RU2669155C1 - Cosmonaut movement to identified objects on a space station control method and system for its implementation - Google Patents

Abstract

FIELD: astronautics.SUBSTANCE: invention relates to the space equipment. Astronaut movement to the identified objects on a space station control method includes determining the astronaut current position parameters and generation of commands for the astronaut movement to the identified objects. In addition, performing the measuring of parameters of the signal generated by the information readers from the antennas emitting pulses to the radio frequency tags requesting and receiving response signal from radio frequency tags, arranged on the identified objects located in the installed at the space station their storage facilities, equipped with the said antennas and information readers. Based on the generated by the information readers signal parameters values and the antennas location parameters given values, determining the radio frequency tags location parameters, by which performing the identification and determining the identified objects at the space station current location characteristics and parameters, after which generating commands for the astronaut movement from his current position to the identified objects along the route, determined taking into account the identified objects on the space station current location characteristics and parameters. Astronaut movement to identified objects on a space station control system includes the cosmonaut position parameters determining unit, the cosmonaut movement route determination unit, astronaut movement commands generation unit. Identified objects are additionally equipped with RF tags and installed on the space station identified objects storage means are introduced, each of which contains antenna for the radio frequency tags detection and the reader associated thereto, control actions on the readers generation unit, the identified objects radio frequency tags parameters and characteristics setting unit, antennas location parameters values setting unit, identified objects characteristics determining unit, the identified objects location parameters determining unit, the identified objects use sequence determining unit.EFFECT: enabling the prompt accounting of the identified objects characteristics and the astronaut relative to the identified objects current location parameters.2 cl, 1 dwg

Description

The proposed technical solution relates to the field of space technology and can be used to control the movement of an astronaut at a space station.

A known method of controlling a mobile object (RF patent RU 2370804, 10.20.2009 Bull. No. 29, priority from 06/28/2005, IPC (2006.01) G05B 19/045), including detecting the movement of a mobile object, determining the location of the object, checking the location of the object in within a predetermined zone and the formation of commands for controlling a mobile object based on the results of this check.

A known location tracking system (RF patent 2370804, priority from 06/28/2005, IPC (2006.01) G05B 19/045) that implements the above method and containing a controller connected to a motion detection component and a position determination component, wherein the controller comprises a target setting unit zone location of the object, the comparison unit, the block generating commands for managing the object. During the operation of the system, the motion detection component detects the movement of a moving object and generates a signal informing of the movement for the controller. The controller in response to this signal causes the component to determine the location of the moving object, checks to find the coordinates of the object within a predetermined zone and, based on the results of the check, generates commands for controlling the object.

These method and system provide control of a moving object in a single cycle with determining the coordinates of its location, which allows real-time control of the movement of the object using directly the energy contained in the response signal generated by the moving object.

The disadvantage of the data of the method and system is that they do not provide an account of external / environmental conditions around the movable form object during its movement along the route, affecting the choice of route and the ability to control the movement of the object.

A known method of controlling the movement of an astronaut relative to the spacecraft (RF patent RU 2604892 C1, 12/20/2016 Bull. No. 35, IPC (2006.01) G01C 21/24 - prototype method), including determining the location of the object, checking the location of the object within the specified zone and the formation of teams on the movement of the object according to the results of this test, additionally determine the parameters of the relative position of the locations of the emitters of infrared pulsed signals with at least one given fixed position of the moving parts of the astronaut with data on the said moving parts in at least one emitter of infrared pulsed signals, then in the process of monitoring the astronaut’s movement, control actions are generated on the said emitters of infrared pulsed signals, and measurements are made of at least four equipped with optical systems and placed in spaced points fixed in the spacecraft coordinate system, position-sensitive infrared radiation detectors, according to the measured values the parameters generated by position-sensitive infrared radiation detectors, and the specified values of the location parameters of the detectors and optical systems determine the coordinates of the locations of the infrared pulse emitters in the spacecraft coordinate system, the current coordinates of the locations of the infrared pulse emitters and the relative positions of the locations of the infrared pulse emitters defined for given fixed positions of the astronauts that, determine the parameters of the current position of the astronaut relative to the spacecraft, measure the parameters of the current position of the moving structural elements of the spacecraft, measure the parameters of the spacecraft’s motion, and then form commands to move the astronaut from its current position to the target position along the route determined taking into account the determined parameters of the current position of the moving elements on the spacecraft and measured current and forecasted position parameters of the moving elements of the spacecraft design, the predicted position parameters of which are determined yut on the measured parameters of their current position and the measured parameters of the spacecraft.

A known system for controlling the movement of an astronaut relative to the spacecraft (RF patent RU 2604892 C1, 12/20/2016, bull. No. 35, IPC (2006.01) G01C 21/24 - prototype system), which implements the prototype method and includes a unit for determining the parameters of the position of the astronaut, task unit parameters of the target positions of the astronaut, a comparison unit, a unit for determining the route of the astronaut’s movement, a unit for generating commands for the astronaut’s movement, at least two blocks of infrared pulse emitters placed on different moving parts of the astronaut, at least two receiving devices, at least two means of interfacing radio devices with blocks of infrared emitters, at least four blocks of position-sensitive infrared radiation detectors located at spaced points, fixed in the spacecraft coordinate system, at least four optical systems, at least four receiving data generation blocks infrared signals, at least four means of interfacing radio devices with blocks for generating data for receiving infrared signals, at least five radio-transmitting devices shaft, a unit for generating commands for controlling the emission and reception of infrared signals, a means for interfacing the equipment with the fifth radio transceiver, a synchronizer, a unit for setting parameters for the location of infrared radiation detectors, a unit for setting parameters for optical systems, a unit for determining direction parameters from infrared radiation detectors to infrared emitters , a unit for determining the coordinates of the locations of the emitters of infrared signals, a unit for indicating fixed positions of astronauts a, a unit for determining the parameters of the relative position of the emitters of infrared signals at fixed positions of the astronaut, a unit for determining the parameters of the position of the moving elements on the spacecraft, a block for measuring the parameters of the motion of the spacecraft, a block for measuring the parameters of the position of the moving structural elements of the SC, appropriate communications have been introduced, including the astronaut’s position determination unit connected to the route determination unit before the astronaut’s movement, which is connected to the unit for forming commands for the astronaut’s movement.

These method and system provide operational accounting of the exact current position of crew members relative to the spacecraft and its moving and moving elements when controlling the movement of the spacecraft crew members, while taking into account the parameters of the current position of the astronaut as an object with moving parts, including information about the astronaut’s shape and orientation.

The disadvantages of the method and system data are that they do not provide for taking into account the current relative position of the astronaut and identifiable objects stored on the spacecraft, which the astronaut must use in the course of his activities on board the spacecraft. This problem is most relevant for such spacecraft as modular space stations, which host a large number of various objects moved by astronauts that have certain expiration dates (these terms are determined for both storage and use of objects) and a certain, generally changing location on stations, and the astronaut’s travel routes to these objects can be long paths along the modules of the space station.

The problem to which the present invention is directed is to increase the efficiency of control of a manned spacecraft by minimizing the time the astronaut moves to identifiable objects stored on the spacecraft.

The technical result achieved by the implementation of the present invention is to provide operational accounting when controlling the movement of the astronaut characteristics (specifications, expiration dates, etc.) of identifiable objects stored on the space station, as well as the parameters of the current location of the astronaut relative to the required (target) identifiable objects, the direction to which he needs to make movements.

The technical result is achieved by the fact that in the method of controlling the movement of the astronaut to identifiable objects on the space station, including determining the parameters of the current position of the astronaut and generating commands for the astronaut to move to the identifiable objects, they additionally measure the parameters of the signal generated by readers of information from antennas emitting pulses for interrogation RF tags and receiving a response signal from RF tags placed on identifiable objects located in the space station storage facilities equipped with the aforementioned antennas and information readers, the values of the parameters of the locations of the radio frequency tags are determined from the values of the parameters of the signal generated by the information readers and the given values of the parameters of the antennas, which are used to identify and determine the characteristics and parameters the current location of identifiable objects on the space station, after which they form teams on the move f the astronaut from his current position to identifiable objects along a route determined taking into account the characteristics and parameters of the current location of identifiable objects on the space station.

The technical result is also achieved by the fact that in the control system for the movement of the astronaut to identifiable objects on the space station, which includes a unit for determining the parameters of the astronaut, the output of which is connected to the first input of the unit for determining the route of the astronaut, whose output is connected to the input of the unit for generating commands for the movement of the astronaut, additionally identifiable objects are equipped with radio frequency tags and the means of storage of identifiers installed on the space station are introduced initiating objects, each of which contains an antenna for detecting radio frequency tags and a reading device associated with it, a unit for generating control actions on the reading devices, a unit for setting parameters of radio frequency tags and characteristics of identifiable objects, a unit for setting values of antenna location parameters, a unit for determining characteristics of identifiable objects , a block for determining the location parameters of identifiable objects, a block for determining the sequence of using identifiable objects, wherein the output of the control actions generating unit on the reading devices is connected to the first input of the reading device, the second input and the first output of which are connected to the output and the input of the antenna, the second output of the reading device is connected to the first inputs of the characterizing unit of the identified objects and unit for determining the location parameters of identifiable objects, the second inputs of which are connected to the outputs of the task unit, respectively parameters of radio frequency tags and characteristics of identifiable objects and the unit for setting the values of the parameters of the location of the antennas, and the outputs are connected to the first and second inputs of the unit for determining the sequence of use of identifiable objects, the third input and output of which are connected to the output of the unit for determining the parameters of the position of the astronaut and the second input of the unit determine the route of movement of the astronaut, the third and fourth inputs of which are connected to the outputs of the block the distribution of characteristics of identifiable objects and the unit for determining the location parameters of identifiable objects, the third input of which is also connected to the output of the unit for setting parameters of radio frequency tags and characteristics of identifiable objects.

The invention is illustrated in the drawing, which shows a block diagram of the proposed system and the following notation:

1 - identifiable objects;

2 - radio frequency tags;

3 - means of storage of identifiable objects;

4 - antenna;

5 - reader;

6 - block forming control actions on reading devices;

7 - unit for setting the values of the parameters of the radio-frequency tags and characteristics of identifiable objects;

8 - unit for setting values of the antenna location parameters;

9 - block determining the characteristics of identifiable objects;

10 - block determining the location parameters of identifiable objects;

11 is a block for determining the sequence of use of identifiable objects;

12 - block determining the parameters of the position of the astronaut;

13 - block determining the route of the astronaut;

14 - block forming teams for the movement of the astronaut.

In the proposed method for controlling the movement of an astronaut to identifiable objects on a space station, the parameters of the current position of the astronaut are determined, the parameters of the signal generated by information readers from antennas that generate radio frequency emitting pulses for interrogation of radio frequency tags are measured and receive a response signal from radio frequency tags that are located on identifiable objects that are located in special means of storage of identifiable objects.

Storage facilities for identifiable objects are installed in the modules of the space station and equipped with the aforementioned antennas and information readers.

From the values of the parameters of the signal generated by the readers of information, and the given values of the parameters of the locations of the antennas, the values of the parameters of the locations of the RF tags are determined, which identify and determine the characteristics and parameters of the current location of the identified objects in the modules of the space station. The characteristics of identifiable objects include, for example, specifications of identifiable objects, their expiration dates, etc.

Next, they compose (determine) the sequence of use of identifiable objects, which is determined taking into account the current position of the astronaut and certain characteristics and parameters of the current location of identifiable objects in the modules of the space station, and compose (determine) the route of the astronaut, which is determined taking into account the current position of the astronaut, the sequence use of identifiable objects, characteristics of identifiable objects and parameters of the current month location of identifiable objects in the modules of the space station.

After that, teams are formed to move the astronaut from his current position to identifiable objects along the route.

We describe the proposed system.

Identifiable objects 1 on board the space station are equipped with radio frequency tags 2 and are located in special storage facilities for identifiable objects 3.

As radio frequency tags, known RFID tags (RFID - Radio Frequency Indentification) can be used, which are widely used in radio frequency technology used in various fields of activity (see. Promising options for using radio frequency identification technology in library and museum business / Kirillov N.P., Dashevsky V.P., Sokolov B.V., Yusupov R.M. // Proceedings of SPIIRAS. 2008. Issue 7. P. 48-53; Method for determining the position of an object using radio frequency tags. RF patent RU 2472218 C1, 10.01 .2013, Bulletin No. 1, IPC (2006.01) G06K 5/00, G01S 5/16).

Storage facilities for identifiable objects 3 in a predetermined manner (for example, stationary) are installed in the modules of the space station. Each storage means comprises an antenna 4 for detecting radio frequency tags and a reader 5 associated therewith.

In addition, the system includes: a block for generating control actions on the reading devices 6, a block for setting the values of the parameters of the RF tags and characteristics of the identifiable objects 7, a block for setting the values of the parameters of the location of the antennas 8, a block for determining the characteristics of the identifiable objects 9, a block for determining the location parameters of the identifiable objects 10, a unit for determining the sequence of use of identifiable objects 11, a unit for determining the position parameters of the astronaut 12, a unit for determining niya route of movement of the astronaut 13, the unit for the formation of commands for the movement of the astronaut 14.

The output of the unit for determining the parameters of the position of the astronaut 12 is connected to the first input of the unit for determining the route of movement of the astronaut 13, the output of which is connected to the input of the unit for generating commands for the movement of the astronaut 14.

The output of the control actions generating unit on the reading devices 6 is connected to the first input of the reading device 5, the second input and the first output of which are connected to the output and input of the antenna 4, respectively.

The second output of the reader 5 is connected to the first inputs of the unit for determining the characteristics of identifiable objects 9 and the unit for determining the location parameters of identifiable objects 10, the second inputs of which are connected to the outputs of the unit for specifying the values of the parameters of the RF tags and characteristics of the identifiable objects 7 and the unit for setting the values of the parameters of the location of the antennas 8 .

The outputs of the unit for determining the characteristics of identifiable objects 9 and the unit for determining the location parameters of identifiable objects 10 are connected to the first and second inputs of the unit for determining the sequence of use of identifiable objects 11, the third input and output of which are connected to the output of the unit for determining the position parameters of the astronaut 12 and the second input of the unit for determining astronaut’s movement route 13.

The third and fourth inputs of the unit for determining the route of the astronaut 13 are connected to the outputs, respectively, of the unit for determining the characteristics of identifiable objects 9 and the unit for determining the location parameters of identifiable objects 10, the third input of which is also connected to the output of the unit for setting parameters of radio frequency tags and characteristics of identifiable objects 7.

The system is as follows.

The unit for generating control actions on the reading devices 6 generates control commands for the reading devices 5.

Readers 5 in accordance with the commands received by them control the antennas 4 and receive information from them from the RF tags 2.

Antennas 4 by commands from readers 5 generate radio frequency emitting pulses to interrogate RF tags 2 and receive a response signal from RF tags 2.

In the unit for determining the characteristics of identifiable objects 9 by signals received from information readers 5 and the unit for setting the parameters of radio frequency tags and characteristics of identifiable objects 7, the objects stored at the station are identified and their characteristics are determined (specifications, expiration dates, etc.). Object identification is carried out by comparing the RFID data received from the information readers 5 with the given values of the parameters of the entire array of RFID tags stored in the block for setting the RFID tag parameters and the characteristics of identifiable objects 7 (in this unit the parameters of RFID tags and object characteristics can be stored as for objects already delivered on board, and for objects removed from the station and / or still planned for delivery on board).

