CN110254755B - Space debris removing device and method and space debris maintenance method - Google Patents
Space debris removing device and method and space debris maintenance method Download PDFInfo
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- CN110254755B CN110254755B CN201910603574.0A CN201910603574A CN110254755B CN 110254755 B CN110254755 B CN 110254755B CN 201910603574 A CN201910603574 A CN 201910603574A CN 110254755 B CN110254755 B CN 110254755B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
The invention discloses a space debris clearing device, a space debris clearing method and a space debris maintenance method, wherein the device comprises the following steps: the device comprises a carrying mechanism, a telescopic mechanism, a synchronous turntable and a flexible catching mechanism; a carrying mechanism for maneuvering into synchronization with the target debris trajectory; one end of the telescopic mechanism is inserted into and limited in the carrying mechanism and can be arranged in a rotating way, and the other end of the telescopic mechanism is connected with the flexible catching mechanism; the synchronous turntable is rotatably arranged on one side surface of the carrying mechanism and is sleeved on the telescopic mechanism to drive the telescopic mechanism to rotate; the flexible catching mechanism is used for catching target fragments and is in flexible contact with the target fragments. The space debris clearing device, the space debris clearing method and the space debris maintenance method can drive the flexible catching mechanism and the target debris to synchronously rotate, and are convenient to catch the rotating space debris. The space debris of different appearances can be captured, and the collision is not easy to generate, the application range is wider, and the stability and the safety are higher.
Description
Technical Field
The invention relates to the technical field of spaceflight, in particular to a space debris removing device and method and a space debris maintaining method.
Background
Space debris is a product left over by humans from space activities and ranges from discarded satellites, debris from fuel tank explosions or impacts, the last stage of a launch vehicle, jettisons during the performance of space missions, and the like. Space debris has great potential threat to safety of spacecrafts and astronauts, and space debris cleaning becomes an important problem to be solved urgently in the aerospace industry.
The aerospace major countries such as the United states, Japan and Western Europe are competing for developing new technologies for cleaning space debris, and China has listed the "space debris cleaning technology" as a major scientific and technological special item. Space debris is generally a non-cooperative object, and is easy to cause large disturbance due to momentum transfer when being captured in a space microgravity environment. Furthermore, if rigid trapping is implemented, secondary fragments may be generated due to collisions. Therefore, the space debris removing device and the space debris removing method are suitable for the requirements of removing various debris (with different shapes, materials and different rotating states), have important theoretical and practical significance and have great application value.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a space debris clearing device, a space debris clearing method and a space debris maintenance method. The specific technical scheme is as follows:
in a first aspect, there is provided a space debris removal apparatus, the apparatus comprising: the device comprises a carrying mechanism, a telescopic mechanism, a synchronous turntable and a flexible catching mechanism; the carrying mechanism is used for maneuvering to be synchronous with the target fragment track; one end of the telescopic mechanism is inserted into and limited in the carrying mechanism and is arranged in a rotating manner, and the other end of the telescopic mechanism is connected with the flexible catching mechanism; the synchronous turntable is rotationally arranged on one side surface of the carrying mechanism, and the synchronous turntable is sleeved on the telescopic mechanism and used for driving the telescopic mechanism to rotate; the flexible catching mechanism is used for catching target fragments and is in flexible contact with the target fragments.
In one possible design, the flexible catch mechanism comprises: a substrate, a flexible wrist foot; the other end of the telescopic mechanism is connected with one side surface of the substrate, and the plurality of flexible wrist feet are connected to the other side surface of the substrate; the flexible wrist foot is made of shape memory alloy materials and extends out along an arc shape after being heated, and the extending direction of the flexible wrist foot points to the axis direction of the substrate and is used for wrapping target fragments.
In one possible design, the flexible catch means is a catch brush provided with bristles on the side intended to come into contact with target debris.
