unit 100 includes 1 rotation drive device, 110,1 semi-rigid capture nets
120,1 folding-unfolding mechanism 130 etc., before the rotation capturing unit 100 is mounted on satellite by rotation drive device 110
On end plates 3, i.e. 110 one end of rotation drive device is fixed on the front console 3 of satellite 1, and the other end drives described take down the exhibits
The rotation such as mechanism 130, semi-rigid capture net 120.
With reference to Fig. 3, the semi-rigid capture net 120 includes wire side 121 and keel 122；The semi-rigid capture net
120 can be unfolded or collapse along 1 heading of satellite.When semi-rigid capture net 120 expansion, semi-rigid capture net
120 form quadrangular plans, and with 3 near normal of satellite head end panel (allow there are certain deflections), should
State is known as semi-rigid 120 unfolded state of capture net；When the semi-rigid capture net 120 collapses, semi-rigid capture net 120
It can be accommodated in the folding-unfolding mechanism 130, which is known as semi-rigid 120 rounding state of capture net.
Further, the keel 122 can select the elastic materials such as carbon fiber, composite material M55J curved lever.It is described
Wire side 121 can select the high tenacity such as polyimides, Kevlar (Kevlar) or Vectra (vectra you), low-density
Composite material.The semi-rigid capture net 120 both has resilience as a result, but also with netting flexibility.
With reference to Fig. 4, the folding-unfolding mechanism 130 includes take down the exhibits driving device 131, spool 132, pressing wheel 133 and bracket
134 etc..The driving device 131 of taking down the exhibits generally is made of motor, retarder and photoelectric encoder, and there is driving and position to survey
The functions such as amount.The driving device 131 of taking down the exhibits is connected directly with the spool 132, can be realized the transmitting of power.It is described
Driving device 131 of taking down the exhibits drive the spool 132 to rotate, described semi-rigid capture net 120 gathering is wound into described
Spool 132 on, or from spool 132 discharge expansion.When being in semi-rigid capture 120 rounding state of net, the receipts
Open up the elongated rod shape that mechanism 130 is in similar painted scroll.
Further, the pressing wheel 133 is mutually close to spool 132, generally uses spring pre-tightening or reserved smaller
The modes such as gap are realized.In this way, the keel 122 of semi-rigid capture net 120 are held between pressing wheel 133 and spool 132,
During semi-rigid capture net 120 is unfolded or collapses, by the squeezing action for being pressed against wheel 133, it is ensured that keel 122 reach predetermined
Deformation, realize it is semi-rigid capture net 120 curling or unfold.
With reference to Fig. 5, the rotation drive device 110 includes motor 111, retarder 112, photoelectric encoder 113 and consolidates
Fixed rack 114 etc.；The rotation capturing unit 100 is centered on 110 rotary shaft of rotation drive device in certain model
Interior rotation is enclosed, perpendicular to satellite head end panel 3, the general angle that rotates is no more than the rotary shaft of the rotation drive device 110
90°.The rotation drive device 110 is connected with described 130 one end of folding-unfolding mechanism.When the rotation drive device 110
When rotation, the folding-unfolding mechanism 130 and semi-rigid capture net 120 can be around the rotary shafts of the rotation capturing unit 100
It is rotated above the satellite head end panel 3.
With reference to Fig. 1, the storage cylinder 300 is located at 3 center of satellite head end panel, and sinks to satellite health
Interior, aperture position is in satellite head end panel 3, and the rotation drive device 110 was around described storage cylinder 300 weeks
It encloses and is uniformly distributed.
With reference to Fig. 6, the storage cylinder 300 includes distance measuring sensor 301 and cover 302, the distance measuring sensor
301 are installed on 300 bottom position of storage cylinder, for detecting between noncooperative target and the storage cylinder 300
Distance.The distance measuring sensor 301 is generally made of 3 laser sensors, optionally, the distance measuring sensor 301
Contact measurement method can also be used using modes such as tellurometer survey, infrared distance measurements.In the storage cylinder 300
It is provided with cover 302 at aperture position, the closing of storage cylinder 300 can be realized by translation cover 302, the cover 302
Closure application realizes that this patent is repeated no more using common mechanical design method.
Further, the driving device 131 of taking down the exhibits is by the photoelectric encoder to the semi-rigid capture net
120 position of taking down the exhibits measures；Rotation drive device 110 is by the photoelectric encoder to the rotation capturing unit
100 rotation angle measures.Optionally, the position and angle measurement method can also select rotary transformer, suddenly
The modes such as your sensor.
With reference to Fig. 7, the catching method about noncooperative target is as follows:
When 4 semi-rigid capture nets 120 are in unfolded state, crowded around by 4 semi-rigid capture nets 120 and
At maximum internal space be known as capture space.4 rotation capturing units 100 by around respective rotary shaft rotate,
That is rotary shaft C1, C2, C3 and C4 in Fig. 7 drive semi-rigid capture net 120 to 300 centre bit of storage cylinder respectively
It rests against, thus capture space made of the semi-rigid capture net 120 of described 4 is crowded around reduces, non-in capture space
Cooperative target and the semi-rigid capture net 120 contact with each other stress, and contact position is respectively W1, W2, W3 and W4, thus real
The capture of existing noncooperative target 2.
