JP2016128285A - Space floating object capturing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique to capture a space floating object without destroying it.SOLUTION: A space floating object capturing device 100 for capturing a space floating object 200 includes a device body 1 equipped with detection means 2 for detecting the space floating object, and capturing means 3 provided to the device body for capturing the space floating object. The capturing means launches an adhesion body 4 that adheres to the surface of the space floating object and is fixed to it, toward the space floating object detected by the detection means from the device body with a string attached, and interconnects the space floating object and the device body.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a space flotation capturing device that captures a space flotation.

  As the demand for artificial satellites increases, there is a problem of debris that is a barrier to operations, such as broken artificial satellites and debris such as rockets, on useful orbits. Gradually being drawn to the Earth's gravity, some may go out of orbit, but it takes time. A method of actively removing these debris from the orbit has been proposed (Patent Document 1 and Patent Document 2).

  In the method described in Patent Document 1, a conductive tether that generates a braking force by electromagnetic interaction with a geomagnetic field is captured so as to be attached to debris by operating a robot arm.

  In the method described in Patent Document 2, a film-like pressure receiving device that receives atmospheric pressure or solar radiation pressure that promotes a fall to the ground or a change in trajectory is captured so as to be driven and attached to debris.

JP 2004-98959 A JP 2010-285137 A

  In a malfunctioning satellite or the like, the control function does not work, and the orbit is generally orbited with irregular rotational movement called tumbling. In order to connect a removal device such as a tether or pressure receiver to an object that is tumbling in this way, a predetermined distance should be used to prevent a collision between the spacecraft equipped with the removal device and the tumbling object. Need to work.

  In the above-mentioned conventional method, the spacecraft equipped with the removal device does not collide with the tumbling object, but the floating object to be captured is damaged by operating the robot arm or driving the spear, There was a risk that the debris could become a new space float.

  Note that the above-mentioned problems are not limited to artificial satellites, for example, objects floating in outer space, such as objects derived from artificial objects, or suspended objects that become obstacles in the orbits of artificial satellites to be introduced in the future The same applies to other space suspended matter.

  The present invention provides a technique for capturing a space suspended object without destroying it with a relatively simple configuration.

The present invention is a space flotation capturing device for capturing a space flotation device, the device main body provided with a detecting means for detecting the space flotation material, and provided in the device main body for capturing the space flotation material. Capturing means, and the capturing means launches an adhesive body adhered and fixed to the surface of the space suspended substance from the apparatus main body in a stringed state toward the space suspended object detected by the detecting means, The space suspended matter and the apparatus main body are interconnected.
According to such an aspect of the present invention, the space suspended matter is captured by adhering and fixing the adhesive body to the surface of the space suspended material, so that the space suspended material can be captured with a relatively simple configuration without being destroyed.

In the present invention, the adhesive body includes a plunger portion string-coupled to the device main body, and an ultraviolet curable adhesive layer formed on a distal end surface of the plunger portion. Is provided with shutter means for shielding the adhesive body before launching from ultraviolet rays, and the capturing means launches the adhesive body after the ultraviolet shielding state by the shutter means is released. .
According to this aspect of the present invention, the adhesive body before launch can be protected from ultraviolet rays, and the adhesive body can be more securely bonded and fixed to the surface of the space suspended matter.

Further, the present invention is characterized in that the plunger portion is provided from a member that transmits ultraviolet rays.
According to this aspect of the present invention, since the ultraviolet rays pass through the plunger portion and enter the ultraviolet curable adhesive layer, the adhesive body can be bonded and fixed to the surface of the space suspended matter more quickly.

Further, the present invention is characterized by further comprising propulsion means for moving the apparatus main body to a position where the space suspended substance detected by the detection means can be captured by the capture means.
According to this aspect of the present invention, it is possible to approach and capture the detected space suspended matter.

Further, the present invention is characterized by further comprising a detaching means for detaching the space suspended substance captured by the capturing means from a predetermined orbit.
According to this aspect of the present invention, the captured apparatus can be detached from the predetermined orbit by providing the device with the separation means.