In one possible design, the carrying mechanism comprises: an attitude and orbit control module for adjusting the attitude and the orbit of the carrying mechanism; the house service and counting module is used for controlling the telescopic mechanism, the synchronous turntable and the flexible capturing mechanism to act; the inter-satellite communication module is used for receiving and transmitting data; and the power supply module is used for supplying power.
In a possible design, the device further comprises a video reconnaissance module, wherein the video reconnaissance module is connected with the house service and digital tube module and used for acquiring video information of target fragments and sending the video information to the house service and digital tube module, and the house service and digital tube module controls the telescopic mechanism, the synchronous turntable and the flexible capture mechanism to act according to the video information.
In one possible design, the device further comprises a magnetic torquer for derotation.
In a second aspect, there is provided a method of space debris removal using a space debris removal apparatus according to any one of the preceding claims, the method comprising:
a preparation stage: the carrying mechanism moves to be synchronous with the target fragment track, the telescopic mechanism moves, and the flexible capturing mechanism moves to a capturing position;
a capturing stage: if the target fragments rotate, starting a synchronous turntable, driving the flexible capturing mechanism to rotate synchronously with the target fragments through the telescopic mechanism, and then starting the flexible capturing mechanism for capturing;
the operation stage is as follows: the carrying mechanism is motorized to a lower track or a recovery platform;
and (3) a release stage: the flexible catching mechanism acts to release target fragments.
In one possible design, during the operation stage, if the rotation angular velocity exists in the combination of the target debris and the debris removal device, the magnetic torquer is started to perform racemization, so that the posture of the combination is stable.
In one possible design, in the preparation phase, after the carrying mechanism is moved to be synchronous with the target fragment orbit, the attitude and orbit control module is used for carrying out the extremely short-distance attitude and orbit control, and the distance between the carrying mechanism and the target fragment is shortened.
In a third aspect, there is provided a method of space debris maintenance using a space debris removal apparatus according to any one of the preceding claims, the method comprising:
a preparation stage: the carrying mechanism moves to be synchronous with the target fragment track, the telescopic mechanism moves, and the flexible capturing mechanism moves to a capturing position;
a capturing stage: if the target fragments rotate, starting a synchronous turntable, driving the flexible capturing mechanism to rotate synchronously with the target fragments through the telescopic mechanism, and then starting the flexible capturing mechanism for capturing;
the operation stage is as follows: the carrying mechanism performs on-orbit maintenance, part replacement, system takeover and experimental operation on target fragments;
and (3) a release stage: the flexible catching mechanism acts to release target fragments.
The technical scheme of the invention has the following main advantages:
the space debris removing device, the space debris removing method and the space debris maintenance method can finish operations such as removing and maintaining space debris. Through setting up synchronous turntable and rotatable telescopic machanism, can drive the synchronous rotation of catching mechanism and target piece, be convenient for catch the space piece in the rotation. Through setting up the flexible mechanism of arresting, can catch the space piece of different appearances (for example, have complicated overhanging mechanism), and difficult production collision avoids the secondary piece because of the collision leads to, and application scope is wider, and stability and security are higher.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. On the attachment
In the figure:
fig. 1 is a schematic structural diagram of a space debris removal device according to an embodiment of the present invention.
Description of reference numerals:
1-carrying mechanism, 2-telescoping mechanism, 3-synchronous turntable, 4-flexible capturing mechanism, 41-substrate and 42-flexible wrist foot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
In a first aspect, an embodiment of the present invention provides a space debris removing device, as shown in fig. 1, the device including: the device comprises a carrying mechanism 1, a telescopic mechanism 2, a synchronous turntable 3 and a flexible capturing mechanism 4. A carrying mechanism 1 for maneuvering into synchronization with the target debris trajectory. One end of the telescopic mechanism 2 is inserted into and limited in the carrying mechanism 1 and is arranged in a rotating way, and the other end of the telescopic mechanism is connected with the flexible catching mechanism 4. Synchronous turntable 3 sets up on a side of carrying mechanism 1 with rotating, and synchronous turntable 3 suit is used for driving telescopic machanism 2 synchronous rotation on telescopic machanism 2. The flexible catching mechanism 4 is used for catching target fragments and is in flexible contact with the target fragments.
