Spacecraft system for debris disposal and other operations and methods pertaining to the same

• US 9,944,412 B2
• Filed: 10/03/2014
• Issued: 04/17/2018
• Est. Priority Date: 10/04/2013
• Status: Active Grant

• Current Assignee: Busek Co., Inc.
• Original Assignee: Busek Co., Inc.
• Inventors: Szabo, James J., Hruby, Vladimir, Roy, Thomas R., DeLuccia, Craig, Andrews, Jay, Williams, W. Dan, Berlin, Matthew R., Gray, Jesse V.
• Primary Examiner(s): Ellis, Christopher P
• Application Number:
  US14/505,678
• Publication Number:
  US 20150097084A1
• Time in Patent Office: 1,292 Days
• CPC Class Codes: B64G 1/1078 Maintenance satellites refueling in space B64G1/4024
• CPC Class Codes: B64G 1/242 Orbits and trajectories
• CPC Class Codes: B64G 1/26 using jets
• CPC Class Codes: B64G 1/36 using sensors, e.g. sun-sensors, horizon sensors
• CPC Class Codes: B64G 1/402 Propellant tanks; Feeding propellants
• CPC Class Codes: B64G 1/405 Ion or plasma engines per se F03H1/00
• CPC Class Codes: B64G 1/428 Power distribution and management
• CPC Class Codes: B64G 1/646 Docking or rendezvous systems refueling in space B64G1/4024
• CPC Class Codes: B64G 1/648 Tethers
• CPC Class Codes: B64G 2004/005 Robotic manipulator systems for use in space
• CPC Class Codes: B64G 4/00 Tools specially adapted for use in space
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A spacecraft system and method includes a platform with a dock and an umbilical payout device. A robot is connected to an umbilical paid out by the umbilical payout device and is repeatedly deployable from the dock. The robot includes one or more imagers, an inertial measurement unit, and a plurality of thrusters. A command module receives image data from the one or more robot imagers and orientation data from the inertial measurement unit. An object recognition module is configured to recognize one or more objects from the received image data. The command module determines the robot'"'"'s orientation with respect to an object and issues thruster control commands to control movement of the robot based on the robot'"'"'s orientation. The combination of the space platform and robot on umbilical line can be used for towing another object to different orbital location, inspection including self-inspection of the robot carrying platform and for robotic servicing.

Claims

1. A spacecraft system comprising:

a platform including a dock and an umbilical payout device;

a robot connected to an umbilical paid out by the umbilical payout device and deployable from said dock and including;

one or more imagers,

an inertial measurement unit, and

a plurality of thrusters; and

a command module receiving image data from the one or more robot imagers and orientation data from the inertial measurement unit and including;

an object recognition module configured to recognize one or more objects from the received image data,

determine the robot'"'"'s orientation with respect to an object, and

issue thruster control commands to control movement of the robot based on the robot'"'"'s orientation.

2. The system of claim 1 in which the command module is onboard the platform and image data and orientation data is transmitted from the robot to the platform via the umbilical and thruster control commands are transmitted from the platform to the robot via the umbilical.

3. The system of claim 1 in which the platform is a satellite.

4. The system of claim 1 in which the robot further includes an end effector.

5. The system of claim 1 in which the robot further includes a probe.

6. The system of claim 1 in which the command module is configured to issue thruster control commands which move the robot closer to said object.

7. The system of claim 1 in which said command module is configured to issue thruster control commands which reposition the robot at a previously determined location.

8. The system of claim 1 in which the object recognition module is configured to recognize one or more objects based on stored image data.

9. The system of claim 1 in which the object recognition module includes a marker based tracking module and/or a point cloud based module.

10. The system of claim 1 in which the one or more imagers include a depth camera, an infrared camera, and/or an RGB camera.

11. The system of claim 1 in which the command module is configured with a path planning module and path execution module configured to plan and execute movement of the robot.

12. The system of claim 11 in which the path planning module is configured to plan a path which keeps the robot at a specific orientation with respect to the object.

13. The system of claim 11 in which the path planning module is configured to plan a path which keeps the robot at a specified distance from the object.

14. The system of claim 11 in which the path planning module is configured to plan a path of movement for the robot based on both image data and orientation data from the inertial measurement unit.

15. The system of claim 1 further including means for damping the umbilical.

16. A method comprising:

deploying a robot from a platform dock in space using an umbilical wound about an umbilical payout device associated with the dock;

at the robot, generating image data and orientation data;

processing the image data to recognize one or more objects imaged by the robot;

processing the orientation data to determine the robot'"'"'s orientation with respect to a recognized object; and

issuing thruster control commands to control movement of the robot based on the image and orientation data.

17. The method of claim 16 in which the image data and orientation data is transmitted from the robot to the platform via the umbilical and thruster control commands are transmitted from the platform to the robot via the umbilical.

18. The method of claim 16 in which the platform is a satellite.

19. The method of claim 16 further including equipping the robot with an end effector.

20. The method of claim 16 further including equipping the robot with a probe.

21. The method of claim 16 in which the thruster control commands are configured to move the robot closer to said object.

22. The method of claim 16 in which the thruster control commands are configured to reposition the robot at a previously determined location.

23. The method of claim 16 in which recognizing one or more objects is based on stored image data.

24. The method of claim 16 in which the object recognition include marker based tracking and/or a point cloud based tracking.

25. The method of claim 16 in which generating image data includes using a depth camera, an infrared camera, and/or an RGB camera.

26. The method of claim 16 in which issuing thruster control commands includes path planning and path execution configured to plan and execute movement of the robot.

27. The method of claim 26 in which path planning includes planning a path which keeps the robot at a specific orientation with respect to the object.

28. The method of claim 26 in which path planning includes planning a path which keeps the robot at a specified distance from the object.

29. The method of claim 26 in which path planning includes planning a path of movement for the robot based on both image data and orientation data.

30. The method of claim 16 further including damping the umbilical.

31. A spacecraft system comprising:

a platform including a dock and an umbilical payout device;

a robot connected to an umbilical paid out by the umbilical payout device and deployable from said dock and including;

a depth camera, an infrared camera, and an RGB camera,

an inertial measurement unit, and

a plurality of thrusters; and

a command module onboard the platform receiving, via the umbilical, image data from said cameras and orientation data from the inertial measurement unit and including;

an object recognition module configured to recognize one or more objects from the received image data,

determine the robot'"'"'s orientation with respect to an object, and

issue thruster control commands to control movement of the robot based on said image data and the robot'"'"'s orientation.