Rocket stage and landing method thereof

Abstract

A rocket stage is disclosed. A rocket stage may include a body, and a plurality of foldable propulsion units spaced about a perimeter of the body, where each propulsion unit includes: a folding beam; the rocket comprises a folding beam, at least one motor mounted to the folding beam, and at least one propeller mounted to the at least one motor, the at least one propeller configured to generate thrust for propelling the rocket.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to IL Application No. 294757, filed on July 13, 2022, entitled “ROCKET STAGE AND METHOD OF LANDING THEREOF,” the contents of which are incorporated herein by reference in their entirety. Field of the Invention

[0003] The present invention relates generally to space vehicles. More particularly, the present invention relates to rocket stages, and reusable rocket stages having landing capabilities. Background Art

[0004] Advances in commercial space vehicles have driven innovations in reusable rocket technology. Previously, when a rocket was launched into space, its boosters were disposable and decommissioned after each use. In modern times, booster stages (the stages of a rocket used to get a vehicle out of the Earth's atmosphere) are reusable and often use the same fuel for launch and landing. For example, the boosters from SpaceX TM Falcon Heavy TM The Space Shuttle Heavy booster uses a mixture of liquid oxygen (LOX) and rocket-grade kerosene propellants for launch and landing. Therefore, about 2% of the total propellant available at launch needs to be conserved and used for landing.

[0005] Furthermore, the use of liquid propellants for spacecraft landings carries additional risks. On the landing trajectory, aerodynamic control (i.e., yaw, pitch, and roll stability) is primarily achieved through aerodynamic control surfaces; in the art, grid or lattice fins are used for aerodynamic control. For statically mounted thruster engines, the thrust provided by the engine is unidirectional; therefore, the engine must work in parallel with the lattice fins to control the landing stage. For thruster engines incorporating thrust vectoring (or TVC as it is known in the art), aerodynamic control is limited by the maximum range of rotation of the engine (i.e., along the pitch and yaw axes), combined with the thrust generated in the desired vector. In this case, aerodynamic control is also limited by the distance between the engine and the center of mass of the rocket, for example, to generate a torque around the center of mass of the rocket. In conventional rocket technology, the engine location is limited to the bottom of the rocket.

[0006] Furthermore, the added complexity of using a single engine as both a thrust vector controller and a means for slowing the rocket introduces additional risks. During the landing maneuver, small corrections must be made within a fraction of a second to land safely. If the engine is utilized for thrust vector control, the response time of the actuator to rotate the engine to the desired configuration may be slower than the response time required for the correction maneuver.

[0007] Another risk of a liquid propellant powered landing is the proximity of the thruster engines to the landing surface (or landing pad). If the thrust is calculated incorrectly, or the landing gear fails to deploy, the thruster engines may directly contact the landing pad while the engine is generating thrust. This may result in instantaneous and fatal damage to the spacecraft and its surroundings (i.e., a large amount of back pressure is generated in the engine when the exhaust port becomes closed due to contact with the landing pad).

[0008] Additionally, the recovery of liquid propellant powered rockets needs to be done in remote areas, such as areas dedicated to rocket launch and landing. These remote areas need to be away from populated areas due to safety, noise regulations, and fumes from propellants. With the recent increase in the frequency of commercial space launches, launch schedules may be limited by whether these remote areas can facilitate the launch and landing of liquid propellant powered rockets.

[0009] Therefore, a solution is needed that can reduce the risk of fatal accidents during rocket landing while increasing the turnaround time for launch frequency. Summary of the invention

[0010] Embodiments of the present invention relate to rocket stages. Embodiments of the rocket stage may include: a body, and a plurality of foldable propulsion units spaced around a perimeter of the body, wherein each propulsion unit includes: a folding beam; at least one motor mounted to the folding beam; and at least one propeller mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

[0011] In some embodiments, the rocket stage may include a plurality of foldable air brakes (airbrakes, pneumatic brakes, pneumatic brakes, speed brakes), wherein the plurality of foldable air brakes are spaced around the perimeter of the body, wherein each air brake includes at least one air brake actuator, and the at least one air brake actuator is configured to actuate the plurality of foldable air brakes.

[0012] In some embodiments, the rocket stage may include at least one first sensor, at least one of the first sensors being configured to measure a value representing the height of the rocket stage, wherein at least one air brake actuator is configured to deploy a plurality of foldable air brakes in response to receiving a first value representing the height of the rocket stage from the at least one first sensor.

[0013] In some embodiments, each foldable propulsion unit includes at least one beam actuator configured to cause the folding beam to deploy.

[0014] In some embodiments, a rocket stage may include at least one second sensor configured to sense at least one flight characteristic of the rocket.

[0015] In some embodiments, the beam actuator is configured to: in response to receiving a second value indicating the altitude of the rocket stage from the second sensor or the first sensor, cause the folding beam to unfold. In some embodiments, the at least one second sensor is selected from: an altimeter, a pressure sensor, an accelerometer, a gyroscope, and a magnetometer.

[0016] In some embodiments, the rocket stage may include a controller configured to control the folding and unfolding of each foldable propulsion unit based on a measured value received from the second sensor or the first sensor. In some embodiments, the controller is configured to control the plurality of foldable propulsion units to maneuver the rocket stage. In some embodiments, the controller is configured to control the plurality of foldable propulsion units to change at least one of the pitch angle, roll angle, and yaw angle of the rocket.

[0017] In some embodiments, each foldable propulsion unit further comprises at least one servo device, and the controller is configured to control the at least one servo device to change a pitch of the at least one propeller.

[0018] In some embodiments, the rocket stage may include a plurality of stabilizing fins spaced about the perimeter of the body.