The working principle of the space debris removing device provided by the embodiment of the invention is explained as follows:
when in use, the device comprises a preparation stage, a capture stage, an operation stage and a release stage which are sequentially carried out. The specific process is as follows: the carrying mechanism 1 is mechanically driven to be synchronous with the target debris track, and the telescopic mechanism 2 acts to move the flexible capturing mechanism 4 to the capturing position. A capturing stage: if the target fragments rotate, the synchronous turntable 3 is started, the flexible catching mechanism 4 is driven by the telescopic mechanism 2 to rotate synchronously with the target fragments, and then the flexible catching mechanism 4 is started to catch the target fragments. The operation stage is as follows: the carrier 1 is motorized to a lower track or recovery platform. And (3) a release stage: the flexible catching mechanism 4 acts to release the target debris. Through the above process, the removal of space debris can be completed. Or in the operation stage, the target fragments can be subjected to on-track maintenance, part replacement, system connection, experiments and other operations through the carrying mechanism 1, so that the space fragments are maintained.
Therefore, the space debris removing device provided by the embodiment of the invention can complete the operations of removing and maintaining the space debris and the like. Through setting up synchronous carousel 3 and rotatable telescopic machanism 2, can drive the synchronous revolution of flexible mechanism 4 of arresting and target piece, be convenient for catch the space piece in the rotation. Through setting up flexible mechanism 4 of arresting, can catch the space piece of different appearances (for example, have complicated overhanging mechanism), and difficult production collision avoids the secondary piece because of the collision leads to, and application scope is wider, and stability and security are higher.
In the embodiment of the invention, the telescopic mechanism 2 drives the flexible capturing mechanism 4 to move through the telescopic action of the telescopic mechanism 2, and as an example, the telescopic mechanism 2 can be a multi-stage telescopic structure formed by sleeving a plurality of pipe fittings step by step, so that the length can be conveniently adjusted to different lengths.
As an example, the flexible catching mechanism 4 may include: substrate 41, flexible wrist foot 42. The other end of the telescopic mechanism 2 is connected to one side surface of the substrate 41, and a plurality of flexible wrist legs 42 are connected to the other side surface of the substrate 41. The flexible wrist foot 42 is made of Shape Memory Alloy (SMA for short), the flexible wrist foot 42 is set to extend out along an arc Shape after being heated, and the extending direction of the flexible wrist foot 42 points to the axial direction of the substrate 41 for wrapping the target fragment.
By the arrangement, when the heating device is used for heating, the flexible wrist and foot 42 bends and extends to wrap and adsorb target fragments, rigid collision cannot be generated, and the flexible wrist and foot fixing device has good flexibility. When the release is needed, the flexible wrist and foot 42 is cooled and reset, and the covering of the target fragments is released. The flexible wrist foot 42 is in line contact with the target fragment, so that the parts such as complicated outward extending parts or parts which are not easy to contact can be avoided easily, and the flexible wrist foot is well suitable for capturing the target fragment made of complicated materials and with complicated structures.
Further, the surface of the flexible wrist foot 42 may be coated with silicone rubber to further improve cushioning. The silicon rubber has better high-temperature stability and ductility, and can be matched with the expansion of the flexible wrist and foot 42.
Wherein, a plurality of flexible wrist feet 42 can be evenly distributed along the circumference of the substrate 41, so as to enable the target fragments to be evenly stressed. For example, the substrate 41 may have a square structure, and four flexible wrist feet 42 are respectively distributed at four vertexes of the substrate 41. Alternatively, the substrate 41 may be square, circular or other structures, six flexible wrist feet 42 are circumferentially enclosed to form a circle, and an included angle between two adjacent flexible wrist feet 42 is 60 degrees.
