JPS62295798A - Object transfer method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [4 Already Required] When transferring a third object between moving bodies, (1) transmitting and receiving a laser between the moving bodies, and determining the position of both =, (2) This mobile body and the third
There is an object transfer method that transmits and receives a laser between the moving objects and the third object while maintaining a constant relative positional relationship between the moving object and the third object. be disclosed.

[Industrial application field]

The present invention relates to a method for transferring a third object between moving objects, and particularly to a method for transferring an object between spacecraft in outer space.

As a method for transferring objects between moving bodies, a high-line method between floating ships on the ocean is known.

This high-line method is particularly used for transferring command staff when the command center is changed between ships, and FIG. 6 shows an external view of the transfer of objects from one ship to ship B.

First, as shown in Figure 6, the two ships approach each other to a distance of approximately 30 meters and sail in parallel at the same speed. continue,
A rope with a weight such as a bag filled with sand tied to the end is thrown into the opponent's ship in the same manner as a hammer throw. Using this communication robe, other ropes were passed between ships one after another.

Thereafter, the robes were used to move the gondola back and forth between the two ships to transport objects such as headquarters personnel.

The high-line method described above is related to the transfer of objects between ships on the ocean, but as space development advances, it is conceivable that similar object transfers will also need to be carried out between spacecraft.

That is, when multiple spacecraft work together over a long period of time, it becomes necessary to transfer crew members and small cargo between spacecraft. Furthermore, if the spacecraft is exposed to a fire or other crisis, the injured must be repatriated or the entire crew must be evacuated quickly.

With this, it can be said to be a high line method in outer space.
A method for transferring objects between spacecraft is desired.

[Prior art and its problems]

Traditionally, objects are transferred between spacecraft primarily through extravehicular activities by crew members.In such extravehicular activities, objects can only be transferred over a very limited distance. Moreover, the work was always dangerous.

In addition, it is difficult to keep a large number of people on board a spacecraft for reasons such as the need for special training for crew members and the weight restrictions for rocket launches. Therefore, engaging crew members in this type of work is
This may put pressure on the crew's work time, which should be spent on other tasks, and become an obstacle to achieving the original mission.

[Means to solve the problem]

In the object transfer method according to the present invention, as shown in the principle block diagram of FIG. The light is received by the first light receiving means 20.21. The first attitude/movement control means 23 controls the moving body 200 so that the laser from the first light emitting means 10.11 is received by the first light receiving means 20.21 in a predetermined positional relationship. Either or both of the attitude and the moving distance of the moving body 100 are controlled.

On the other hand, the moving body 200 emits a laser beam to a third object 300 using the second light emitting means 24.25, and the third object 300 receives the laser beam from the moving body 200 through the second light receiving means 30.31. It receives light. This second light emitting means 2
The laser from 4.25 is transmitted to the second light receiving means 30.31.
The second attitude/movement control means 33 controls the moving body 2 of the third object 300 so that the light is received in a predetermined positional relationship.
Controls the relative attitude to 00 and its movement.

In this state, the third object 300 is transferred from the moving body 100 to the moving body 200.

In addition, in a specific implementation of the present invention, the mobile body 1
The distance between the moving objects is also measured by irradiating a laser from 00 to the moving object 200, and one or both of attitude and movement control is performed based on the distance measurement results to maintain a constant positional relationship between the two. You should do it.

Furthermore, in another embodiment of the present invention, the first light emitting/light receiving means set is provided on both moving bodies, and the third object is irradiated with the laser from both moving bodies, thereby achieving more accurate and reliable light emission. This enables highly flexible posture and movement control.

In the present invention, not only the positional relationship of the moving body or a third object is controlled by receiving laser beams from the opposing moving body, but also the laser light from the moving body or the third object is provided on the opposing moving body. The present invention also provides a method in which the reflected light is reflected by a reflecting means, and the posture and/or movement of a moving body or a third object is controlled using the reflected light.

Here, it is effective to use a corner cube as the reflecting means.

Further, in the present invention, it is more practical for the laser emitting means to emit a laser beam consisting of a plane beam.

Furthermore, in the present invention, it is effective to move this third object from one moving body to the other moving body by self-propelling means.