Further, the present invention is further based on the image information of the space suspended matter obtained by the detecting means whether or not the space suspended matter exists within a range where the space suspended matter can be captured by the capturing means. Judgment means for judging is provided.
According to this aspect of the present invention, it becomes possible for the device itself to determine and capture the position of the space suspended matter.

Further, in the present invention, the detection unit acquires the parallax image for determining whether or not the space suspended substance exists within a range where the space suspended object can be captured by the capturing unit. It is characterized by being.
According to this aspect of the present invention, a parallax image of a space suspended object is acquired by the own device, and transmitted to another satellite or ground facility, for example, to determine whether the space suspended object exists at a position where it can be captured. It becomes possible to know.

Further, the present invention is characterized in that the capturing means is provided at a plurality of locations of the apparatus main body.
According to this aspect of the present invention, it is possible to capture a plurality of space suspended matters, and it is also possible to bond and fix a plurality of adhesive bodies to one space suspended matter.

  According to the present invention, it is possible to realize a space floating object capturing apparatus that captures space floating objects without destroying them with a relatively simple configuration. For example, since the space suspended material and the apparatus main body are interconnected and captured using an adhesive, the space suspended material is not damaged to the extent that debris is generated. Therefore, there is no possibility that the space suspended material is damaged and the debris becomes a new space suspended material.

1 is a schematic configuration diagram illustrating an example of a space suspended matter capturing apparatus according to an embodiment of the present invention. Schematic which shows the initial state of the space suspended matter capture device which concerns on one Embodiment of this invention. Schematic explaining the basic operation of the space suspended matter capturing apparatus according to one embodiment of the present invention. 1 is a control block diagram of a space suspended matter capturing apparatus according to an embodiment of the present invention. The figure explaining from the orbit arrival in the space suspended matter capture device concerning one embodiment of the present invention to space suspended matter capture. The figure explaining the removal from the predetermined orbit of the space suspended material in the space suspended material capture device concerning one embodiment of the present invention. The flowchart of space suspended object capture | acquisition based on one Embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram illustrating an example of a space suspended matter capturing apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the space float capturing apparatus 100 of this embodiment is an apparatus for capturing a space float by interconnecting and capturing the space float 200 and the apparatus main body 1 using an adhesive. It is.

  Specifically, the space floating object capturing apparatus 100 of the present embodiment includes, for example, the apparatus main body 1 provided with the detection means 2 for detecting space floating objects, and the apparatus main body 1 to capture the space floating object 200. And capturing means 3 to be provided.

  Here, the capturing unit 3 includes, for example, an adhesive body 4 that is bonded and fixed to the surface of the space suspended matter 200 toward the space suspended matter 200 detected by the detecting unit 2.

  Then, the capturing means 3 launches the adhesive 4 from the apparatus main body 1 in a stringed state, and the space suspended matter 200 is interconnected with the apparatus main body 1 and captured. Therefore, the capturing means 3 serves as a connecting means for connecting the space suspended object 200 and the apparatus main body 1.

  As a result, the space float capturing apparatus 100 interconnects and captures the space float 200 and the apparatus main body 1 using the adhesive 4, so that the space float 200 is not damaged to the extent that debris is generated. That is, the space suspended object 200 can be captured nondestructively. Therefore, there is no possibility that the space suspended object 200 is damaged and the debris becomes a new space suspended object.

  In addition, it is also possible to capture, for example, a satellite in operation, which is not debris, by using the space floating object capturing apparatus 100 described above. According to the present invention, since a satellite or the like can be captured without being destroyed, data and samples can be easily taken out without being damaged. Note that the space suspended matter 200 to be captured by the space suspended matter capturing apparatus 100 of the present embodiment includes, for example, artificial satellites such as partially or completely broken satellites and fragments. Specifically, for example, artificial satellites whose functions have been stopped due to a failure of a power supply means, or fragments of rocks derived from small celestial bodies such as husks, fairings, meteors, etc., which were discarded when the rocket was launched can be captured.

  Hereinafter, with reference to FIG. 2 to FIG. 4 in addition to FIG. FIG. 2 is a schematic diagram showing an initial state of the space suspended matter capturing apparatus according to the embodiment of the present invention. FIG. 3 is a schematic diagram for explaining the basic operation of the space suspended matter capturing apparatus according to one embodiment of the present invention. FIG. 4 is a control block diagram of the space suspended matter capturing apparatus according to the embodiment of the present invention.

