WO2023157951A1 - 協力物体化システム及び協力物体化方法 - Google Patents

協力物体化システム及び協力物体化方法 Download PDF

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Publication number
WO2023157951A1
WO2023157951A1 PCT/JP2023/005769 JP2023005769W WO2023157951A1 WO 2023157951 A1 WO2023157951 A1 WO 2023157951A1 JP 2023005769 W JP2023005769 W JP 2023005769W WO 2023157951 A1 WO2023157951 A1 WO 2023157951A1
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WO
WIPO (PCT)
Prior art keywords
cooperative
space
interface
objectification
cooperating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/005769
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English (en)
French (fr)
Japanese (ja)
Inventor
隆 岩井
信一郎 西田
リンゼイ，マイケル
勝 藤田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astroscale Japan Inc
Original Assignee
Astroscale Japan Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astroscale Japan Inc filed Critical Astroscale Japan Inc
Priority to EP23756475.2A priority Critical patent/EP4480830A4/en
Priority to JP2024501451A priority patent/JP7725697B2/ja
Priority to US18/839,002 priority patent/US20250153867A1/en
Publication of WO2023157951A1 publication Critical patent/WO2023157951A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B64G1/1078—Maintenance satellites
    • 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
    • B64G1/641—Interstage or payload connectors
    • B64G1/642—Clamps, e.g. Marman clamps
    • 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
    • B64G1/6462—Docking or rendezvous systems characterised by the means for engaging other vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B64G1/1078—Maintenance satellites
    • B64G1/1081—Maintenance satellites for debris removal
    • 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
    • B64G1/226—Special coatings for spacecraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B64G2004/005—Robotic manipulator systems for use in space

Definitions

  • the present invention relates to a cooperative objectification system and a cooperative objectification method.
  • the present invention has been made in view of the above circumstances, and provides complex functions and high-precision control required when a service satellite approaches an object that does not cooperate in space to provide on-orbit services or remove debris.
  • the object is to provide a system that can be omitted.
  • a cooperative objectification system converts a non-cooperative object existing in outer space into a cooperative object, and includes a space vehicle configured to move in outer space. , a cooperating interface attached to the surface of the space non-cooperating object by the space vehicle.
  • a method for forming a cooperative object is a method for forming a non-cooperative space object existing in outer space into a cooperative object, wherein the space non-cooperative object is formed by a spacecraft configured to move in outer space. It includes the step of attaching a cooperating interface to the surface.
  • a cooperating interface can be attached to the surface of a space non-cooperating object (a fuel-depleted satellite, space debris, etc.) by a space vehicle configured to travel in outer space.
  • a service satellite configured to provide on-orbit service or debris removal can easily approach a space non-cooperative object using the cooperative interface, facilitating monitoring and docking after close proximity. It can be carried out. Therefore, it is possible to omit the complicated functions and high-precision control required when the service satellite approaches an object that does not cooperate in space for the provision of on-orbit services and debris removal.
  • a plate-shaped body having an optical marker configured to reflect light can be employed as a cooperative interface.
  • the surface of the plate-like body is provided with an attracting force
  • a gripping portion for gripping the plate-like body is provided in the spacecraft
  • the surface of the plate-like body gripped by this gripping portion is placed on the surface of the non-cooperative space object.
  • the surface of the plate-like body is attached to the surface of the space-noncooperating object, and the plate-like body can be attached to the space-noncooperating object.
  • the surface of the plate can be provided with adsorption power by using Adhesive Textile, Gecko, Belcro, and/or Coldwelding.
  • the space vehicle can be provided with a coating unit that applies an approach marker as a cooperative interface to the surface of the space non-cooperative object.
  • a space vehicle having a robot arm and a grasping mechanism provided at the tip of the robot arm can be employed.
  • a grasping mechanism configured to be attached to the cooperating interface, to grasp space non-cooperating objects, and to be decoupled with the cooperating interface from the robotic arm can be employed.
  • a cooperative interface is attached to a grasping mechanism of a robot arm of a space vehicle configured to move in outer space, a non-cooperative space object is grasped by the grasping mechanism, and the grasping mechanism is transferred from the robot arm to the cooperative interface.
  • Cooperating interfaces and space non-cooperating objects can be united by disconnecting them together.
  • a system that can omit the complicated functions and high-precision control required when a service satellite approaches an object that is not cooperating in space to provide on-orbit services or remove debris. becomes possible.
  • FIG. 10 is a diagram showing another application example of the cooperative objectification system according to the first embodiment of the present invention (an aspect in which a single space vehicle processes a plurality of non-cooperative space objects); 1 shows an overview of a cooperative object creation system according to a second embodiment of the present invention, in which (A) is a diagram showing a state in which a non-cooperative space object is grasped by a grasping mechanism of a robot arm of a spacecraft; ) is a diagram showing a state in which the grasping mechanism of the spacecraft is separated from the robot arm.
  • this system 1 converts non-cooperative space objects (satellites that have run out of fuel, space debris, etc.) existing in outer space into cooperative objects C, and is a space vehicle configured to move in outer space. S and a cooperating interface M attached to the surface of a space non-cooperating object C by a space vehicle S.
  • a plate-like body having an optical marker is adopted as the cooperation interface M.
  • the optical marker is attached to one surface of the plate-like body and configured to reflect light.
  • an optical marker for example, it is possible to have a retroreflective material capable of matching the direction of light emission with the direction of incidence.
  • a heat insulating film is formed on the surface to which the optical marker is attached, light in a predetermined wavelength range (for example, light in the near-ultraviolet region having a wavelength range of 300 to 400 nm) that is absorbed by this heat insulating film is reflected.
  • optical markers can also be employed.
  • the other surface of the plate-like body in this embodiment has an attractive force by using Adhesive Textile, Gecko, Belcro, and/or Coldwelding.
  • the spacecraft S in this embodiment has a grasping section (robot arm, etc.) that grasps a plate-shaped body as a cooperative interface M.
  • the holding part of the spacecraft S grips the plate-like body, and the surface of the plate-like body (the surface having an attractive force on the side opposite to the optical marker) is pressed against the surface of the space non-cooperating object C to obtain a plate-like shape.
  • the plate-like body can be attached to the space non-cooperative object C by making the surface of the body stick to the surface of the space non-cooperative object C.
  • a method of transforming a non-cooperative space object C into a cooperative object using this system 1 is to attach a cooperative interface to the surface of the non-cooperative space object C by a space vehicle S configured to move in outer space. It includes the step of attaching M.
  • the gripping portion of the spacecraft S grips the plate-like body as the cooperative interface M, and ) against the surface of the non-cooperative space object C, the plate-like object can be attached to the non-cooperative space object C by causing the surface of the plate-like object to adhere to the surface of the non-cooperative space object C.
  • the cooperative interface M can be attached to the surface of the space non-cooperative object C by the space vehicle S configured to move in outer space. Accordingly, a service satellite R (see FIG. 1) configured to provide on-orbit service and/or debris removal can readily approach space non-cooperative object C using cooperative interface M and approach Later monitoring and docking can be easily performed. Therefore, it is possible to omit the complicated functions and high-precision control required when the service satellite R approaches the non-cooperative space object C for the provision of on-orbit services and the removal of debris. It becomes easy to provide high-end services. As a result, cost reductions required for debris removal and on-orbit service provision are realized, and debris removal and on-orbit service can be provided more safely. In addition, since the various design margins necessary to ensure safety can be kept to the minimum necessary, cost reductions required for debris removal and on-orbit service provision can also be realized.
  • the configurations of the space vehicle and the cooperation interface are not limited to those described in this embodiment.
  • a cooperation interface it is possible to employ an approach marker applied to the surface of the space non-cooperative object C, and a space vehicle having an application unit that applies the approach marker to the surface of the space non-cooperative object C. can.
  • a single space vehicle S is used, a cooperative interface M is attached to a "single" non-cooperative space object C, and various services (on-orbit Although an example of service provision and debris removal) has been shown, a single space vehicle S can also deal with "plural" space non-cooperative objects C.
  • a single Servicer space vehicle S traveling in a low earth orbit at an altitude of 400 km is placed on a Target-A (first spacecraft) in an orbit at an altitude of 800 km.
  • Attach cooperative interface M to Target-A by approaching cooperative object C).
  • Target-B second space non-cooperative object C
  • Target-C third non-cooperative space object C
  • the "multiple" space non-cooperative objects C (Target-A, Target-B, Target-C) to which the cooperative interface M is attached by a single space vehicle S (Servicer) can be provided in separate or identical services.
  • these "plurality" of space non-cooperative objects C are space debris, as shown in FIG.
  • Cooperating objects C can be approached respectively.
  • these debris removal service satellites R capture each of these space non-cooperative objects C, enter the atmosphere together with these space non-cooperative objects C (Re-entry) (or release space debris C at a low altitude ), debris removal can be performed.
  • this system 1A converts a non-cooperative space object C existing in outer space into a cooperative object.
  • a cooperating interface M attached to the surface of space non-cooperating object C by vehicle S;
  • the spacecraft S in this embodiment has a robot arm SA and a grasping mechanism SG provided at the tip of the robot arm SA .
  • This gripping mechanism SG is configured to grip a cosmic non-cooperative object C, to which the cooperative interface M is attached, and to be decoupled with the cooperative interface M from the robot arm SA .
  • the structure of the grasping mechanism SG is not particularly limited as long as it can fulfill such a function.
  • various devices such as a docking interface, an angular velocity detumbling device, a drag sail device, a tether device for orbital descent, and the like can be attached to the grasping mechanism SG .
  • the device and the space uncooperative object C can be integrated by grasping the space uncooperative object C with the grasping mechanism SG and separating the grasping mechanism SG together with the device from the robot arm SA . .
  • a method for transforming a non-cooperative space object C into a cooperative object using this system 1A is to attach a cooperative interface to the surface of the non-cooperative space object C by a spacecraft S configured to move in outer space. It includes the step of attaching M.
  • a cooperative interface M is attached to the grasping mechanism SG of the robot arm SA of the space vehicle S, the grasping mechanism SG grasps the non-cooperative space object C, and the robot arm SA grasps the grasping mechanism SG. with the cooperating interface M, the cooperating interface M can be attached to the space non-cooperating object C.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
PCT/JP2023/005769 2022-02-17 2023-02-17 協力物体化システム及び協力物体化方法 Ceased WO2023157951A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP23756475.2A EP4480830A4 (en) 2022-02-17 2023-02-17 SYSTEM FOR COOPERATIVE EXECUTION OF AN OBJECT AND METHOD FOR COOPERATIVE EXECUTION OF AN OBJECT
JP2024501451A JP7725697B2 (ja) 2022-02-17 2023-02-17 協力物体化システム及び協力物体化方法
US18/839,002 US20250153867A1 (en) 2022-02-17 2023-02-17 System for making object cooperative and method for making object cooperative

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2022-022593 2022-02-17
JP2022-022598 2022-02-17
JP2022022598 2022-02-17
JP2022022593 2022-02-17

Publications (1)

Publication Number Publication Date
WO2023157951A1 true WO2023157951A1 (ja) 2023-08-24

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PCT/JP2023/005769 Ceased WO2023157951A1 (ja) 2022-02-17 2023-02-17 協力物体化システム及び協力物体化方法

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US (1) US20250153867A1 (https=)
EP (1) EP4480830A4 (https=)
JP (1) JP7725697B2 (https=)
WO (1) WO2023157951A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014226974A (ja) * 2013-05-20 2014-12-08 川崎重工業株式会社 伸展バネを用いたスペースデブリ除去デバイス固定装置、並びに、これを備えるスペースデブリ除去デバイス
JP2016002813A (ja) * 2014-06-13 2016-01-12 国立研究開発法人宇宙航空研究開発機構 スペースデブリの軌道降下方法、軌道降下システム、及び、人工衛星の軌道変換方法、軌道変換システム
JP2017210214A (ja) * 2016-05-27 2017-11-30 株式会社アストロスケール 捕獲プレート、宇宙用装置及び捕獲方法
US20200262589A1 (en) * 2019-02-15 2020-08-20 Space Systems/Loral, Llc Attitude rate mitigation of spacecraft in close proximity
JP2022065689A (ja) 2020-10-16 2022-04-28 株式会社アストロスケール 宇宙航行体及び捕獲システム

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
US7823837B2 (en) * 2006-03-31 2010-11-02 The Boeing Company Two part spacecraft servicing vehicle system with adaptors, tools, and attachment mechanisms
JP6525595B2 (ja) * 2015-01-09 2019-06-05 キヤノン電子株式会社 宇宙浮遊物捕捉装置
FR3038297B1 (fr) * 2015-07-01 2017-07-21 Thales Sa Systeme spatial pour reduire les vitesses angulaires d'un debris avant de le desorbiter
JP7645189B2 (ja) * 2019-02-28 2025-03-13 オカブ ディートリヒ インダクション インコーポレイテッド 標的人工衛星を制御するシステム及び方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014226974A (ja) * 2013-05-20 2014-12-08 川崎重工業株式会社 伸展バネを用いたスペースデブリ除去デバイス固定装置、並びに、これを備えるスペースデブリ除去デバイス
JP2016002813A (ja) * 2014-06-13 2016-01-12 国立研究開発法人宇宙航空研究開発機構 スペースデブリの軌道降下方法、軌道降下システム、及び、人工衛星の軌道変換方法、軌道変換システム
JP2017210214A (ja) * 2016-05-27 2017-11-30 株式会社アストロスケール 捕獲プレート、宇宙用装置及び捕獲方法
US20200262589A1 (en) * 2019-02-15 2020-08-20 Space Systems/Loral, Llc Attitude rate mitigation of spacecraft in close proximity
JP2022065689A (ja) 2020-10-16 2022-04-28 株式会社アストロスケール 宇宙航行体及び捕獲システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4480830A4

Also Published As

Publication number Publication date
JP7725697B2 (ja) 2025-08-19
US20250153867A1 (en) 2025-05-15
JPWO2023157951A1 (https=) 2023-08-24
EP4480830A1 (en) 2024-12-25
EP4480830A4 (en) 2025-12-17

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