[Effect]

According to the present invention, the third object can be transferred while keeping constant the positional relationships between the moving bodies and between the moving body and the third object. That is, the third object moves between moving bodies while guiding a laser beam, instead of using a rope in the offshore high-line system. The name High Line comes from the fact that the ropes were stretched high between ships to prevent the waves from washing away the cargo carried by the gondolas used for transportation. In the present invention, a laser is used instead of this rope, and it can also be considered as a laser high-line system between spacecraft.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 2 is an external view showing an outline of the present invention.

The spacecraft 1.2 approaches at a distance of several hundred meters to several i, and are flying approximately parallel to each other at the same speed. In addition, the spacecraft 1 and 2 irradiate each other with laser beams, and either or both of their postures and movements are controlled so that their hatches for transferring objects face each other in a predetermined positional relationship.

Spacecraft 1.2 receives laser beams from spacecraft facing each other.
Attitude/movement control is performed based on the reception state of the beam or reflected light from the opposing spacecraft. Furthermore, objects are transferred using the high line cargo 3. In other words, when transferring objects between spacecraft, for the sake of comfort during personnel transfer and simplicity during cargo transfer, the space is sealed and the interior is pressurized to approximately 1 atmosphere.
It is preferable to use a high-line cargo that maintains air with the same atmospheric composition as on Earth and a temperature of about 25 degrees Celsius.

This Highline Cargo 3 is irradiated with a laser beam from both spacecraft 1.2, or the laser beam from the Highline Cargo 3 is reflected, setting a trajectory for transfer, and Provides position information of Line Cargo 3.

However, laser beams between spacecraft cannot travel along high-line ropes at sea. That is, the laser beam is used as an indicator for transporting the cargo, and it is not possible to obtain the propulsive force for moving the High Line Cargo 3. Therefore, in the object transfer method according to the present invention, it is preferable that the cargo itself has a propulsion function and moves between moving bodies.

In addition, the attitude/movement control between spacecraft is relative, and it is sufficient that at least one spacecraft sends and receives a laser beam to the other space, but the accuracy of the attitude/movement control, response, etc. In view of the performance requirements and demands for improved reliability, it is more preferable to transmit and receive laser light between both spacecraft as shown in FIG.

In addition, if spacecraft 1 and 2 are flying stably under normal conditions, ideally it would be possible to keep the object transfer Ha-Sochi of both spacecraft accurately facing each other only by controlling the relative attitude between them. can. However, in reality, it is difficult to maintain a constant distance between both spacecraft without controlling the movement of the spacecraft, and the spacecraft often deviates from a predetermined orbit. Therefore, it is necessary to control not only the attitude but also the distance traveled by the spacecraft. In other words, in order to maintain a constant positional relationship between two spacecraft in flight, it is essential to constantly control the attitude and/or movement of the spacecraft. This is the result.

FIG. 3(a) is a more detailed external view of the object transfer method according to the present invention, and will be used to provide a more detailed explanation of one of the object transfer methods according to the present invention.

As mentioned above, the spacecraft 2 transmits and receives a "laser beam for determining the positional relationship between spacecraft" with the spacecraft 1 (not shown), and controls the attitude and/or movement of the spacecraft 2. . This laser for determining the positional relationship between space QQ
Preferably, the beam is constituted by a plane beam. Theoretically, it is possible to determine the positional relationship by transmitting and receiving line beams, but due to the flutter and vibrations of the spacecraft, the line beam from the other spacecraft is always separated by a distance of several hundred meters to several kilometers. It is not realistic to input this into the light receiving sensor.

Therefore, a plane beam is created using, for example, a cylindrical lens, and is used to determine the positional relationship between spacecraft.

FIG. 3(b) shows the arrangement of the laser beams for positional relationship determination when viewed from the cross-sectional direction of the High Line Cargo 3. The plane beams from each spacecraft are emitted so as to be substantially parallel to the sides of the square hatch of the cargo port (not shown) through which Highline Cargo 3 enters and exits. Third
(b) Laser for determining the positional relationship between spacecraft shown in the figure.
Of the beams, plane beams A and B go from spacecraft 1 to spacecraft 2, and plane beams C and D go from spacecraft 2 to spacecraft 1.
It is a laser beam directed towards. In other words, two plane beams are emitted from each spacecraft toward the other spacecraft parallel to the sides of the Highline Cargo (parallel to the sides of the cargo port).