  As shown in FIG. 2 to FIG. 4, the space flotation device 100 is provided with a device main body 1 provided with a detecting means 2 for detecting a space flotation material and the device main body 1 to capture a space flotation material 200. And capture means 3.

  The capturing means 3, for example, launches an adhesive body 4 that is bonded and fixed to the surface of the space floating object 200 from the apparatus body 1 in a stringed state toward the space floating object 200 detected by the detection means 2, and the space floating object 200. And the device body 1 are connected to each other and captured. Specifically, for example, the adhesive body 4 includes a plunger portion 41 that is string-connected to the apparatus main body 1 and an ultraviolet curable adhesive layer 42 that is formed on the distal end surface of the plunger portion 41.

  Further, the capturing means 3 is connected to the thrust generating section 31 and the adhesive body 4 for string connection via the plunger section 41, which becomes a launching means for generating a thrust force on the plunger section 41 and firing the adhesive body 4. A wire rope 43 is provided. Furthermore, the apparatus main body 1 may have an adjustment structure for finely adjusting the firing direction of the adhesive 4 and an actuator, for example, a gimbal and an electric motor.

  In the state before launching, as shown in FIG. 2, the adhesive body 4 is sealed in the apparatus main body 1 with, for example, an ultraviolet curable adhesive layer 42 on the distal end surface of the plunger portion 41 having viscosity. . Here, the apparatus main body 1 includes, for example, a shutter 11 that shields the adhesive 4 before launch from ultraviolet rays, and the shutter 11 closes the opening 12 of the apparatus main body 1 so that the ultraviolet curable adhesive layer 42 is shielded from light. ing.

  Moreover, the thrust generation part 31 is provided with the spring 31a, the latch 31b, etc., for example, The latch 31b has meshed | engaged with the plunger part 41 in the state which the spring 31a which is a compression coil spring accumulated the repulsive force.

  As shown in FIG. 3, when the adhesive body 4 is launched toward the space floating object, the shutter 11 is opened by operating the motor 11a provided in the shutter 11, and the actuator 31c connected to the latch 31b is operated. Thus, the latch 31b is disengaged from the plunger portion 41, and the force stored in the spring 31a is released. The force generated by the spring 31 a (thrust generating portion 31) is transmitted to the plunger portion 41, and the adhesive body 4 is fired from the apparatus main body 1.

  In the above description, the thrust generating unit 31 uses the repulsive force of the compression coil spring. However, for example, the thrust generating unit 31 may be a small rocket motor with a built-in solid propellant or the like, and in accordance with a command from the control unit described later. The present invention is not limited to this as long as thrust can be applied to the bonded body 4 so that it can be fired.

  The wire rope 43 is a member that connects the space floating object 200 and the apparatus main body 1 by connecting the adhesive body 4 to the apparatus main body 1 via the plunger portion 41 and the adhesive body 4 stays on the space floating object 200. is there. For example, the wire rope 43 has a string shape of several meters, and may be stored so as to be wound around a reel 44 as shown in FIG. At the time of launch, as shown in FIG.

  The adhesive body 4 thrown away by the capturing means 3 hits the surface of the space suspended object 200 and generates a fixing force that fixes the relative position of the plunger portion 41 and the space suspended object 200. In the process of generating the adhering force, the adhesive body 4 has, for example, an ultraviolet curable adhesive layer 42, is in contact with the surface of the space suspended matter 200 in a state where the viscosity is left, and the gap between the members and the surface layer of the material It enters into fine irregularities and is exposed to ultraviolet rays in outer space for a predetermined time and hardens.