As another example, the flexible catching means 4 may be a catching brush, the side of which for contact with target debris is provided with bristles. The capture brush is in local surface contact with the target fragments, so that complex overhanging structures on the surface of the target fragments can be avoided easily. And hard contact is converted into soft contact by the arrangement of the bristles.
Specifically, the number of catch brushes may be two or more, and when the number of catch brushes is two, the two catch brushes are spaced oppositely; when the number of the catch brushes is plural, the plural catch brushes are evenly distributed in the circumferential direction. So set up, make the distribution of catching the brush more even, improve and catch the effect. The capture brush may be a hollow ring structure. Through setting up the capture brush into hollow annular structure, on the one hand, to generally being spherical or approximate spherical space debris structure, annular structure's capture brush can have a bigger area of contact with the space debris than platelike structure, and then makes fixed effect and racemization effect preferred. On the other hand, the capture brush of the ring-shaped mechanism can be suitable for space debris with complex shape structures, such as space debris with bulges or antennae and the like on the surface, and the bulges or antennae and the like can penetrate through the hollow of the ring-shaped structure, so that the contact between the capture brush and the space debris is not greatly interfered.
At least two kinds of bristles with different hardness are arranged on the inner wall of the capturing brush, and the bristles with different hardness are alternately distributed. Through setting up the different brush hair interval distribution of hardness, the cushioning effect of softer brush hair is fabulous, and harder brush hair can apply bigger resistance and improve racemization efficiency, can have the racemization efficiency of preferred, can avoid again producing great impact to space debris.
Optionally, in the space debris removing device provided in the embodiment of the present invention, the carrying mechanism 1 includes: an attitude and orbit control module for adjusting the attitude and orbit of the carrying mechanism 1, a housekeeping and digital tube module for controlling the actions of the telescopic mechanism 2, the synchronous turntable 3 and the flexible catching mechanism 4, an inter-satellite communication module for receiving and transmitting data and a power supply module for supplying power.
Optionally, the space debris removing device provided by the embodiment of the invention further comprises a video reconnaissance module, the video reconnaissance module is connected with the house service and counting module and is used for acquiring video information of the target debris and sending the video information to the house service and counting module, and the house service and counting module controls the telescopic mechanism 2, the synchronous turntable 3 and the flexible capturing mechanism 4 to act according to the video information. The video information of the target fragments is obtained through the video reconnaissance module, parameters such as the distance from the target fragments, the structures of the target fragments and the rotation conditions of the target fragments can be obtained, and then the telescopic mechanism 2, the synchronous turntable 3 and the flexible capturing mechanism 4 are guided to move.
Optionally, the space debris removal device provided by the embodiment of the invention further comprises a magnetic torquer for racemization. After the capturing mechanism grasps the target fragments, the rotating torque of the target fragments can drive the space fragment clearing device to rotate along with the target fragments, the magnetic torquer is started, and the rotation of the combination of the target fragments and the space fragment clearing device is eliminated by utilizing the acting force generated by the earth magnetic field. The carrying mechanism can be a small satellite platform, the mass and the volume of the magnetic torquer are small, propellant is not consumed, and the magnetic torquer is well suitable for the small satellite platform. For example, for a spherical space debris with a mass of 150kg, a diameter of 1.0m, and a rotational speed of 140rpm, damping despinning can be achieved by operating the magnetic torquer for 10 hours.
In a second aspect, an embodiment of the present invention provides a method for removing space debris by using the space debris removing device in any one of the above-mentioned methods, including:
a preparation stage: the carrying mechanism 1 is mechanically driven to be synchronous with the target debris track, and the telescopic mechanism 2 acts to move the flexible capturing mechanism 4 to the capturing position.