With reference to Fig. 7 and Fig. 8, the method that storage cylinder 300 is imported after capturing about noncooperative target 2 is as follows:
After completion noncooperative target 2 is captured, passes through the distance measuring sensor 301 and measure 2 bottom of noncooperative target
The distance between plane (i.e. close to the plane of the satellite head end panel 3) and the storage cylinder 300 utilize in " 3 points at face "
Principle it is whether parallel with satellite head end panel 3 to judge 2 bottom of noncooperative target, to judge whether noncooperative target 2 is located
In attitude updating state.Adjust separately posture of the expanded position to noncooperative target 2 of the semi-rigid capture net 120 of described 4
It is corrected.In fig. 8, arrow direction adjusts two semi-rigid 120 relative positional relationships of capture net as illustrated, passes through semi-rigid
Property capture net 120 drive noncooperative target 2 carry out pose adjustment, in the process, it is semi-rigid capture net 120 move distance answer
It is provided according to 301 measurement result of distance measuring sensor.
Illustrated for illustrating in Fig. 8, driving device of taking down the exhibits 131 drives spool 132 to rotate, to drive semi-rigid capture
Net 120 moves up and down.W1 and W3 is respectively the contact position of 2 semi-rigid capture nets 120 and noncooperative target 2 in Fig. 8,
By adjusting the extended position of 2 semi-rigid capture nets 120, the posture of noncooperative target 2 is adjusted, distance measuring sensor 301 is passed through
Obtain the feedback of the posture information of noncooperative target 2.
After completing the attitude updating of noncooperative target 2, pass through the 4 semi-rigid capture nets of synchronous driving simultaneously
120 collapse, and noncooperative target 2 is brought into the receipts by frictional force between semi-rigid capture net 120 and noncooperative target 2
It receives in cylinder 300.When reaching specified position in the storage cylinder 300, stops semi-rigid capture net 120 and collapse movement.
After driving cover 302 that will store the closing of cylinder 300, the storage of noncooperative target 2 is realized, carry out follow-up work operation later.
The present invention also provides a kind of capture of noncooperative target and accommodation methods, include the following steps:
The S1:4 semi-rigid capture nets 120 are adjusted to unfolded state, rotation drive device 110 described in 4
Movement, the capture space for adjusting the semi-rigid capture net 120 are in maximum rating；
S2: the Target Detection unlit 200 measures the information such as 2 position of noncooperative target, posture, feeds back to described defend
Star, satellite adjust movement and posture in real time, close to noncooperative target, make it into the capture space；
S3: the controller 400 controls the rotation and drives after receiving " the capture signal " that the satellite issues
The dynamic quickly rotation of device 110 drives the semi-rigid capture net 120 to collapse capture space, noncooperative target 2 and described half
Rigid capture net 120 contacts, and noncooperative target 2 is clamped, and realizes capture；
S4: measuring the posture of noncooperative target 2 by the distance measuring sensor 301, adjusts separately 4 semi-rigids
Property capture 120 expanded position of net realize attitude updating to noncooperative target 2；Then, S5 is entered step；
S5: it is collapsed by the 4 semi-rigid capture nets 120 of synchronous driving simultaneously, noncooperative target 2 is brought into institute
In the storage cylinder 300 stated.When reaching specified position in the storage cylinder 300, stops semi-rigid capture net 120 and collapse
Movement；
S6: after storage cylinder 300 is closed, the storage of noncooperative target is completed.
A kind of capture systems and method that the present invention is proposed for the inert satellite or space junk of irregular figure, with tradition
The manipulator mode of arresting compare, have capture adaptation range it is big, it is transferable storage, it is reusable, to carrier spacecraft control
System require it is low, highly-safe, consumption little energy the advantages that.
Claims (6)
1. a kind of noncooperative target capture systems characterized by comprising Target Detection unlit, storage cylinder, controller and
Several rotation capturing units；
Each rotation capturing unit includes a rotation drive device, half rigid capture net and one for controlling described half
Rigid capture net collapses or the folding-unfolding mechanism of expansion, the rotation capturing unit are uniformly distributed and install centered on storing cylinder
It is fixed on satellite head end panel, the rotation axis is vertical with satellite head end panel, and the rotation capturing unit can enclose
It is rotated around respective rotation axis；
A plane is formed after the semi-rigid capture net unfolding, the plane approximation is perpendicular to the satellite head end panel；
Wherein, the rotation capturing unit drives semi-rigid capture net to storage cylinder central synchronous rotation, reduces semi-rigid catch
It obtains made of lock is crowded around and captures space, after several described rotation capturing units contact compression with noncooperative target, realize
Capture to noncooperative target.