  The time of exposure to ultraviolet rays is preferably a length that allows the ultraviolet curable adhesive layer 42 to be completely cured. However, in the following process described later, the length that causes the connection between the space suspended matter 200 and the apparatus main body 1 to be uninterrupted is also possible. Good. Further, when the plunger portion 41 is made of a material that transmits ultraviolet rays, such as ultraviolet transmissive acrylic, so that the plunger portion 41 is not shaded so that the ultraviolet rays do not hit the ultraviolet curable adhesive layer 42, the above-described adhesive body 4 is formed. The time of exposure to the necessary ultraviolet rays after hitting the surface of the space suspended matter 200 can be shortened. Alternatively, the UV curable adhesive layer 42 is, for example, a few seconds after the shutter 11 is opened, and is then fired by the capturing means 3 after the curing starts, and contacts the surface of the space suspended matter 200 while the reaction proceeds in a chained manner. However, even if it enters into the gaps between the members and fine irregularities on the material surface layer and hardens, the time required for the adhesive 4 to be exposed to the necessary ultraviolet rays after it hits the surface of the space suspended matter 200 can be shortened.

  Then, the ultraviolet curable adhesive layer 42 is cured by the above-described means and stays on the space suspended matter 200, so that the space suspended material 200 and the apparatus main body 1 can be connected, for example, by checking the tension of the wire rope 43. You may do it. In the present invention, a plurality of capturing means 3 may be arranged in the apparatus main body 1. For example, you may arrange | position in the parallel two or more places which make the discharge direction of the adhesive body 4 the same direction. By multiplexing the capturing means 3 in this way, even when the connection between the first adhesive body 4 and the space suspended object 200 is interrupted, the adhesive body 4 is fired again to capture the space suspended object 200. Can increase the redundancy of the capture function.

  The detection means 2 for detecting the space suspended object has, for example, a plurality of lens groups, image pickup devices, and the like, and uses parallax to obtain the relative position and posture between the space suspended object 200 and the apparatus main body 1. The stereo camera 21 obtains distance information.

  Note that the detection unit 2 is not limited to the stereo camera as described above, and may be, for example, a fixed monocular camera. The distance information may be obtained from the phase difference of each pixel, or the space in the field of view. You may obtain | require from the ratio for which the image of the floating body 200 accounts. By making it possible to obtain a parallax image using the stereo camera as described above, it is possible to reduce the calculation for acquiring the distance information, and to simplify the calculation unit described later. Further, after the space suspended matter capturing apparatus 100 is provided with a communication means with another satellite or ground facility and the space suspended matter capturing apparatus (own apparatus) 100 acquires the parallax image of the space suspended matter, Is transmitted to the satellite or ground equipment, and whether or not the space suspended matter exists at a position where it can be captured is analyzed at another location, and the result is acquired by the space suspended matter capturing apparatus 100 and used for the capturing process. You may do it. In this case, a configuration such as a calculation unit can be omitted in the own apparatus.

  With the above-described configuration, the space suspended object 200 and the apparatus main body 1 are interconnected and captured using the adhesive 4, so that the space suspended object 200 is not damaged to the extent that debris is generated. Therefore, there is no possibility that the space suspended object 200 is damaged and the fragments become new debris, and the space suspended object 200 can be captured without being damaged.

  Further, as shown in FIGS. 2 to 4, in addition to the above, the space floating object capturing apparatus 100 has a propulsion means 5 that moves the apparatus main body 1 and a space floating object 200 captured by the capturing means 3 in a predetermined manner. The apparatus main body 1 may be provided with a detaching means 6 for detaching from the track. Note that the space suspended matter capturing apparatus 100 of the present embodiment has a configuration in which the detaching means 6 serves as the propulsion means 5.

  The propulsion unit 5 moves the apparatus main body 1 to a position where the space suspended matter 200 detected by the detection unit 2 can be captured by the capture unit 3. For example, in an apogee engine using liquid fuel, as shown in FIGS. 2 and 3, a nozzle 52 provided in a plurality of directions and a tank 52 in which liquid fuel for generating gas injected from these nozzles is loaded. Etc. The control unit, which will be described later, adjusts the gas injection amount from the nozzle 51, whereby the apparatus main body 1 is moved in a desired direction.

  The detaching means 6 causes the space suspended matter 200 captured by the capturing means 3 to leave the predetermined orbit by changing the speed while the space suspended matter 200 and the apparatus main body 1 are interconnected. For example, the control unit described later may control the gas injection amount of the propulsion unit 5 and may be used as a unit for accelerating or decelerating the apparatus body 1.