In the unit for determining the location parameters of identifiable objects 10 by signals received from information readers 5, the unit for setting the values of the parameters of the RF tags and the characteristics of the identifiable objects 7 and the unit for setting the values of the parameters of the location of the antennas 8, the location parameters of the identifiable objects in the modules of the space station are determined. The determination of the location parameters of the identifiable objects is performed by comparing the data of the RF tags received from the information readers 5 with the given values of the parameters of the RF tags stored in the unit for setting the parameters of the RF tags and the characteristics of the identified objects 7, and the given values of the location parameters of the antennas 4 to which they are connected data readers 5.

In the unit for determining the parameters of the position of the astronaut 12 determine the parameters of the current position of the astronaut. For example, the parameters of the current position of the astronaut can be obtained using the system for determining the position of an object (cosmonaut) relative to the spacecraft (RF patent RU 2600039 C1, 10/20/2016, bull. No. 29), performed using infrared pulsed emitters placed on the astronaut and placed on KA infrared radiation detectors. In this case, the parameters of the astronaut’s current position, determined with the help of this system, along with the astronaut’s location can include information on the astronaut’s orientation relative to the spacecraft and information on the astronaut’s current shape and orientation — the astronaut is straightened or bent / folded indicating the possible range of angles between the moving parts of the astronaut and in what it is oriented to the side (the volume and accuracy of information about the current shape and orientation of the astronaut is determined by the number of emitters of infrared signals, set ny on different moving parts of the astronaut).

In the block for determining the sequence of use of identifiable objects 11 by the signals received from the block for determining the characteristics of identifiable objects 9, the block for determining the location parameters of identifiable objects 10 and the block for determining the position parameters of the astronaut 12, the sequence of use of identifiable objects is compiled (determined) taking into account the current position of the astronaut and certain characteristics and parameters of the current location of identifiable objects in m Odul space station. For example, the determination of the sequence of use of identifiable objects can be performed by comparing their expiration dates, in which the objects are selected for use sequentially in the order of the end of their storage / use on board the station.

In the block for determining the route of movement of the astronaut 13 according to the signals received from the block for determining the characteristics of identifiable objects 9, the block for determining the parameters of the location of identifiable objects 10, the block for determining the sequence of use of identifiable objects 11 and the block for determining the parameters of the position of the astronaut 12, the route is determined for the necessary movement of the astronaut in space station from its current position to the required (target) objects selected from the total number of ntifitsiruemyh objects arranged in a storage means of the identifiable objects 3. The route is determined taking into account sequence composed use by an astronaut identifiable objects 1, the characteristics identifiable objects (specifications, shelf life, etc.) and the parameters of the current location of identified objects in the space station modules. For example, it is possible to determine a route to one current target, as well as to several targets, which should be sequentially available to the astronaut for use, i.e. through the locations of which the determined route of movement of the astronaut must pass sequentially.

In the unit for generating commands for the movement of the astronaut 14 according to the signals received from the unit for determining the route of the movement of the astronaut 13, teams are formed for the movement of the astronaut from its current position to identifiable objects 1 along the predetermined route.

We describe the technical effect of the invention.

The present invention provides, when controlling the movement of the astronaut, an operational account of the characteristics (specifications, expiration dates, etc.) of identifiable objects stored on the space station, as well as the parameters of the astronaut's current location relative to the required (target) identifiable objects, in the direction to which he needs to make movements.

Including the present invention provides the ability to perform operational identification (and inventory) stored at the station moving objects of storage, including the operational determination of their characteristics and current location. For this purpose, specialized means of storing identifiable objects installed in the modules of the space station are used, which provide the ability to create the required storage conditions for objects in space flight. In particular, these storage conditions include accounting for overloads and weightlessness occurring on the spacecraft, which makes it possible to carry out the indicated means of storage of identifiable objects in such a way as to exclude the possibility of spontaneous movement of storage objects, which ensures the necessary reliability of reading RFID tags (by maintaining the necessary mutual position of the RFID tags and antennas of the reader), and also eliminates the possibility of damage to fragile storage objects (by eliminating the possibility of shock to the object storage s on rigid structural elements).

The proposed method and system provides the possibility of their application for any large number of various objects that have different shelf life of storage and use and which have a different, generally changing location in the modules of the space station.

Along with the noted technical effect, the proposed device in the process of performing all operations related to its use and operation provides the necessary ergonomics of its use / operation both for astronauts and for operators providing spacecraft flight control. The proposed method and system provides the ability to conveniently and quickly increase the number of objects used and their corresponding RF tags, the number of storage facilities used for identifiable objects, and also provide the possibility of their application / use under conditions of changing the configuration of the space station and changing the number of astronauts on board it.

The proposed method and system allows to increase the efficiency of manned spacecraft control, including by minimizing the identification time (and inventory) of the moved storage objects stored on the spacecraft and minimizing the time the astronaut moves to the required (target) identifiable objects stored on the spacecraft.

The achievement of the technical result in the proposed method is provided by the introduction of the proposed actions / operations and the proposed conditions for their implementation. The achievement of the technical result in the proposed system is provided by the introduction of the proposed blocks, as well as the introduction of the proposed functional relationships between the blocks and the proposed execution of already known blocks.

Currently, everything is technically ready for the implementation of the proposed method. Industrial execution of the essential features characterizing the invention is not complicated and can be performed using existing technical means.

Claims (2)

1. A method of controlling the movement of an astronaut to identifiable objects on a space station, including determining the parameters of the current position of the astronaut and generating commands for the astronaut to move to identifiable objects, characterized in that they additionally measure the parameters of the signal generated by the information readers from antennas emitting pulses for interrogating radio frequency tags and receiving a response signal from radio frequency tags located on identifiable objects located in The storage means installed on the space station, equipped with the aforementioned antennas and information readers, from the values of the parameters of the signal generated by the information readers and the given values of the antenna location parameters, determine the location parameters of the radio frequency tags, which identify and determine the characteristics and parameters of the current location of the identified objects at the space station, after which they form teams to move the astronaut from his tech down position to identifiable objects along a route determined taking into account the characteristics and parameters of the current location of identifiable objects on the space station. 2. A control system for the movement of the astronaut to identifiable objects on the space station, including a unit for determining the parameters of the position of the astronaut, the output of which is connected to the first input of the unit for determining the route of the astronaut, whose output is connected to the input of the unit for generating commands for the movement of the astronaut, characterized in that it is additionally identifiable objects are equipped with radio frequency tags and means of storing identifiable objects installed on the space station are introduced, each of which contains an antenna for detecting radio frequency tags and a reading device associated with it, a block for generating control actions on the reading devices, a block for setting values of parameters of radio frequency tags and characteristics of identifiable objects, a block for setting values of antenna location parameters, a block for determining characteristics of identifiable objects, a block for determining parameters identifiable object locations, identifiable object usage sequence determining unit s, wherein the output of the control actions generating unit for the reading devices is connected to the first input of the reading device, the second input and the first output of which are connected to the output and the input of the antenna, the second output of the reading device is connected to the first inputs of the characterization unit for identifiable objects and the determining unit location parameters of identifiable objects, the second inputs of which are connected to the outputs, respectively, of the unit for setting radio frequency parameters x marks and characteristics of identifiable objects and the unit for setting the values of the antenna location parameters, and the outputs are connected to the first and second inputs of the unit for determining the sequence of use of identifiable objects, the third input and output of which are connected to the output of the unit for determining the parameters of the position of the astronaut and the second input of the block for determining the route the astronaut’s movement, the third and fourth inputs of which are connected to the outputs of the characteristics and entifitsiruemyh objects and unit positioning parameters of identified objects, the third input of which is also connected to the output value setting unit parameters and characteristics of the RFID tag identifiable objects.

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