The laser receiver installed on each spacecraft is set so that its axis intersects at a predetermined angle with a plane of symmetry that includes the spacecraft's body axis, and the plane beam from the other spacecraft is set at a predetermined angle. The ship's attitude is controlled so that the beam is incident at the same angle. In addition, by providing a means to reflect the laser on the opposing ship, each laser receiver can measure the distance between the spacecraft by measuring the time difference or phase difference between when the laser beam emitted by itself is turned back and received. ^■You can get information. Based on this distance information, the attitude/movement control of the spacecraft is performed.

This control is performed in the same way on the other spacecraft, and as a result, the two spacecraft move in parallel at the same speed, and are positioned directly next to each other facing the cargo port of the other spacecraft. is obtained.

Returning to Figure 3+ai, guidance of the High Line Cargo 3 will be explained.

As shown in Figure 3(a), on the surface facing the Highline Cargo 30 spacecraft, the laser beam from the spacecraft is Receive the beam. This laser beam uses a plane beam for the same reason as the above-mentioned [laser beam for determining positional relationship between spacecraft].

As shown in FIG. 3(b), the surface beams X and Y directed toward the High Line Cargo 3 are irradiated onto the surface of the High Line Cargo 3 facing the spacecraft in an inverted shape. It goes without saying that the same effect can be obtained even if irradiation is performed to form an L-shape. In any case, it is irradiated as two parallel laser beams to one of the two laser beams for determining the space position relationship from each spacecraft.

If FIG. 3(b) is a view seen from the direction of spacecraft 1 in FIG. 3(a), the laser beam Y for determining the high line cargo positional relationship is The other high-line cargo position determination laser beam X is configured to be parallel to the inter-spacecraft position determination laser beam B from spacecraft 2. It is configured to be. Therefore, even if the position of Highline Cargo 3 moves up, down, left or right, the two lasers for determining the positional relationship of Highline Cargo 3
It is possible to receive at least one of the beams over a fairly wide range, and even if the movement of Highline Cargo 3 blocks the laser beam for determining the positional relationship between spacecraft, Since the two laser beams irradiated from one spacecraft to the other spacecraft are not both blocked at the same time, it is expected that the reliability of the system will improve.

For example, the High Line Cargo 3 emits a plane beam from the spacecraft perpendicular to the plane of symmetry including the spacecraft's body axis at a predetermined angle to the receiver installed on the High Line Cargo 3. The attitude of the High Line Cargo 3 is controlled so that the high line cargo 3 is injected at Therefore, while guiding the highline cargo 3 from one spacecraft to the other spacecraft, the cargo 3 can always maintain an attitude facing the cargo port of the spacecraft. Also, the High Line
Cargo moves between spacecraft using its own propulsion function, such as a gas jet device (Figure 3(a)).
Distance from the spacecraft; distance measurements must always be made accurately.

The specific distance measurement method is the same as the distance measurement between spacecraft described above.

As long as Highline Cargo 3 is on the plane beam from the spacecraft (as long as it accurately receives the laser beams from both spacecraft), Cargo 3's automatic guidance will be a one-dimensional movement. Therefore, in Highline Cargo 3, the distances between the spacecraft 1 from which it took off and the spacecraft 2 it arrives at are measured, so the distance between the cargo 3 and the spacecraft 2 it arrives at is measured.
All you have to do is accelerate or decelerate it and control its movement.

It is sufficient that the transmission and reception of the laser beam between the High Line Cargo and the spacecraft is performed at least between the arriving spacecraft and the cargo. In other words, since the positional relationship between the spacecraft has already been controlled as described above, by controlling the positional relationship with at least one spacecraft, the positional relationship with both universes 1'li) can be naturally controlled. It is something that is to be controlled. Furthermore, if the information on the distance measurement results between the spacecraft and the cargo is superimposed on the laser beam from the spacecraft and given to the cargo, there is no need to provide a distance measurement means on the cargo itself, which simplifies the configuration. It's convenient.