[0019] Embodiments of the present invention relate to rocket systems. Embodiments of the rocket system may include: a payload; a first stage including: a body; and a plurality of foldable propulsion units spaced around a perimeter of the body; and a second stage.

[0020] In some embodiments, the first stage of the rocket system also includes: a plurality of foldable air brakes, wherein the plurality of foldable air brakes are spaced apart around the perimeter of the body, wherein each air brake includes at least one air brake actuator, and the at least one air brake actuator is configured to actuate the plurality of foldable air brakes.

[0021] In some embodiments, each foldable propulsion unit in the first stage includes: a folding beam; at least one motor mounted to the folding beam, and at least one propeller mounted to the at least one motor, the at least one propeller configured to generate thrust for propelling the rocket.

[0022] Embodiments of the present invention relate to methods for maneuvering a rocket stage. Embodiments of the method may include: detecting a first altitude and / or velocity of the rocket stage; deploying a plurality of foldable propulsion units of the rocket stage; activating at least one motor of the foldable propulsion unit, and generating thrust via at least one propeller mounted to at least one motor to maneuver the rocket stage, wherein the rocket stage comprises: a body; and a plurality of foldable propulsion units, the plurality of foldable propulsion units being spaced apart around a perimeter of the body, wherein each propulsion unit comprises: a folding beam; at least one motor, the at least one motor being mounted to the folding beam, and at least one propeller, the at least one propeller being mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

[0023] In some embodiments, the method may include detecting a second altitude and / or velocity of the rocket stage and deploying a plurality of collapsible air brakes, wherein the rocket stage further comprises a plurality of collapsible air brakes spaced apart around a perimeter of the body.

[0024] In some embodiments, deploying the plurality of foldable air brakes is controlled by at least one air brake actuator of the foldable air brakes.

[0025] In some embodiments, deploying the plurality of foldable propulsion units is controlled by at least one beam actuator of the foldable propulsion units.

[0026] In some embodiments, the method may include maneuvering the rocket stage via at least one propeller to change at least one of a pitch angle, a roll angle, and a yaw angle of the rocket stage.

[0027] In some embodiments, the method may include manipulating the rocket stage via a plurality of stabilizing wings located on the rocket stage and configured to actuate relative to a longitudinal axis of the rocket stage to change at least one of the pitch, roll, and yaw angles of the rocket stage.

[0028] In some embodiments, the method may include landing the rocket stage via a plurality of foldable propulsion units. In some embodiments, the rocket stage is landed on one of the ground and a marine vessel.

[0029] Embodiments of the present invention relate to methods for launching and landing a rocket. Embodiments of the method may include: launching a rocket from one of an aircraft or the ground; controlling the rocket to achieve a desired altitude and / or speed; separating a first stage of the rocket from a second stage of the rocket, and landing the first stage via a plurality of foldable propulsion units of the first stage, wherein the rocket comprises: a payload; a first stage and a second stage, wherein the first stage comprises: a body; and a plurality of foldable propulsion units, the plurality of foldable propulsion units being spaced apart around the perimeter of the body, wherein each propulsion unit comprises: a folding beam; at least one motor, the at least one motor being mounted to the folding beam, and at least one propeller, the at least one propeller being mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

[0030] In some embodiments, the first stage further comprises: a plurality of collapsible air brakes spaced apart around a perimeter of the body, wherein each air brake comprises at least one air brake actuator configured to actuate the plurality of collapsible air brakes.

[0031] In some embodiments, the first stage is landed on one of the ground and a marine vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The subject matter which is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portions of the specification. However, the invention both as to its organization and method of operation, together with objects, features, and advantages thereof, may be best understood by reference to the following detailed description when read with the accompanying drawings, in which:

[0033] Figure 1 shows a diagram of a rocket stage according to some embodiments of the present invention;

[0034] Figure 2 shows a diagram of a rocket stage according to some embodiments of the present invention;

[0035] Figure 3A and Figure 3Bshows top and side views of stabilizing fins that may be included in a rocket stage according to some embodiments of the present invention;

[0036] Figure 4 A block diagram depicting a control system that may be included in a rocket stage according to some embodiments of the present invention is shown;

[0037] Figure 5 shows a block diagram depicting a computing device that may be included in a rocket stage according to some embodiments of the present invention;

[0038] Figure 6 A block diagram depicting a rocket system according to some embodiments of the present invention is shown, and

[0039] Figure 7 is a flow chart of a method of landing a rocket stage according to some embodiments of the invention.

[0040] It will be understood that for simplicity and clarity of illustration, the elements shown in the figures are not necessarily drawn to scale. For example, for clarity, the size of some of the elements may be exaggerated relative to other elements. In addition, where deemed appropriate, reference numerals may be repeated in the drawings to indicate corresponding or similar elements. DETAILED DESCRIPTION

[0041] It will be appreciated by those skilled in the art that the present invention may be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the foregoing embodiments should be considered in all respects as illustrative, rather than limiting, the invention described herein. Therefore, the scope of the present invention is represented by the appended claims rather than by the foregoing description, and therefore, all changes within the equivalent meaning and scope of the claims are intended to be included therein.

[0042] In the following detailed description, many specific details are set forth to provide a comprehensive understanding of the present invention. However, it will be appreciated by those skilled in the art that the present invention can be implemented without these specific details. In other cases, well-known methods, procedures, and components are not described in detail to avoid confusing the present invention. Some features or elements described for one embodiment may be combined with features or elements described for other embodiments. For clarity, the discussion of the same or similar features or elements may not be repeated.