  Further, the detachment means 6 may not be the same as the propulsion means 5. For example, a conductive tether that generates braking force by electromagnetic interaction with the earth's magnetic field, or a membrane-type pressure receiver that receives atmospheric or solar radiation pressure that encourages falling to the ground or changing orbits. May be.

  Furthermore, as shown in FIGS. 2 to 4, the space suspended matter capturing apparatus 100 may include the control means 7 in the apparatus main body 1.

  The control unit 7 includes, for example, a calculation unit 71 that receives and processes a signal from the detection unit 2 and the like, and a control unit 72 that transmits a command to the capturing unit 3 and the propulsion unit 5 based on the calculation result of the calculation unit 71. Have

  The calculation unit 71 estimates the motion model of the space suspended object 200 from the time series information of the relative position and posture between the space suspended object 200 and the apparatus main body 1 based on the image information and the distance information obtained by the detection unit 2. Calculate the capture position and orientation. For example, the rotation center and the center of gravity of the space suspended object 200 can be obtained by extracting the space suspended object 200 by the background difference, tracking several points in the region, and combining the distance information. Specifically, the arithmetic unit 71 is configured by an arithmetic processing device such as a CPU, and includes a storage device that stores an image obtained by the detection unit 2. It may be.

  The control unit 72 activates the propulsion unit 5 based on the calculation result of the calculation unit 71, and the apparatus main body 1 moves to a position where the space suspended matter 200 detected by the detection unit 2 can be captured by the capture unit 3 and bonded. Arrange the direction to fire the body 4. When the capturing means 3 is provided with an adjustment structure for finely adjusting the firing direction of the adhesive 4 and an actuator or the like, the coarse positioning in the propulsion means 5 and the driving of the actuator are combined to set the firing direction of the adhesive 4 to a desired You may finely adjust the direction. In addition, the control unit 72 determines to send an operation command for firing the adhesive 4 to the capturing unit 3.

  Further, as shown in FIGS. 2 to 4, the space suspended matter capturing device 100 includes a solar cell 81 disposed on the outer peripheral surface of the device main body 1, and a device that is charged by the solar cell 81 and mounted on the device main body 1. The apparatus main body 1 may be provided with power supply means 8 for supplying power to the device.

  The power supply means 8 is, for example, a solar battery 81 disposed on the outer peripheral surface of the apparatus body 1 and a rechargeable battery 82 charged by the solar battery 81. The rechargeable battery 82 supplies the stored power via a device that distributes the stored power to the control unit 72, the detection means 2, and the like.

  As mentioned above, although this invention was demonstrated in detail based on one Embodiment, this invention is not limited to this one Embodiment.

  For example, in the above-described embodiment, the structure in which the adhesive body 4 has the ultraviolet curable adhesive layer 42 has been described as an example. However, the present invention is not limited to this, and an epoxy-based main agent and a curing agent are mixed in advance. The adhesive layer may be cured by heating. For example, the adhesive layer to be heat-cured is in contact with the surface of the space suspended matter 200 in a state in which the viscosity is left, enters a gap between members or minute irregularities on the surface of the material, and is exposed to sunlight for a predetermined time. It may be exposed to heat and cured.

  In the above-described embodiment, the configuration in which the detection unit 2 is the stereo camera 21 is described as an example. However, the present invention is not limited to this, and the space suspended object 200 is detected by, for example, a laser radar. May be.

  In the first embodiment described above, a parallax image is obtained by a stereo camera mounted on the apparatus main body. For example, a fixed monocular camera provided in the apparatus main body, an artificial satellite near the spacecraft, and the like. Position information (distance information) may be grasped by combining images obtained by cameras provided in other spacecrafts.

  In the embodiment described above, the apparatus main body 1 has, for example, the shape of an artificial satellite that is a rectangular parallelepiped having a side of several meters. Furthermore, the space floating object capturing device 100 may include a GPS sensor 13, a gyro, and the like mounted on the device main body 1.

  The present invention only needs to relate to a space flotation capturing device that captures a space flotation. In its specific configuration, for example, in a space flotation capture device that captures a space flotation, An apparatus main body provided with a detecting means for detecting the air and a capturing means provided on the apparatus main body for capturing the space suspended matter. The capturing means is directed toward the space suspended matter detected by the detecting means, An adhesive body that is bonded and fixed to the surface of the device is launched from the apparatus main body in a stringed state, and the space suspended matter and the apparatus main body are interconnected.

  Thus, since the present invention interconnects and captures the space suspended material and the apparatus body using the adhesive, the space suspended material is not damaged to the extent that debris is generated. Therefore, there is no possibility that the space floating material is damaged and the debris becomes a new space floating material, and the space floating material can be captured without being damaged. As a result, stable and reliable capture of space suspended matter can be realized, which can be used for securing a useful orbit.

  Hereinafter, with reference to FIGS. 5 to 7 in addition to FIGS. 1 to 4, the capture of the space suspended matter and the removal of the space suspended matter from the predetermined orbit by the space suspended matter capturing device described above will be described in detail. . In addition, FIG. 5 is a figure explaining from an orbit arrival to space suspended object capture | acquisition in the space suspended object capture apparatus which concerns on one Embodiment of this invention. FIG. 6 is a view for explaining removal of space suspended matter from a predetermined orbit in the space suspended matter capturing apparatus according to one embodiment of the present invention. FIG. 7 is a flowchart of space suspended object capture according to an embodiment of the present invention.

  As shown in FIG. 5 to FIG. 7, the method for removing the space suspended matter from the predetermined orbit according to the present embodiment is as follows. It is a removal method to remove the upper space suspended matter.

  Specifically, the orbit reaching step (S1) until the space flotation capturing device 100 reaches the vicinity of the orbit O around which the space flotation circulates 200, the space flotation capturing device 100 is moved, and the space flotation material is moved. After the capture device 100 reaches the position P2, the space suspended object 200 is detected, and the position P3 and the posture (hereinafter also referred to as the captured position P3 and the captured posture) that can be captured by launching the adhesive 4 to the space suspended material 200 are detected. The space floating object capturing device 100 is moved so as to take the capturing position P3 and the capturing posture, and the capturing preparation step (S2 to 7). 200 is connected to the space suspended matter 200, and the space suspension capturing device 100 is separated from the orbit O in a state where the apparatus main body 1 is connected to the space suspended matter 200. .

  Here, the orbit reaching step (S1) is a step of sending the space suspended matter capturing device 100 to the vicinity of the orbit O around which the space suspended matter 200 orbits. The device body 1 has, for example, the shape of an artificial satellite that is a rectangular parallelepiped with a side of several meters, and in order to put the space suspended matter capturing device 100 into a desired orbit from the earth, use transportation by a launch rocket. it can. The space flotation device 100 is mounted on a rocket, accelerated at a speed higher than the speed at which it escapes from the earth's gravitational sphere, and is temporarily introduced at an altitude of about 200 km, which is a parking orbit. On the parking trajectory, it travels by repulsion, and after that, it is accelerated again in a predetermined direction at a predetermined position by a launch rocket, and is then put into the target trajectory. Here, the target trajectory is the trajectory O or a near trajectory, and the position and direction of acceleration are obtained from the result of measuring the motion of the space suspended object 200 from the ground in advance.

  In order to increase the charging accuracy, for example, the altitude or the like may be adjusted using propulsion means 5 provided in the apparatus main body 1 based on GPS information. Preferably, the space flotation device 100 is thrown at a lower altitude than the orbit O by the launch rocket, and shortens the distance from the space flotation 200 using the propulsion means 5 while approaching the orbit O by the centrifugal force. And the required time can be shortened.

  In the capture preparation step (S2 to 7), the space floating object capturing apparatus 100 is moved through the position P2 (hereinafter also referred to as the detection position P2) where the detection means 2 detects the space floating object 200 and the capture position P3 and the capture posture. It is the process of moving to take. The detection position P2 is, for example, a position on the orbit O that is several tens of meters away from the space suspended object 200. The space floating object capturing device 100 moves from the position P1 where the orbit arrival process (S1), which is the previous process, is completed to the detection position P2 while moving toward the space floating object 200 while grasping its own position. In this operation, as in the orbit arrival step (S1), the propulsion means 5 provided in the apparatus main body 1 may be used based on GPS information. At this time, the space flotation device 100 determines whether or not the detection position P2 has been reached or not (S2). If the detection position P2 has not been reached, the space floating object capture device 100 moves toward the detection position P2. The movement is repeated (S3). If the detection position P2 has been reached, the space-floating matter capturing device 100 is moved so as to take the capturing position P3 and the capturing posture (S5 to 7).

  The space floating object capturing device 100 that has reached the detection position P2 detects the space floating object 200 (S4). This detection is, for example, imaging using the detection means 2 provided in the apparatus main body 1. Based on the result of estimating the motion state of the space suspended object 200 based on image information obtained by imaging, the capture position P3 and the capture posture are obtained (S5). The capture position P3 is at a position several meters away from the space suspended object 200, for example. The capture position P3 may be a position that is set at a distance and deviated from the orbit O so that the space suspended matter capturing apparatus 100 and the space suspended matter 200 do not collide. Preferably, as long as the capture position P3 does not collide with the space flotation device 100 and the space flotation 200, and the position is close to the space flotation 200, the adhesive 4 does not hit the space flotation 200 and is captured. The probability of failure can be reduced. The capturing posture is a posture in which the capturing unit 3 is maintained in a direction in which the adhesive 4 can be launched at an arbitrary position of the space suspended object 200 at the capturing position P3.

  Preferably, the space float capturing apparatus 100 can launch and capture the adhesive body 4 at a fixed point or a point with less fluctuation in the moving state of the tumbling space float 200 such as the center of gravity of the space float 200. The position and orientation are defined as a capture position P3 and a capture posture. After the capture position P3 and the capture attitude are obtained, the space floating object capture apparatus 100 is moved using the propulsion means 5 so as to take the capture position P3 and the capture attitude. At this time, the space floating object capturing apparatus 100 determines whether the capturing position P3 and the capturing attitude have been reached or not (S6), and if the trapping position P3 and the capturing attitude have not been reached. The movement is repeated so as to take the capture position P3 and the capture posture (S7). If it has reached the capture position P3 and the capture posture, the process proceeds to the next step.

  The capturing step (S <b> 8) is a step of firing the adhesive 4 on the space suspended matter 200 and connecting and capturing the space suspended matter capturing device 100 and the space suspended matter 200. The bonded body 4 is connected to the apparatus main body 1 by the wire rope 43, and when the bonded body 4 stays on the space suspended matter 200, the space suspended matter 200 and the space suspended matter capturing device 100 are connected by the wire rope 43. . As described above, the space suspended matter capturing apparatus 100 and the space suspended matter 200 are connected and captured using the adhesive 4, so that the space suspended matter 200 is not damaged by deformation or destruction. Therefore, unlike other methods (for example, a method of driving a kite), there is no possibility that the space suspended object 200 is damaged and new debris is generated, and useful orbital objects can be removed without being damaged. It becomes.

  The orbit departure step (S9) is a step in which the space suspended matter capturing device 100 leaves the orbit O in a state where the space suspended matter capturing device 100 is connected to the space suspended matter 200. This leaving step is, for example, a step of dropping from the orbit O by lowering the altitude of the space suspended matter capturing apparatus 100. The propulsion means 5 provided in the apparatus main body 1 used in the orbit arrival step (S1) may be injected so as to decelerate by applying a velocity component in the direction opposite to the traveling direction to the space suspended matter capturing apparatus 100.

  Since the suspended state capturing device 100 and the suspended space object 200 change the balance state of the centrifugal force due to the deceleration, they move in a direction in which the altitude decreases and deviate from the orbit O. Preferably, the space flotation device 100 and the space flotation device 200 are re-entered into the atmosphere so that they do not become debris or a source of debris. For example, if the entry angle is taken deep and burned out before reaching the surface of the earth, it is not necessary to collect fallen objects.

  Further, as shown in FIG. 6, this separation step may be, for example, a step of accelerating the space suspended matter capturing apparatus 100 to separate from the orbit O. The propulsion means 5 accelerates or decelerates the space flotation capturing device 100 and enables out-of-plane movement to an arbitrary orbit, thereby capturing debris existing in a plurality of orbits by reusing the space flotation capturing device 100. Easy to do.

  Further, the detachment means 6 provided in the apparatus main body 1 and connected to the space suspended object 200 to change the speed and detach from the orbit O in the detachment process is the same as the propulsion means used in the orbit arrival process (S1). Not necessarily. As described above, for example, a conductive tether that generates a braking force by electromagnetic interaction with the earth's magnetic field, or a film-like film that receives atmospheric or solar radiation pressure that encourages falling to the ground or changing orbits. It may be a pressure receiving device.

  By using the method having the steps described above, it is possible to remove a satellite that is not a malfunctioning satellite, for example, a satellite in operation, from the orbit. According to the space suspended matter capturing apparatus of the present invention, since a satellite or the like can be captured without being destroyed, data and samples can be easily taken out without being damaged.

  In the above-described embodiment, the method of removing the space suspended object from the predetermined orbit by using the propulsion unit and the detaching unit has been described as an example, but the present invention captures the space suspended object. An apparatus for capturing space floating objects, comprising: an apparatus main body provided with a detecting means for detecting space floating objects; and a capturing means provided on the apparatus main body for capturing space floating objects. An adhesive body that is bonded and fixed to the surface of the space suspended object is launched from the apparatus body in a stringed state toward the detected space suspended object, and the space suspended object and the apparatus body are interconnected.

  As described above, since the present invention interconnects and captures the space suspended object and the apparatus body using the adhesive, the space suspended object is not damaged to the extent that debris is generated, the space suspended object is damaged, There is no risk of debris becoming a new space suspended matter, and the space suspended matter can be captured without being damaged. As a result, it is possible to realize a stable track with high reliability and high reliability.

100 Space Float Capture Device 200 Space Float 1 Device Main Body 11 Shutter 11a Motor 12 Opening Part 13 GPS Sensor 2 Observation Unit 21 Stereo Camera 3 Capture Unit 31 Thrust Generation Unit 31a Spring 31b Latch 31c Actuator 4 Adhesive 41 Plunger 42 Adhesion Layer 43 Wire rope 44 Reel 5 Propulsion means 51 Nozzle 52 Tank 6 Release means 7 Control means 71 Control part 72 Calculation part 8 Power supply means 81 Solar cell 82 Rechargeable battery

Claims (8)

A space flotation device that captures space flotation,
An apparatus main body provided with a detecting means for detecting the space suspended matter;
A capturing means provided in the apparatus body for capturing the space suspended matter,
The capturing means launches an adhesive body, which is bonded and fixed to the surface of the space suspended object, from the apparatus main body in a stringed state toward the space suspended object detected by the detecting unit, and the space suspended object and the apparatus A space-floating matter trapping device characterized in that it interconnects the main body. The adhesive body has a plunger portion that is string-coupled with the apparatus main body, and an ultraviolet curable adhesive layer formed on a tip surface of the plunger portion,
The apparatus main body is provided with shutter means for shielding the adhesive body before launch from ultraviolet rays,
The space trapping device according to claim 1, wherein the capturing unit launches the adhesive body after the shielding state of ultraviolet rays by the shutter unit is released.   The space floating object capturing apparatus according to claim 2, wherein the plunger portion is provided from a member that transmits ultraviolet rays.   4. The apparatus according to claim 1, further comprising a propulsion unit that moves the apparatus main body to a position where the space suspended substance detected by the detection unit can be captured by the capture unit. 5. Space flotation device.   5. The space suspended matter capturing apparatus according to any one of claims 1 to 4, further comprising a detaching unit configured to leave the space suspended matter captured by the capturing unit from a predetermined orbit.   Furthermore, it has a judging means for judging from the image information of the space suspended matter acquired by the detecting means whether or not the space suspended matter exists within a range where the space suspended matter can be captured by the capturing means. The space-floating matter trapping device according to any one of claims 1 to 5, wherein   The detecting means is an image reading means for acquiring a parallax image for determining whether or not the space suspended substance exists within a range in which the space suspended substance can be captured by the capturing means. The space flotage trapping device according to any one of claims 1 to 5. The space trapping apparatus according to any one of claims 1 to 7, wherein the capturing means is provided at a plurality of locations of the apparatus main body.

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