In addition to the above-mentioned method of controlling the positional relationship of a spacecraft or cargo using a laser beam from an opposing spacecraft, a reflecting means such as a corner cube is provided on the opposing spacecraft, and the reflected light from there is used to reflect the spacecraft or cargo. There is a method to control the positional relationship of the line and cargo.

An embodiment in which reflected light is used will be described with reference to FIG. 4.

FIG. 4 shows the configuration of the light emitting/receiving section of the spacecraft 2, in which corner cubes 202, 203 and 201, 204 are used to reflect the plane beams A and B from the spacecraft 1, respectively. It is provided. These corner cubes reflect the surface beams from the spacecraft 1 in the respective exit directions.

On the other hand, the light emitting/receiving devices 28 and 29 emit the plane beams C and D that are emitted from the spacecraft 2 toward the spacecraft 1. The reflected light from the ship 1 is received. The light emitting/receiving devices 28 and 29 each control the positional relationship of the spacecraft 2 so that reflected light from two corner cubes provided on the spacecraft 1 is always received. In other words, the position of the plane beam received by the two corner cubes arranged in a straight line is specified.Similarly, in the case of spacecraft 1's emitter/receiver, spacecraft 2's corner cube 201
, 204, the surface beam B is connected to the corner cube 202.
At step 203, the positional relationship of the spacecraft 1 is controlled so that each of the plane beams A is always reflected.

Although only the side configuration of the spacecraft 2 has been described above, this configuration is the same for the spaceship 1 or the No. 1 line cargo 3.

Also, as mentioned above, there is no problem when using two or more corner cubes, but when only one corner cube is used as a reflection means, the position control between two spacecrafts cannot be controlled by both spacecrafts. For the attitude control of the cargo, the sending and receiving of laser beams from the
It is necessary to irradiate this Highline Cargo with lasers from both spacecraft.

That is, a corner cube has the property of reflecting light in the direction in which it is incident, no matter from which direction the light is incident. Therefore, for example, even if a laser emitted perpendicular to the plane of symmetry including the spacecraft's body axis is received by the opposing corner cube at an arbitrary angle, the reflected light from there will be reflected by the spacecraft. This is because the beam is folded back perpendicularly to the plane of symmetry that includes the aircraft axis, so a laser beam from one direction cannot maintain the relative posture of the two in a specific relationship.

For example, the configuration shown in FIG. 5 is used as the laser receiver provided on the spacecraft and the High Line Cargo.

Basically, the setting axis of the laser receiver is set to be perpendicular to the plane of symmetry including the spacecraft's body axis, and the axis of incidence of the laser beam and this setting axis are set so that the axis of the spacecraft is It controls the relative posture. The laser receiver basically consists of two splitters 51.52 and two two-dimensional optical sensors 53.54. Further, in the light receiver shown in FIG. 5, a part of the received surface beam is taken out and the angle of incidence is measured.

First and second splitters 51.5 consisting of half mirrors
The laser beams taken out from these first . The light enters the first and second two-dimensional sensors 53 and 54 whose installation positions are determined in accordance with the arrangement of the second splitter, and their positions are recorded. The incident angle of the incident beam can be measured by measuring the incident position of the incident laser beam using two two-dimensional sensors and measuring the deviation from each center position. For example, as shown in FIG.
Assuming that the dimensional sensor 54 receives the beam deviated from the center by δ, each inclination θ of the incident beam can be determined by the following formula.

θ = jan −' (δ/shi) [L is the first. Distance between Second Splinters] The configuration of the laser receiver described above can be equally used both when using laser beams from opposing spacecraft and when using reflected light from them. Further, in the light receiver, the above-described distance measurement or information transmission (optical PCM communication using laser beams) can be performed using the laser beam that has passed through the second splitter 52.

〔Effect of the invention〕

As explained above, according to the present invention, while controlling the positional relationship between moving bodies to be kept constant using a laser beam,
The third object can be automatically guided to and from the moving body. Here, objects can be transferred between moving bodies, such as spacecraft, several hundred meters to several kilometers apart, more safely and reliably than in the past.

In the above embodiment, only the transfer of objects between spacecraft has been described, but the application of the present invention is not limited to this. That is, the present invention can be applied to the transfer of objects between flying objects in the atmosphere, between moving objects on land, or between moving objects on the sea using laser light.