A capturing stage: if the target fragments rotate, the synchronous turntable 3 is started, the flexible catching mechanism 4 is driven by the telescopic mechanism 2 to rotate synchronously with the target fragments, and then the flexible catching mechanism 4 is started to catch the target fragments.
The operation stage is as follows: the carrier 1 is motorized to a lower track or recovery platform.
And (3) a release stage: the flexible catching mechanism 4 acts to release the target debris.
According to the space debris removing method provided by the embodiment of the invention, the synchronous turntable 3 and the rotatable telescopic mechanism 2 are arranged, so that the flexible capturing mechanism 4 and the target debris can be driven to synchronously rotate, and the space debris in rotation can be captured conveniently. Through setting up flexible mechanism 4 of arresting, can catch the space piece of different appearances (for example, have complicated overhanging mechanism), and difficult production collision avoids the secondary piece because of the collision leads to, and application scope is wider, and stability and security are higher.
Optionally, the method further comprises: in the operation stage, if the rotation angular velocity exists in the combination of the target fragments and the fragment clearing device, the magnetic torquer is started to despin, so that the posture of the combination is stable.
Optionally, the method further includes, in the preparation phase, after the carrying mechanism 1 is maneuvered to be synchronized with the target fragment orbit, performing very short-distance attitude and orbit control through the attitude and orbit control module, shortening the distance between the carrying mechanism 1 and the target fragment, and further reducing the difficulty in capturing.
In a third aspect, there is provided a method of space debris maintenance using a space debris removal apparatus according to any one of the preceding claims, the method comprising:
a preparation stage: the carrying mechanism 1 is mechanically driven to be synchronous with the target debris track, and the telescopic mechanism 2 acts to move the flexible capturing mechanism 4 to the capturing position.
A capturing stage: if the target fragments rotate, the synchronous turntable 3 is started, the flexible catching mechanism 4 is driven by the telescopic mechanism 2 to rotate synchronously with the target fragments, and then the flexible catching mechanism 4 is started to catch the target fragments.
The operation stage is as follows: the carrying mechanism 1 carries out on-track maintenance, part replacement, system takeover and experimental operation on target fragments.
And (3) a release stage: the flexible catching mechanism 4 acts to release the target debris.
The space debris maintenance method provided by the embodiment of the invention can be used for executing various operations after capturing the target debris, is convenient for maintaining the spacecraft in use or carrying out experiments to obtain experimental data, and meets different use requirements. Through setting up synchronous turntable 3 and rotatable telescopic machanism 2, can drive flexible capture mechanism 4 and target piece and carry out synchronous revolution, be convenient for catch the space piece in the rotation. Through setting up flexible mechanism 4 of arresting, can catch the space piece of different appearances (for example, have complicated overhanging mechanism), and difficult production collision avoids the secondary piece because of the collision leads to, and application scope is wider, and stability and security are higher.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A space debris removal apparatus, the apparatus comprising: the device comprises a carrying mechanism, a telescopic mechanism, a synchronous turntable and a flexible catching mechanism;
the carrying mechanism is used for maneuvering to be synchronous with the target fragment track;
one end of the telescopic mechanism is inserted into and limited in the carrying mechanism and is arranged in a rotating manner, and the other end of the telescopic mechanism is connected with the flexible catching mechanism;
the synchronous turntable is rotationally arranged on one side surface of the carrying mechanism, and the synchronous turntable is sleeved on the telescopic mechanism and used for driving the telescopic mechanism to rotate;
the flexible catching mechanism is used for catching target fragments and is in flexible contact with the target fragments;
the flexible capturing mechanism is a capturing brush, the capturing brush is of a hollow annular structure, the number of the capturing brushes is more than two, when the number of the capturing brushes is two, the two capturing brushes are opposite at intervals, and when the number of the capturing brushes is more than two, the capturing brushes are uniformly distributed along the circumferential direction;
at least two kinds of bristles with different hardness are arranged on one side face of the capture brush, which is in contact with target fragments, and the bristles with different hardness are alternately distributed.
2. The space debris removal device of claim 1, wherein the carrying mechanism comprises:
an attitude and orbit control module for adjusting the attitude and the orbit of the carrying mechanism;
the house service and counting module is used for controlling the telescopic mechanism, the synchronous turntable and the flexible capturing mechanism to act;
the inter-satellite communication module is used for receiving and transmitting data;
and the power supply module is used for supplying power.
3. The space debris removing device according to claim 2, further comprising a video reconnaissance module, wherein the video reconnaissance module is connected with the house service and counting module, and is used for acquiring video information of target debris and sending the video information to the house service and counting module, and the house service and counting module controls the telescopic mechanism, the synchronous turntable and the flexible catching mechanism to act according to the video information.
4. The space debris removal device of claim 1, further comprising a magnetic torquer for derotation.
5. A method of space debris removal using the space debris removal apparatus of any of claims 1-4, the method comprising:
a preparation stage: the carrying mechanism moves to be synchronous with the target fragment track, the telescopic mechanism moves, and the flexible capturing mechanism moves to a capturing position;
a capturing stage: if the target fragments rotate, starting a synchronous turntable, driving the flexible capturing mechanism to rotate synchronously with the target fragments through the telescopic mechanism, and then starting the flexible capturing mechanism for capturing;
the operation stage is as follows: the carrying mechanism is motorized to a lower track or a recovery platform;
and (3) a release stage: the flexible catching mechanism acts to release target fragments.
6. A method according to claim 5, wherein during the operational phase, if there is a rotational angular velocity of the combination of the target debris and the debris removal device, the magnetic torquer is activated to de-rotate and stabilize the attitude of the combination.
7. The space debris removal method of claim 5, wherein in the preparation phase, after the carriage mechanism is maneuvered to synchronize with the target debris trajectory, the attitude and trajectory control module performs a very close range attitude and trajectory control to shorten the distance between the carriage mechanism and the target debris.
8. A method of space debris maintenance using the space debris removal apparatus of any of claims 1 to 4, the method comprising:
a preparation stage: the carrying mechanism moves to be synchronous with the target fragment track, the telescopic mechanism moves, and the flexible capturing mechanism moves to a capturing position;
a capturing stage: if the target fragments rotate, starting a synchronous turntable, driving the flexible capturing mechanism to rotate synchronously with the target fragments through the telescopic mechanism, and then starting the flexible capturing mechanism for capturing;
the operation stage is as follows: the carrying mechanism performs on-orbit maintenance, part replacement, system takeover and experimental operation on target fragments;
and (3) a release stage: the flexible catching mechanism acts to release target fragments.
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| CN112078836B (en) * | 2020-09-02 | 2022-10-28 | 西北工业大学 | Large inflatable flexible despinning device and method |
| CN113815015B (en) * | 2021-08-31 | 2023-05-09 | 北京精密机电控制设备研究所 | Multi-soft arm space target racemization ground physical verification system |
| CN114435634B (en) * | 2021-12-29 | 2023-05-23 | 中国人民解放军国防科技大学 | Combined separation type maneuvering flying net and space target capturing method |
| CN115320896A (en) * | 2022-09-21 | 2022-11-11 | 苏州三垣航天科技有限公司 | Spatial target volume catching mechanism and control method thereof and related equipment |
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| CN106809405B (en) * | 2017-01-09 | 2018-11-13 | 西北工业大学 | A kind of primary and secondary star space junk removes platform and sweep-out method |
| 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 |
| CN109250159B (en) * | 2018-09-27 | 2020-05-29 | 中国人民解放军国防科技大学 | Bionic fly net system for capturing space debris |
| CN109693810B (en) * | 2018-12-29 | 2022-04-26 | 西北工业大学 | Star receiving structure for cleaning space debris |
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