2. noncooperative target capture systems as described in claim 1, it is characterised in that:
Before capturing noncooperative target, the semi-rigid capture net is in unfolded state, and several described semi-rigid captures
Netting institute's envelope capture space is maximum rating；
When capturing noncooperative target, several semi-rigid captures are netted while being rotated, and are collapsed capture space, are contacted and capture non-
Cooperative target；
After the completion of capturing noncooperative target, the stretching, extension displacement of the semi-rigid capture net is adjusted, is realized to noncooperative target
Attitude updating, several described semi-rigid capture nets, which synchronize, to be collapsed, and realizes and noncooperative target is transferred to the storage cylinder
It is interior.
3. noncooperative target capture systems as described in claim 1, it is characterised in that: the semi-rigid capture net volume is around receipts
It is contained in folding-unfolding mechanism.
4. noncooperative target capture systems as described in claim 1, it is characterised in that: it is described rotation capturing unit quantity be
4.
5. capture and the accommodation method of a kind of noncooperative target, it is characterised in that: according to any one of claims 1 to 4
The capture systems of noncooperative target, include the following steps:
S1: several described semi-rigid capture nets are adjusted to unfolded state, and the rotation drive device moves, described in adjustment
The capture space of semi-rigid capture net be in maximum rating；
S2: the Target Detection unlit measures noncooperative target status information, feeds back to the satellite, and satellite adjusts in real time
Movement and posture make it into the capture space close to noncooperative target；
S3: the controller controls the rotation drive device after receiving " the capture signal " that the satellite issues
Rotation drives the semi-rigid capture net to collapse capture space, and noncooperative target is contacted with the semi-rigid capture net, will
Noncooperative target clamps, and realizes capture；
S4: measuring the posture of noncooperative target by the distance measuring sensor, adjusts separately the semi-rigid capture net exhibition
Realize the attitude updating to noncooperative target in open position；
S5: by synchronous driving simultaneously, several described semi-rigid capture nets are collapsed, and noncooperative target is brought into the receipts
It receives in cylinder, when reaching specified position in the admission extinguisher body, stops semi-rigid capture net and collapse movement；
S6: after storage cylinder closing, the storage of noncooperative target is completed.
6. capture and the accommodation method of a kind of noncooperative target as claimed in claim 5, it is characterised in that: in step s 2,
The status information of the noncooperative target status information includes position, posture.
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| CN110294148A (en) * | 2019-04-19 | 2019-10-01 | 蓝箭航天空间科技股份有限公司 | A kind of auxiliary recovery system for carrier rocket recycling |
| CN110450990A (en) * | 2019-08-16 | 2019-11-15 | 西北工业大学 | Space non-cooperative target capture systems and catching method based on micro-nano satellite cluster |
| CN110450991A (en) * | 2019-08-16 | 2019-11-15 | 西北工业大学 | The method of micro-nano satellite cluster capture space non-cooperative target |
| CN110450989A (en) * | 2019-08-16 | 2019-11-15 | 西北工业大学 | Micro-nano satellite cluster captures the attaching racemization and rail prosecutor method of space non-cooperative target |
| CN112572836A (en) * | 2020-12-15 | 2021-03-30 | 上海宇航系统工程研究所 | Method for selecting net capture load emission window based on discarded satellite attitude nutation characteristic |
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| CN110294148A (en) * | 2019-04-19 | 2019-10-01 | 蓝箭航天空间科技股份有限公司 | A kind of auxiliary recovery system for carrier rocket recycling |
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| CN110450989B (en) * | 2019-08-16 | 2021-03-30 | 西北工业大学 | Attaching despin and orbit control method for micro-nano satellite cluster capture space non-cooperative target |
| CN110450991B (en) * | 2019-08-16 | 2021-03-30 | 西北工业大学 | Method for capturing spatial non-cooperative target by micro-nano satellite cluster |
| CN112572836A (en) * | 2020-12-15 | 2021-03-30 | 上海宇航系统工程研究所 | Method for selecting net capture load emission window based on discarded satellite attitude nutation characteristic |
| CN112699542A (en) * | 2020-12-22 | 2021-04-23 | 上海宇航系统工程研究所 | Space rope net launching capture non-cooperative target overall process simulation method |
| CN112699542B (en) * | 2020-12-22 | 2022-04-19 | 上海宇航系统工程研究所 | Space rope net launching capture non-cooperative target overall process simulation method |
| CN113955161A (en) * | 2021-12-10 | 2022-01-21 | 北京科技大学 | Space non-cooperative target capturing device and capturing method thereof |
| CN113955161B (en) * | 2021-12-10 | 2023-06-20 | 北京科技大学 | Capturing device and capturing method for space non-cooperative target |
| CN114291293A (en) * | 2021-12-13 | 2022-04-08 | 哈尔滨工业大学 | Spatial non-cooperative target cabin locking system based on rope and locking method thereof |
| CN116135703A (en) * | 2023-04-20 | 2023-05-19 | 中国科学院沈阳自动化研究所 | Passive closing-in structure of space flying net system |
| CN116135703B (en) * | 2023-04-20 | 2023-06-16 | 中国科学院沈阳自动化研究所 | Passive closing-in structure of space flying net system |
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