[Brief explanation of the drawing]

Figure 1 is a block diagram of the principle of the present invention, Figures 2 and 3 are diagrams showing an overview of the invention, Figure 4 is a diagram showing the configuration of the light emitting/receiving part of the spacecraft, and Figure 5 is a diagram showing the configuration of the light emitting/receiving section of the spacecraft. Fig. 6 is a diagram showing an outline of the vessel, and Fig. 6 is a diagram showing a method of transferring objects between ships. In the figure, 100.200 is a moving body, 10.11 is a first light emitting means, 20.21 is a first light receiving means, 23 is a first attitude control means, 25.26 is a second light emitting means, 300 is the third object, 30.31 is the second light receiving means, and 33 is the second attitude side? There are 11 means.

Claims (1)

[Claims] 1. One (100) of two moving bodies (100, 200)
When transferring the third object (300) from one moving body (200) to the other moving body (200), the first laser emitting means (10, 11) is attached to at least one moving body (100), and the first laser emitting means (10, 11) is attached to the other moving body (200). Laser emitting means (1
0, 11), and a first attitude/movement control means (20, 21) that receives the laser beam from the
23), and the movable body is arranged such that the laser light from the first laser emitting means (10, 11) is received by the first laser receiving means (20, 21) in a predetermined positional relationship. (200
), and at least one of the moving bodies (20
0), a second laser emitting means (24, 25) for irradiating a laser beam onto the third object (300);
) a second laser receiving means (
30, 31), and second attitude/movement control means (33)
and a third object such that the laser light from the second laser emitting means (24, 25) is received by the second laser receiving means (30, 31) in a predetermined positional relationship. (3
By controlling the posture and movement of the moving bodies (100, 200), the third object (3
00). 2. The distance between the moving bodies is also measured by transmitting and receiving a laser between the moving bodies, and the positional relationship between the two is maintained constant by controlling the postures/moving means of both moving bodies based on the distance measurement results. An object transfer method according to claim 1, characterized in that: 3. The first laser emitting means, the first laser receiving means, and the first posture/movement control means are provided on both of the two movable bodies, and transmit and receive laser beams to each other, thereby controlling the posture or movement of both bodies. controlling one or both of the two moving bodies, and directing the second laser emitting means to both of the two moving bodies,
The second laser light receiving means is provided on both of the two surfaces of the third object facing the moving body, and the third object can control its own posture or movement by the laser beams from both of the two moving bodies. 3. The object transfer method according to claim 1, wherein one or both of the above are performed. 4. Claims 1, 2, or 3, characterized in that the first and second laser emitting means emit a laser beam consisting of a plane beam. object transfer method. 5. The third object has a distance measuring means and a propulsion means for measuring the distance from the moving object, and is automatically guided between the moving objects by its own propulsive force while measuring the distance from the moving object. An object transport system according to claim 1, 2, 3, or 4, characterized in that: 6. When transferring a third object from one of the two movable bodies to the other, at least one of the movable bodies is provided with a first laser emission means and a first attitude/movement control means, and the other movable body is provided with the third object. A first reflecting means for reflecting the laser from the first laser emitting means is provided, and the first reflecting means is arranged so that the reflected light from the first reflecting means is received by the one moving body in a predetermined positional relationship. a second laser emitting means for controlling the attitude and/or movement of one of the moving objects, and irradiating the third object with a laser beam at least one of the moving objects; The movement control means is further provided with a second reflection means for reflecting the laser beam from the third object on the moving body to which the laser is irradiated, and the reflected light from the second reflection means is transmitted to the third object. By controlling the posture and/or movement of the third object so that the light is received by the third object in a predetermined positional relationship, the third object can be moved while keeping the relative positional relationship of the third object constant. An object transfer method characterized in that the third object is transferred between bodies. 7. The object phase method according to claim 6, wherein the first and second reflecting means are composed of corner cubes. 8. The object transport method according to claim 6 or 7, wherein the first and second laser emitting means irradiate a laser beam consisting of a plane beam. 9. The third object has a distance measuring means and a propulsion means for measuring the distance from the moving object, and is automatically guided between the moving objects by its own propulsive force while measuring the distance from the moving object. An object transport system according to claim 6, 7, or 8, characterized in that: