| CPC B29C 64/393 (2017.08) [B29C 64/20 (2017.08); B33Y 30/00 (2014.12); B33Y 50/02 (2014.12)] | 5 Claims |
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1. A space assembly system based on fusion of on-orbit additive manufacturing and ground-based launch, comprising a physical subsystem, a digital twin subsystem, and a communication subsystem, wherein:
the digital twin subsystem is configured to remotely monitor the physical subsystem and to enable a ground or space operator to receive information sent by the physical subsystem and to give an instruction to control the physical subsystem;
the communication subsystem is configured to establish a connection between each unit and device of the physical subsystem and a connection between the physical subsystem and the digital twin subsystem;
the physical subsystem comprises an additive manufacturing unit, a space robot unit, a raw material bin, a control unit, a communication unit, a sensor unit, an imaging and positioning device, a data storage unit, and a data processing unit, wherein:
the additive manufacturing unit comprises at least an additive manufacturing device configured to perform an additive manufacturing and printing task;
the space robot unit comprises at least one multifunctional robot, and the multifunctional robot is internally provided with a terminal tool library and is configured to perform at least one task selected from the group consisting of a detection task, an assembly task, and a transportation and positioning task;
the raw material bin is configured to store and manage additive manufacturing consumables, spacecraft enabling modules with universal standard interfaces, cables with universal standard interfaces, and parts kits launched from the ground;
the raw material bin is configured to provide a recycling service when receiving a recycling service request;
the space enabling module is a module designed and manufactured on the ground to meet a requirement of a specific space mission and the space enabling module comprises a propulsion module, an energy module, a storage module, a communication module, an observation module, and a connection module;
a universal standard interface is configured to meet at least one requirement selected from the group consisting of stable connection, electrothermal transmission, and data communication between modules;
the control unit is configured to control the additive manufacturing unit and the space robot unit;
the communication unit is a physical basis of the communication subsystem and is configured to help enable real-time communication between all units and devices of the physical subsystem;
the sensor unit comprises a state sensor, an observation sensor, and an environmental sensor, wherein the state sensor is one or a combination of an instant position sensor, an instant attitude sensor, a limit sensor, and an overload sensor, and is configured to provide working information and a fault diagnosis basis of each unit and device of the physical subsystem; the observation sensor comprises a near infrared camera, a near infrared spectrometer, a near infrared imaging seamless spectrometer, and a fine guidance sensor, and is one or a combination thereof; the environmental sensor is one or a combination of a temperature sensor, a force sensor, a passive remote sensor, and a magnetic sensor, and is configured to monitor internal and external environments of each unit and device of the physical subsystem;
the imaging and positioning device is one or a combination of a camera, radar, and a multi-band imaging device, and is configured to identify and obtain digital models and information of each unit and device of the physical subsystem, including geometric, structural, and pose information;
the data storage unit is configured to store various data in the space assembly system based on fusion of on-orbit additive manufacturing and ground-based launch;
the data processing unit is configured to generate a task sequence, the task sequence comprising a preparation stage task sequence, an assembly stage task sequence, an additive manufacturing unit printing sequence, and a robot unit assembly sequence; and
the data processing unit is further configured to integrate a digital twin of the physical subsystem into the digital twin subsystem; and
a spacecraft production task implemented by the space assembly system comprises following steps:
step 1: performing, by the space assembly system, system self-check before a task instruction from the ground or space operator is received, and confirming that an operation state of the space assembly system is in a normal operation state; performing, by the space assembly system, system initialization after the task instruction from the ground or space operator is received, and waiting for a next task instruction;
step 2: generating, by the digital twin subsystem, a target spacecraft model based on a target spacecraft model inputted by the ground or space operator, and inputting the target spacecraft model into the data processing unit; and analyzing, by the data processing unit, the target spacecraft model and generating a task sequence, and storing the task sequence in the data storage unit, wherein the task sequence comprises a preparation stage task sequence and an assembly stage task sequence, the preparation stage task sequence comprises:
step 2a: accessing the data storage unit, by the data processing unit, to obtain inventory information of the raw material bin, and confirming inventory quantities of the additive manufacturing consumables, the spacecraft enabling modules, the cables, and the parts kits; if the inventory quantity is insufficient, creating a corresponding type and quantity as log information, storing the log information in the data storage unit, sending the log information to the digital twin subsystem, and waiting for a subsequent instruction from the ground or space operator; and if the inventory quantity is sufficient, performing step 2b;
step 2b: generating a printing task sequence of the additive manufacturing unit, which comprises:
step 2b1: if a target printed piece is printed only by the additive manufacturing unit, defining the target printed piece as a simple printed piece, and going to step 2b2; and if the target printed piece needs embedding of other parts during printing, such as any one or more of a spacecraft enabling module, a cable, a simple printed piece, and a parts kit, defining the target printed piece as a composite printed piece, and going to step 2b3;
step 2b2: generating a task sequence of the simple printed piece; and
step 2b3: generating a task sequence of the composite printed piece;
step 2c: generating a preparation stage task sequence of the space robot unit, which comprises:
step 2c1: generating a transportation and positioning task sequence, wherein the transportation and positioning task sequence is configured to control the multifunctional robot to grab components to be assembled, transport the components to be assembled to a designated spatial position, and fix spatial attitudes thereof; and the components to be assembled are a simple printed piece, a composite printed piece, a spacecraft enabling module, a cable, and a parts kit required for assembling a target spacecraft; and
step 2c2: generating a component testing task sequence, wherein the component testing task sequence is configured to control the multifunctional robot to test the components to be assembled before assembly, if a test result is unqualified, recycling unqualified components, and if the test result is qualified, performing the next step; and
the assembly stage task sequence comprises:
step 2d: generating an assembly stage task sequence of the space robot unit, which comprises:
step 2d1: generating an assembly task sequence, wherein the assembly task sequence is configured to control the multifunctional robot to assemble the components to be assembled into a finished target spacecraft according to the target spacecraft model; and
step 2d2: generating a function testing task sequence, wherein the function testing task sequence is configured to control the multifunctional robot to perform function testing on the finished target spacecraft;
step 3: accessing the data storage unit by the control unit to obtain the preparation stage task sequence; and controlling, by the control unit, the additive manufacturing unit and the space robot unit to execute the preparation stage task sequence, which comprises:
step 3a: executing, by the additive manufacturing device, the task sequence of the simple printed piece to complete the preparation of the simple printed piece; and cooperatively executing, by the additive manufacturing device and the multifunctional robot, the task sequence of the composite printed piece to complete the preparation of the composite printed piece;
step 3b: executing, by the multifunctional robot, the transportation and positioning task sequence to grab components to be assembled, transport the components to be assembled to a designated spatial position, and fix spatial attitudes thereof; and
step 3c: executing, by the multifunctional robot, the component testing task sequence to test the components to be assembled, creating a test result as a component test report, and storing the component test report in the data storage unit; if the test result is unqualified, recycling, by the multifunctional robot, unqualified components to the raw material bin, sending the component test report to the digital twin subsystem, and waiting for a subsequent instruction from the ground or space operator; and if the test result is qualified, performing step 4;
step 4: accessing the data storage unit by the control unit to obtain the assembly stage task sequence; and controlling, by the control unit, the space robot unit to execute the assembly stage task sequence, which comprises:
step 4a: executing, by the multifunctional robot, the assembly task sequence to assemble the components to be assembled into a finished target spacecraft according to the target spacecraft model; and
step 4b: executing, by the multifunctional robot, the function testing task sequence to perform function testing on the finished target spacecraft, creating a test result as a finished product test report, and storing the finished product test report in the data storage unit; if the test result is unqualified, sending the finished product test report to the digital twin subsystem, and waiting for a subsequent instruction from the ground or space operator; and if the test result is qualified, sending the finished product test report to the digital twin subsystem; and
step 5: completing, by the physical subsystem, a target spacecraft manufacturing task, and causing each unit and device to return to an initial state to wait for a next task.
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