[0043] Some aspects of the invention relate to rocket stages that may have landing capabilities or be combined with additional rocket stages (e.g., booster stages) to land additional rocket stages. In some embodiments, landing the rocket stage may be controlled by enabling one or more electric motors (also referred to as "drone motors") that may generate thrust via one or more propellers mounted to one or more drone motors to control the landing of the rocket stage. In some embodiments, landing the rocket stage may include opening a plurality of air brakes located on the rocket stage body to reduce the speed of the rocket stage.

[0044] Now refer to Figure 1 , Figure 1 An illustration of a rocket stage in a folded state according to some embodiments of the present invention is shown. In some embodiments, rocket stage 1000 may include body 100. Body 100 may be a conventional rocket body used in the art, for example, an aluminum alloy shell.

[0045] The rocket stage 1000 may also include a plurality of collapsible air brakes 20. In some embodiments, the plurality of collapsible air brakes 20 may be spaced around the perimeter of the body 100. In some embodiments, the plurality of collapsible air brakes 20 may be evenly spaced (e.g., equidistantly placed) around the perimeter of the body 100. In a non-limiting example, 4 to 12 air brakes 20 may be spaced around the perimeter of the body 100.

[0046] The rocket stage 1000 may also include a plurality of foldable propulsion units 30. Figure 1 In the illustration of FIG. 1 , the foldable propulsion unit 30 is in a folded state and is not used to propel the rocket stage 1000. In some embodiments, the foldable propulsion units 30 can be spaced around the perimeter of the body 100. In some embodiments, multiple foldable propulsion units 30 can be evenly spaced around the perimeter of the body 100. The foldable propulsion unit 30 can be configured to be deployed (i.e., extended from the body 100), which will be discussed herein with respect to Figure 2 In a non-limiting example, 3 to 12 foldable propulsion units 30 may be spaced around the perimeter of the body 100 .

[0047] The rocket stage 1000 may also include a plurality of stabilizing wings 40. In some embodiments, the stabilizing wings 40 may be spaced around the perimeter of the body 100. In some embodiments, the plurality of stabilizing wings 40 may be evenly spaced (e.g., equidistantly placed) around the perimeter of the body 100. The stabilizing wings 40 may include a solid wing, i.e., a wing-like shape with an outer "skin" shell. In some embodiments, the stabilizing wings 40 may be or may include a grid rudder or a grid rudder (i.e., a wing including a honeycomb pattern that allows air to pass through a plurality of holes along the surface of the wing), as known in the art. The stabilizing wings 40 may be located at any predetermined position along the longitudinal length of the body 100, which may be required based on the desired performance characteristics of the rocket stage 1000.

[0048] Now refer to Figure 2 , Figure 2 A diagram of a rocket stage is shown with a foldable propulsion unit 30 in a deployed state according to some embodiments of the present invention. In some embodiments, the body 100 can include a landing gear (or "leg") 105 located at the bottom of the body 100. As is known in the art, the landing gear 105 can be used to stabilize the rocket stage 1000 when landing (e.g., for landing on a landing pad).

[0049] Each foldable propulsion unit 30 may include a folding beam 31 , at least one motor 32 mounted to the folding beam 31 , and at least one propeller 34 mounted to the at least one motor 32 , the at least one propeller 34 being configured to generate thrust for propelling the rocket stage 1000 .

[0050] Each folding beam 31 may be a structural beam mounted to the body 100. In some embodiments, the material composition of each folding beam 31 may be selected from non-limiting examples including: carbon fiber, Plastics (eg, acrylonitrile butadiene styrene or "ABS" plastic), aluminum alloys, and steel alloys.

[0051] At least one motor 32 can be an electric motor and can be selected based on the requirements of the intended use (e.g., the required thrust capability). Each motor 32 can be powered by a power source (not shown), which can be selected from non-limiting examples including: lithium-ion polymer ("LiPo") batteries, solid-state batteries, supercapacitors, chemical batteries, hybrid systems (e.g., thermal and electric), thermal systems, etc. The power source selection can be based on the specifications required for the at least one motor 32, such as the required discharge rate (or "C" rating as known in the art). At least one propeller 34 can be mounted to each of the at least one motor 32 (e.g., two propellers 34 are mounted to one motor 32).

[0052] Each foldable propulsion unit 30 may include a folded state (e.g. Figure 1 The folded state and the unfolded state are related to the orientation of the propulsion unit 30 and more specifically the orientation of the propeller 34. In the folded state, the longitudinal axis A of the folding beam 31 can be parallel to the longitudinal axis J of the body 100. In the unfolded state, the longitudinal axis A of the folding beam 31 can be set to a certain angle relative to the longitudinal axis J of the body 100 (for example, 70 degrees to 110 degrees, 60 degrees to 90 degrees, 90 degrees to 100 degrees, and any ranges and values ​​therebetween). In some embodiments, the longitudinal axis A of the folding beam 31 can be perpendicular to the longitudinal axis J of the body 100 (that is, set to 90 degrees relative to the longitudinal axis J of the body 100), such as Figure 2 shown.

[0053] In the deployed state, at least one propeller 34 can be configured to generate thrust for propelling the rocket stage 1000, for example, to land the rocket stage 1000 on a landing pad. In some embodiments, when each folding beam 31 is set to the deployed state as discussed herein, at least one propeller 34 can be configured to rotate along the rotation axis of the at least one propeller 34 to generate thrust. In some embodiments, the thrust generated by the at least one propeller 34 can counteract the gravity that draws the rocket stage 1000 to the surface. Each propeller 34 may include a fixed pitch or a variable pitch, as is known in the art. In the event that at least one propeller 34 includes a variable pitch, each foldable propulsion unit 30 may include at least one servo device 33, which at least one servo device 33 is configured to change the pitch of at least one propeller 34, which will be discussed herein with respect to Figure 4 The at least one servo device is further illustrated and discussed. The at least one servo device 33 can be configured to actuate the blades of at least one propeller 34 relative to the rotation axis of each propeller 34, and the at least one servo device 33 can be selected from non-limiting examples including: an electric servo motor, a hydraulic actuator, a pneumatic actuator, etc. In some embodiments, the at least one servo device 33 can be configured to prevent rotation of at least one propeller 34 (i.e., by holding the propeller 34 in a stationary position) to prevent its undesired rotation, as known in the art.

[0054] In some embodiments, each foldable propulsion unit 30 may include at least one beam actuator 36. In some embodiments, one or more beam actuators 36 may be configured to cause one or more foldable propulsion units 30 to unfold (i.e., tilt the longitudinal axis A of the folding beam 31 away from the longitudinal axis J of the body 100). In some embodiments, one or more beam actuators 36 may also be configured to cause one or more foldable propulsion units 30 to fold, i.e., tilt the longitudinal axis A of the folding beam 31 toward the longitudinal axis J of the body 100. One or more beam actuators 36 may be selected from non-limiting examples including: springs, electric actuators, hydraulic actuators, pneumatic actuators, etc. The selection of beam actuators 36 may be based on the force required to cause the plurality of foldable propulsion units 30 to unfold, i.e., overcome an opposing force (e.g., resistance).

[0055] In some embodiments, each foldable air brake 20 may include at least one air brake actuator 26. One or more air brake actuators 26 may be configured to actuate a plurality of foldable air brakes 20. For example, one or more air brake actuators 26 may tilt a plurality of foldable air brakes 20, i.e., tilt the longitudinal axis of the foldable air brake 20 away from the longitudinal axis J of the body 100.

[0056] In some embodiments, one or more air brake actuators 26 can be configured to actuate the plurality of foldable air brakes 20 to achieve a desired orientation of the foldable air brakes 20. For example, the one or more air brake actuators 26 can set the plurality of foldable air brakes 20 at a certain angle (e.g., 0 to 1 degree, 1 to 5 degrees, 5 to 15 degrees, 15 to 45 degrees, 45 to 90 degrees, and any ranges and values ​​therebetween) relative to the longitudinal axis J of the body 100. The one or more air brake actuators 26 can be selected from non-limiting examples including: springs, electric actuators, hydraulic actuators, pneumatic actuators, etc. The selection of the air brake actuators 26 can be based on the force required to actuate the plurality of foldable air brakes 20, i.e., to overcome an opposing force (e.g., resistance).

[0057] In some embodiments, the rocket stage 1000 may include at least one actuator (not shown) configured to actuate both the air brake 20 and the foldable propulsion unit 30. In such embodiments, the at least one actuator may be configured to actuate the air brake 20 much like the capabilities disclosed herein for the air brake actuator 26. Additionally, the at least one actuator may be configured to deploy the propulsion unit 30 much like the capabilities disclosed herein for the beam actuator 36.

[0058] Now refer to Figure 3A and Figure 3B , Figure 3A and Figure 3B 1 is a top view and side view of a stabilizing wing that may be included in a rocket stage (e.g., rocket stage 1000) according to some embodiments of the present invention. In some embodiments, the stabilizing wing 40 may be configured to rotate (or "tilt") relative to the longitudinal axis J of the body 100. For example, the stabilizing wing 40 may be tilted at an angle θ relative to J, wherein the longitudinal axis J' of the stabilizing wing 40 may be set to an angle θ relative to J. In some embodiments, the stabilizing wing 40 may be configured to be tilted at an angle of 30 degrees, 15 degrees, -15 degrees, -30 degrees, and any range and value therebetween relative to the longitudinal axis J of the body 100. In some embodiments, one or more stabilizing wings may be tilted at a predetermined angle, for example, 5 degrees, to produce at least one of a pitch moment, a roll moment, and a yaw moment on the rocket stage.

[0059] Now refer to Figure 4 , Figure 4 A control system that may be included in a rocket stage (eg, rocket stage 1000 ) according to some embodiments of the present invention is depicted.

[0060] Rocket stage 1000 may also include at least one first sensor 82 and at least one second sensor 84. At least one first sensor 82 or at least one second sensor 84 may be selected from: an altimeter, a pressure sensor, an accelerometer, a gyroscope, and a magnetometer. At least one first sensor 82 may be configured to measure a value indicating the altitude of rocket stage 1000, wherein at least one second sensor 84 may be configured to sense at least one flight characteristic of rocket stage 1000, which will be further discussed herein.

[0061] In some embodiments, the at least one first sensor 82 can be configured to send the measured altitude to the at least one air brake actuator 26. In such embodiments, the at least one air brake actuator 26 can actuate the plurality of air brakes 20 based on the altitude measurements received from the at least one first sensor 82. The altitude measurements that can cause the actuation of the air brakes 20 can be predetermined by mission parameters, non-limiting examples of which include: the peak altitude of the rocket stage 1000, the velocity measurements of the rocket stage 1000 (e.g., as measured by at least one of the first sensor 82, the second sensor 84, and the avionics 80 of the rocket stage 1000), and the orientation of the rocket stage 1000. In some embodiments, the at least one first sensor 82 can be configured to send the measured altitude (or "signal" as referred to herein) to the controller 90, as further discussed herein.

[0062] In some embodiments, at least one second sensor 84 may be configured to sense at least one flight characteristic of the rocket stage 1000. As used herein, "flight characteristic" may refer to any property of the rocket stage 1000 or its components, non-limiting examples of which include: orientation of one or more of the air brakes 20, the foldable propulsion units 30, and the stabilizing wings 40; at least one of the roll rate, pitch rate, and yaw rate of the rocket stage 1000; at least one of the attitude, altitude, velocity vector, heading, specific force, angular rate, orientation (i.e., orientation relative to a reference frame, as known in the art), and GPS coordinates of the rocket stage 1000; and indications of the status of the power system (e.g., power supply, motor 32, and propeller 34), such as: battery capacity, current load, peak load, discharge rate, motor 32 revolutions per minute, and propeller 34 pitch orientation (or "angle of attack"). In some embodiments, at least one second sensor 84 can be configured to send one or more measured flight characteristics (or "signals" referred to herein) to the controller 90 to control the rocket stage 1000, as further discussed herein.

[0063] In some embodiments, at least one first sensor 82 and at least one second sensor 84 may be included in the avionics 80, wherein the avionics 80 may be configured to send at least one signal to the controller 90. The avionics 80 may be an inertial measurement unit (IMU), or may include an inertial measurement unit (IMU), as known in the art. In some embodiments, the avionics 80 may include a single sensor (e.g., an IMU) configured to sense at least one flight characteristic of the rocket stage 1000 and send the sensed flight characteristic (e.g., as a signal) to the controller 90.

[0064] The rocket stage 1000 may include a controller 90, which may be configured to receive at least one signal from the avionics 80. In some embodiments, the controller 90 may be configured to receive at least one signal from at least one first sensor 82 or at least one second sensor 84. The controller 90 may control at least one controllable component of the rocket stage 1000 based on one or more received signals. The "controllable component" referred to herein may be any mechanism or device included in the rocket stage 1000, non-limiting examples of which include: air brake actuator 26, beam actuator 36, servo device 33, motor 32, and stabilizing wing 40.

[0065] The controller 90 may actuate one or more air brake actuators 26 to actuate or deploy the plurality of air brakes 20. For example, the controller 90 may release one or more air brake actuators 26 (e.g., mechanical springs) to deploy the plurality of air brakes 20. In some embodiments, the controller 90 may actuate the air brake actuators 26 (e.g., pneumatic actuators) in a predetermined orientation, for example, to extend the air brakes 20 to a predetermined distance from the body 10. In such embodiments, the predetermined orientation may be based on a signal received from the avionics 80, for example, a measured altitude.

[0066] The controller 90 may actuate one or more beam actuators 36 to actuate the plurality of folding beams 31. For example, the controller 90 may release one or more beam actuators 36 (e.g., mechanical springs) to deploy the plurality of folding beams 31. In some embodiments, the controller 90 may actuate the beam actuators 36 (e.g., pneumatic actuators) in a predetermined direction, for example, to extend the folding beams 31 a predetermined distance away from the body 100. In such embodiments, the predetermined orientation may be based on a signal received from the avionics 80, for example, a measured altitude.

[0067] The controller 90 may control the at least one servo device 33 to change the pitch of the at least one propeller 34. In some embodiments, the pitch of the at least one propeller 34 may be controlled by the at least one servo device 33 based on a signal received from the avionics 80, for example, the pitch of the at least one propeller 34 may be controlled by the at least one servo device 33 based on a signal received from a vibration sensor (e.g., a piezoelectric accelerometer) included in the avionics 80, and the vibration sensor (e.g., a piezoelectric accelerometer) included in the avionics 80 is configured to measure the vibration of the propeller 34. In such an embodiment, for example, when the controller 90 receives a vibration of a significantly large frequency from the avionics 80, the controller 90 may control the at least one servo device 33 to change the pitch of the at least one propeller 34.

[0068] The controller 90 may control at least one motor 32 to increase or decrease the rotation speed of the propeller 34. In some embodiments, the controller 90 may increase the rotation speed of all motors 32 to generate thrust for propelling the rocket stage 1000. As is known in the art, the motor 32 may be counter-rotating, that is, the plurality of motors 32 may include a clockwise rotation configuration and a counter-clockwise rotation configuration to offset the rotation torque that may be caused by increasing or decreasing the rotation speed of the propeller 34.

[0069] The controller 90 may control the plurality of stabilizing wing-shaped members 40 to maneuver the rocket stage 1000. In some embodiments, the controller 90 may actuate the plurality of stabilizing wing-shaped members 40, wherein the longitudinal axis of at least one stabilizing wing-shaped member 40 may be tilted at a certain angle relative to the longitudinal axis of the body 100, as discussed herein. The controller 90 may set at least one stabilizing wing-shaped member 40 to a tilted angle to induce at least one of a pitch moment, a roll moment, and a yaw moment on the rocket stage 1000.

[0070] Now refer to Figure 5 , Figure 5 1 is a block diagram depicting a computing device according to some embodiments of the present invention, which computing device may be included in an embodiment of rocket stage 1000. In some embodiments, computing device 1 is an embodiment of controller 90, which may be configured to: control the folding and unfolding of each propulsion unit 30, control multiple foldable propulsion units 30, control at least one servo device 33, control at least one air brake actuator 26, control at least one beam actuator 36, control multiple stabilizing wings 40, and control at least one motor 32.

[0071] The computing device 1 may include a processor or controller 2, which may be, for example, a central processing unit (CPU) processor, a chip, or any suitable computing device or computing device, an operating system 3, a memory 4, an executable code 5, a storage system 6, an input device 7, and an output device 8. The processor 2 (or one or more controllers or processors, possibly across multiple units or devices) may be configured to perform the methods described herein, and / or to perform or act as various modules, units, etc. According to an embodiment of the present invention, more than one computing device 1 may be included in the system, and one or more computing devices 1 may act as components of the system.

[0072] Operating system 3 may be or may include any code segment (e.g., a code segment similar to executable code 5 described herein) that is designed and / or configured to perform tasks involving coordination, scheduling, arbitration, supervision, control, or otherwise managing the operation of computing device 1, such as scheduling the execution of software programs or tasks or enabling software programs or other modules or units to communicate. Operating system 3 may be a commercial operating system. It will be noted that operating system 3 may be an optional component, for example, in some embodiments, a system may include a computing device that does not require or include operating system 3.

[0073] The memory 4 may be or may include, for example, a random access memory (RAM), a read-only memory (ROM), a dynamic RAM (DRAM), a synchronous DRAM (SD-RAM), a double data rate (DDR) memory chip, a flash memory, a volatile memory, a non-volatile memory, a cache, a buffer, a short-term memory unit, a long-term memory unit, or other suitable memory unit or storage unit. The memory 4 may be or may include a plurality of possibly different memory units. The memory 4 may be a computer or processor non-transitory readable medium or a computer non-transitory storage medium, for example, RAM. In one embodiment, a non-transitory storage medium (such as the memory 4, a hard drive, another storage device, etc.) may store instructions or codes that, when executed by a processor, may cause the processor to perform the methods described herein.

[0074] The executable code 5 may be any executable code, such as an application, a program, a process, a task or a script. The executable code 5 may be executed by the processor or controller 2 under the control of the operating system 3 as much as possible. Although for the sake of clarity, Figure 5A single item of executable code 5 is shown in the figure, but the system according to some embodiments of the present invention may include multiple executable code segments similar to the executable code 5, which can be loaded into the memory 4 and cause the processor 2 to execute the method described herein.

[0075] The storage system 6 may be or may include, for example, a flash memory known in the art, a memory inside or embedded in a microcontroller or chip known in the art, a hard disk drive, a CD-Recordable (CD-R) drive, a Blu-ray Disc (BD), a Universal Serial Bus (USB) device, or other suitable removable and / or fixed storage unit. Data related to the AOI may be stored in the storage system 6, and data related to the AOI may be loaded from the storage system 6 into the memory 4, and the processor or controller 2 may process the data in the memory 4. In some embodiments, the storage system 6 may be omitted. Figure 5 For example, memory 4 may be a non-volatile memory having the storage capacity of storage system 6. Thus, storage system 6 may be embedded or included in memory 4, although shown as a separate component.

[0076] Input device 7 may be or may include any suitable input device, component or system, such as a detachable keyboard or keypad, a mouse, etc. Output device 8 may include one or more (possibly detachable) displays or monitors, speakers and / or any other suitable output device. Any applicable input / output (I / O) device may be connected to computing device 1, as shown by blocks 7 and 8. For example, a wired or wireless network interface card (NIC), a universal serial bus (USB) device, or an external hard drive may be included in input device 7 and / or output device 8. It will be appreciated that any suitable number of input devices 7 and output devices 8 may be operatively connected to computing device 1, as shown by blocks 7 and 8.

[0077] Systems according to some embodiments of the present invention may include components such as, but not limited to, multiple central processing units (CPUs) or any other suitable multi-purpose or special-purpose processor or controller (e.g., similar to element 2), multiple input units, multiple output units, multiple memory units, and multiple storage units.

[0078] In some embodiments, the controller 90 may be or may include an autonomous flight system (also referred to as a flight computer). The autonomous flight system may send one or more signals to components or subsystems of the rocket stage 1000 to control the components or subsystems. In some embodiments, the autonomous flight system may be configured to operate in a fully autonomous or semi-autonomous manner. For example, the controller 90 may automatically (i.e., without any external input) actuate multiple air brakes 20 based on receiving a predetermined altitude measurement value from at least one first sensor 82.

[0079] Now refer to Figure 6 , Figure 6 is a block diagram depicting a rocket system according to some embodiments of the present invention.

[0080] The rocket system 4000 may include: a first stage 1000, a second stage 2000, and a payload 3000. In some embodiments, the first stage 1000 may include elements substantially similar to the rocket stage 1000 discussed herein, including a body 100 and a plurality of foldable propulsion units 30 configured to propel the first stage 1000.

[0081] The components of rocket system 4000 (e.g., payload 3000, stage 2000, and stage 1000) can be interconnected in any order depending on the desired mission characteristics. For example, in a launch configuration, first stage 1000 can be located at the bottom of rocket system 4000, connected to second stage 2000 located above first stage 1000, connected to payload 3000 located above second stage 2000.

[0082] In some embodiments, the second stage 2000 may include additional thrusters (not shown) configured to propel the rocket system 4000 to a desired altitude and / or speed, as known in the art. In such embodiments, the additional thrusters may include at least one of a liquid propellant, a hybrid propellant, and a solid propellant, as known in the art. In some embodiments, the second stage 2000 may be configured to separate (or disengage) from the first stage 1000, such as upon reaching a certain altitude and / or speed.

[0083] In some embodiments, the payload 3000 can include one or more fairings, as known in the art, to reduce the drag coefficient during flight. In some embodiments, the payload 3000 can be configured to be separated from the second stage 2000.

[0084] Now refer to Figure 7 , Figure 7is a flow chart of a method for landing a rocket stage according to some embodiments of the present invention. In some embodiments, Figure 7 The method may also include launching the rocket. In some embodiments, steps S1005 to S1050 may be used to control the rocket stage 1000. For example, steps S1005 to S1050 may be used to manipulate the rocket stage 1000 during flight or landing (e.g., landing the rocket stage 1000 on a surface).

[0085] In some embodiments, steps S1005 to S1050 may be performed by controller 90 or by any other suitable controller associated with rocket stage 1000. In some embodiments, steps S1001 to S1050 may be used to launch and land rocket system 4000. In some embodiments, steps S1001 to S1050 may be performed by controller 90 or by any other suitable controller associated with rocket stage 1000 or rocket 4000.

[0086] In step S1001, a rocket (e.g., rocket system 4000) may be launched (or propelled) from one of an aircraft or the ground. For example, rocket system 4000 may be launched via at least one of: an additional thruster (e.g., a conventional propellant rocket thruster engine known in the art) included in first stage 1000 of rocket system 4000 and an additional thruster included in a second stage of rocket system 4000, as described herein with respect to Figure 6 discussed.

[0087] In step S1002, the rocket may be controlled to achieve a desired altitude and / or velocity of the rocket (e.g., rocket system 4000). For example, controller 90 may monitor (e.g., via avionics 80) the altitude and / or velocity of rocket 4000 until it reaches a predetermined measured value thereof, which may be determined by performance or mission requirements.

[0088] In step S1003, the first stage (e.g., first stage 1000) of the rocket (e.g., rocket system 4000) may be separated from the second stage (e.g., second stage 2000). For example, the controller 90 may separate the first stage 1000 from the second stage 2000 based on the altitude and / or velocity measurements received (e.g., via the avionics equipment 80). In some embodiments, based on the altitude and / or velocity measurements received via the avionics equipment 80, the payload (e.g., payload 3000) of the rocket system 4000 may be separated from the second stage 2000 (e.g., via the controller 90).

[0089] In some embodiments, when the first stage 1000 is separated from the second stage 2000, the first stage 1000 can be controlled to land on a surface, as discussed herein. For example, steps S1005 to S1050 can be used to control the first stage 1000 (e.g., via the controller 90) to land the first stage 1000, as discussed herein with respect to the rocket stage 1000.

[0090] In step S1005, a first altitude of a rocket stage (e.g., rocket stage 1000) may be detected. In some embodiments, the first altitude may be detected by at least one first sensor 82, which is configured to send a signal to a plurality of air brake actuators 26. In some embodiments, the first altitude may be detected by an avionics device 80 including at least one first sensor 82, which is configured to send a signal to a controller 90, wherein the controller 90 is configured to actuate the plurality of air brake actuators 26.

[0091] In step S1010, a plurality of foldable air brakes (e.g., foldable air brakes 20) may be deployed (or actuated) based on a signal received from at least one of the at least one first sensor 82 and the avionics 80. For example, based on the controller 90 receiving a first altitude measurement value from the avionics 80, the plurality of foldable air brakes 20 may be deployed via the air brake actuator 26. In some embodiments, the plurality of foldable air brakes 20 may be deployed to reduce the speed of the rocket stage 1000, such as during landing of the rocket stage 1000.

[0092] In step S1020, a second altitude and / or speed of the rocket stage (e.g., rocket stage 1000) may be detected. In some embodiments, the second altitude and / or speed may be detected by at least one second sensor 84. In some embodiments, the second altitude and / or speed may be detected by an avionics device 80 including at least one second sensor 84.

[0093] In step S1030, the plurality of foldable propulsion units (e.g., propulsion units 30) may be deployed (or actuated) based on a signal received from at least one of the at least one second sensor 84 and the avionics 80. For example, based on the controller 90 receiving the second altitude and speed measured values ​​from the at least one second sensor 84 and / or the avionics 80, the plurality of foldable propulsion units 30 may be deployed via the beam actuator 36.

[0094] In step S1040, at least one motor (eg, motor 32) included in each foldable propulsion unit 30 may be started. For example, at least one motor 32 may start to rotate, thereby rotating at least one propeller 34 mounted on at least one motor 32.

[0095] In step S1050, at least one propeller (e.g., propeller 34) may generate thrust to land the rocket stage (e.g., rocket stage 1000). In some embodiments, the controller 90 may control at least one propeller 34 via the motor 32 to land the rocket stage 1000. As is known in the art, a power propeller (e.g., propeller 34) located around a body (e.g., body 100) may cause aerodynamic changes on the body based on the rotational speed of the propeller and the net torque around the body. For example, by applying a greater thrust to the clockwise propeller 34 than to the counterclockwise propeller 34, a yaw moment may be induced around the body 100. In another example, by applying an uneven amount of thrust via the propeller 34, a pitch moment or a roll moment may be induced on the body 100. In some embodiments, the controller 90 may apply equal thrust to all propellers 34 to cause a net zero torque on the body 100. In some embodiments, the controller 90 may control one or more propellers 34 to induce aerodynamic changes on the rocket stage 1000 based on one or more signals received from the avionics 80. For example, the controller 90 may induce a pitch moment on the rocket stage 1000 via the propellers 34 based on detecting a pitch imbalance from one or more signals received from the avionics 80. In some embodiments, the rocket stage 1000 may land on one of the ground and a marine vessel, which may be determined by the mission characteristics of the flight.

[0096] Unless explicitly stated, the method embodiments described herein are not limited to a particular order or sequence. In addition, all schemes described herein are only examples, and other schemes or different schemes can be used. In addition, some described method embodiments or their elements can occur or execute at the same time point.

[0097] Although certain features of the present invention have been illustrated and described herein, many modifications, substitutions, changes and equivalents will occur to those skilled in the art. It should be understood, therefore, that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the invention.

[0098] Various embodiments have been presented. Of course, each of these embodiments may include features from other embodiments presented, and embodiments not specifically described may include various features described herein.

Claims

1. A rocket stage, comprising: The body, and a plurality of foldable propulsion units spaced apart around a perimeter of the body, wherein each propulsion unit comprises: Folding beams; at least one motor mounted to the folding beam, and At least one propeller is mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

2. The rocket stage of claim 1 , further comprising a plurality of collapsible air brakes spaced around the perimeter of the body, wherein: Each air brake includes at least one air brake actuator configured to actuate the plurality of foldable air brakes.

3. The rocket stage of claim 2, further comprising at least one first sensor, at least one first sensor being configured to measure a value representing the altitude of the rocket stage, and wherein, The at least one air brake actuator is configured to deploy the plurality of collapsible air brakes in response to receiving a first value representing an altitude of the rocket stage from at least one of the first sensors.

4. A rocket stage according to any one of claims 1 to 3, wherein: Each foldable propulsion unit further comprises at least one beam actuator, at least one of the beam actuators being configured to cause the folding beam to deploy.

5. The rocket stage according to any one of claims 1 to 4, further comprising at least one second sensor, at least one second sensor being configured to sense at least one flight characteristic of the rocket.

6. The rocket stage according to claim 5, wherein: The beam actuator is configured to deploy the folding beam in response to receiving a second value indicative of an altitude of the rocket stage from the second sensor or the first sensor.

7. A rocket stage according to any one of claims 5 and 6, wherein: At least one of the second sensors is selected from the group consisting of: an altimeter, a pressure sensor, an accelerometer, a gyroscope and a magnetometer.

8. The rocket stage according to any one of claims 4 to 7, further comprising a controller configured to control the folding and unfolding of each foldable propulsion unit based on the measured value received from the second sensor or the first sensor.

9. The rocket stage according to claim 8, wherein: The controller is also configured to control the plurality of foldable propulsion units to maneuver the rocket stage.

10. The rocket stage according to claim 9, wherein: The controller is configured to control the plurality of foldable propulsion units to change at least one of the pitch angle, roll angle, and yaw angle of the rocket.

11. A rocket stage according to any one of claims 8 to 10, wherein: Each foldable propulsion unit further comprises at least one servo device, and the controller is configured to control the at least one servo device to change the pitch of the at least one propeller.

12. The rocket stage of any one of claims 1 to 11, further comprising a plurality of stabilizing wings spaced around the perimeter of the body.

13. A rocket system, comprising: Payload; The first level includes: ontology; as well as a plurality of foldable propulsion units spaced around a perimeter of the body, and Second level.

14. The rocket system of claim 13, wherein: The first level also includes: A plurality of collapsible air brakes are spaced apart around a perimeter of the body, wherein each air brake includes at least one air brake actuator configured to actuate the plurality of collapsible air brakes.

15. The rocket system according to any one of claims 13 and 14, wherein: Each foldable propulsion unit in the first stage comprises: Folding beams; At least one motor is mounted to the folding beam, and at least one propeller is mounted to the at least one motor, the at least one propeller is configured to generate thrust for propelling the rocket.

16. A method of manipulating a rocket stage, the method comprising: detecting a first altitude and / or speed of the rocket stage; deploying a plurality of foldable propulsion units of the rocket stage; activating at least one motor of the foldable propulsion unit, and generating thrust via at least one propeller mounted to the at least one motor to maneuver the rocket stage, wherein the rocket stage comprises: The entity; and a plurality of foldable propulsion units spaced apart around a perimeter of the body, wherein each propulsion unit comprises: Folding beams; at least one motor mounted to the folding beam, and At least one propeller is mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

17. The method according to claim 16, further comprising: detecting a second altitude and / or velocity of the rocket stage, and Deploying a plurality of collapsible air brakes, wherein the rocket stage further comprises a plurality of collapsible air brakes spaced apart around a perimeter of the body.

18. The method according to claim 17, wherein: The deployment of the plurality of foldable air brakes is controlled by at least one air brake actuator of the foldable air brake.

19. The method according to any one of claims 16 to 18, wherein: Deploying the plurality of foldable propulsion units is controlled by at least one beam actuator of the foldable propulsion units.

20. The method according to any one of claims 16 to 19, further comprising: The rocket stage is steered via the at least one propeller to change at least one of a pitch angle, a roll angle, and a yaw angle of the rocket stage.

21. The method according to any one of claims 16 to 20, further comprising: The rocket stage is manipulated via a plurality of stabilizing wings located on the rocket stage and configured to actuate relative to a longitudinal axis of the rocket stage to change at least one of the pitch, roll, and yaw angles of the rocket stage.

22. The method of any one of claims 16 to 21, further comprising landing the rocket stage via a plurality of the foldable propulsion units.

23. The method according to claim 22, wherein: The rocket stage is landed on one of the ground and a marine vessel.

24. A method of launching and landing a rocket, the method comprising: launching the rocket from one of an aircraft or the ground; controlling the rocket to achieve a desired altitude and / or speed; separating the first stage of the rocket from the second stage of the rocket, and Landing the first stage via a plurality of foldable propulsion units of the first stage, wherein the rocket comprises: Payload; First level, and The second level, wherein the first level comprises: The entity; and a plurality of foldable propulsion units spaced apart around a perimeter of the body, wherein each propulsion unit comprises: Folding beams; at least one motor mounted to the folding beam, and At least one propeller is mounted to the at least one motor, the at least one propeller being configured to generate thrust for propelling the rocket.

25. The method according to claim 24, wherein: The first level also includes: A plurality of collapsible air brakes are spaced apart around a perimeter of the body, wherein each air brake includes at least one air brake actuator configured to actuate the plurality of collapsible air brakes.

26. The method according to any one of claims 24 and 25, wherein: The first stage is landed on one of the ground and a marine vessel.

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