Offshore rocket recovery system and recovery method

Abstract

The invention relates to the technical field of cosmic sailing, and particularly discloses an offshore rocket recovery system and method, and the system comprises a floating body which floats on the sea surface; the inclination measuring unit is arranged on the floating body and is used for measuring the inclination angle between the floating body and the sea surface and generating an inclination signal; the recovery unit comprises a recovery deck, a rocket fixing device and a plurality of lifting devices, the rocket fixing device is installed on the recovery deck, the lifting devices are arranged on the periphery of the bottom of the recovery deck and installed on the floating body, and the lifting devices are used for driving the recovery deck to move up and down; and the control unit is arranged on the floating body, the control unit is in signal connection with the inclination measuring unit and the lifting device, and the control unit is configured to receive an inclination signal of the inclination measuring unit and control the lifting device to drive the recovery deck to move up and down. According to the offshore rocket recovery system and method, the rocket can be stably recovered, the recovery efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of space navigation technology, and in particular to an offshore rocket recovery system and recovery method. Background Art

[0002] Rocket recovery refers to the technology of recovering and reusing rockets after launch. The launch cost of disposable launch vehicles is very high, and the use of rocket recovery technology can reduce the launch cost. At present, the offshore rocket recovery platform is mainly provided by an offshore deck pontoon with a large recovery deck surface and a rocket support structure to constrain and fix the rocket after the rocket is recovered. It has the following problems: (1) Low adaptability to sea conditions and low operating efficiency. The existing offshore rocket recovery platform will shake under the action of wind, waves and currents. In order to avoid excessive shaking, the recovery operation can only be carried out under sea conditions with smaller winds and waves, which makes it impossible to carry out offshore rocket recovery operations most of the time, resulting in low recovery efficiency; (2) High construction cost. In order to resist and reduce the impact of the marine environment, the existing offshore rocket recovery platform needs to be built on a larger scale. Summary of the invention

[0003] The purpose of the present invention is to provide a marine rocket recovery system, which can smoothly recover the rocket, improve the recovery efficiency and reduce the cost.

[0004] In order to achieve the above-mentioned object, the present invention provides a marine rocket recovery system in a first aspect, comprising:

[0005] A floating body floating on the sea;

[0006] An inclination measuring unit is provided on the floating body, and is used to measure the inclination angle between the floating body and the sea surface, and to generate an inclination signal;

[0007] A recovery unit, comprising a recovery deck, a rocket fixing device and a plurality of lifting devices, wherein the rocket fixing device is installed on the recovery deck, the plurality of lifting devices are arranged around the bottom of the recovery deck and installed on the floating body, and the lifting devices are used to drive the recovery deck to move up and down; and

[0008] A control unit is arranged on the floating body, and the control unit is connected to the inclination measuring unit and the lifting device signal. The control unit is configured to receive the inclination signal of the inclination measuring unit and control the lifting device to drive the recovery deck to move up and down, and adjust the recovery deck to be in a horizontal state when the floating body is shaking.

[0009] In some embodiments, the inclination measuring unit includes a gyroscope device, a transmission rod and an inclination signal generating device, the bottom of the gyroscope device is hinged on the floating body, the inclination signal generating device is connected to the outer wall of the gyroscope device through the transmission rod, and the inclination signal generating device is connected to the control unit signal.

[0010] In some embodiments, at least four transmission rods and inclination signal generating devices are provided, and the four transmission rods are arranged around the gyro device, and the transmission rods and the inclination signal generating devices are arranged in a one-to-one correspondence.

[0011] In some embodiments, the lifting devices are provided with at least four groups, and the lifting devices and the inclination signal generating devices are arranged in a one-to-one correspondence.

[0012] In some embodiments, the inclination measuring unit further comprises an inclination signal transmission device, and the inclination signal generating device is signal-connected to the control unit via the inclination signal transmission device.

[0013] In some embodiments, it also includes a photoelectric positioning unit, which is arranged on the recovery deck. The photoelectric positioning unit is signal-connected to the control unit, and is used to detect the position of the rocket and generate a rocket position signal. The control unit is configured to receive the rocket position signal and control the floating body to move on the sea surface to ensure that the recovery deck is directly below the rocket.

[0014] In some embodiments, the lifting device includes a hydraulic pump station, a hydraulic pipe, a hydraulic control valve and a hydraulic actuator. The hydraulic pump station is connected to the hydraulic actuator through the hydraulic pipe, the hydraulic control valve is installed on the hydraulic pipe, the power output end of the hydraulic actuator is connected to the bottom of the recovery deck, and the hydraulic control valve and the hydraulic actuator are respectively connected to the control unit signal.

[0015] In some embodiments, a transition mechanism is further included, and the hydraulic actuator is installed on the floating body through the transition mechanism, and the transition mechanism is used to adjust the horizontal position of the hydraulic actuator.

[0016] In some embodiments, the control unit includes a processor and a memory connected to the processor, the processor is used to process and analyze signals and generate control signals, and the memory is used to store signal data.

[0017] In a second aspect, the present invention provides a recovery method of the offshore rocket recovery system based on the first aspect, comprising:

[0018] Turning on the inclination measuring unit to measure the inclination angle between the floating body and the sea surface, and generating an inclination signal;

[0019] The control unit controls the lifting device to drive the recovery deck according to the inclination signal, adjusts the recovery deck to a horizontal state when the floating body is shaking, and allows the rocket to land on the recovery deck and be fixed by the rocket fixing device.

[0020] The present invention provides a marine rocket recovery system, which has the following beneficial effects compared with the prior art:

[0021] The recovery unit includes a recovery deck, a rocket fixing device and multiple sets of lifting devices. The rocket fixing device is installed on the recovery deck. The multiple sets of lifting devices are arranged around the bottom of the recovery deck and installed on the floating body. The lifting device is used to drive the recovery deck to move up and down. The control unit is connected with the inclination measuring unit and the lifting device signal. The control unit is configured to receive the inclination signal of the inclination measuring unit and control the lifting device to drive the recovery deck to move up and down, and adjust the recovery deck to a horizontal state when the floating body is shaking, so as to smoothly recover the rocket, improve the recovery efficiency and reduce the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the front view principle of a marine rocket recovery system provided for some embodiments of the present invention.

[0023] Figure 2 A top view schematic diagram of the principle of an offshore rocket recovery system provided for some embodiments of the present invention.

[0024] Figure 3 A schematic diagram of the tilting of a recovery deck of an offshore rocket recovery system provided for some embodiments of the present invention.

[0025] Figure 4 A horizontal schematic diagram of a recovery deck of an offshore rocket recovery system provided for some embodiments of the present invention.

[0026] In the figure: 1. floating body; 2. inclination measuring unit; 21. gyro device; 22. transmission rod; 23. inclination signal generating device; 24. inclination signal transmitting device; 3. recovery unit; 31. recovery deck; 32. rocket fixing device; 33. lifting device; 331. hydraulic pump station; 332. hydraulic pipe; 333. hydraulic control valve; 334. hydraulic actuator; 4. control unit; 5. photoelectric positioning unit; 6. transition mechanism; 7. rocket. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0028] It should be understood that, in the description of the present application, the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0029] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0030] like Figure 1-4 As shown, some embodiments of the present invention provide a marine rocket recovery system 100, comprising a floating body 1, an inclinometer unit 2, a recovery unit 3 and a control unit 4. When the floating body 1 is tilted on the sea surface, the inclinometer unit 2 can detect the amplitude data of the tilt, and the control unit controls the recovery unit 3 to recover the rocket 7 smoothly according to the amplitude data.

[0031] The floating body 1 floats on the sea surface. Specifically, the floating body 1 is constructed to have a power module, and the power module is connected to the control unit 4 by signal, so that the control unit 4 can control the start or shut down of the power module, thereby adjusting the position of the floating body 1 on the sea.

[0032] The inclination measuring unit 2 is arranged on the floating body 1, and is used to measure the inclination angle between the floating body 1 and the sea surface, and generate an inclination signal. The inclination measuring unit 2 can be used to understand the shaking amplitude of the floating body 1 on the sea level, so as to make it easier to adjust the horizontal position of the recovery deck 31.

[0033] The recovery unit 3 includes a recovery deck 31, a rocket fixing device 32 and a plurality of lifting devices 33. The rocket fixing device 32 is installed on the recovery deck 31. The plurality of lifting devices 33 are arranged around the bottom of the recovery deck 31 and installed on the floating body 1. The lifting devices 33 are used to drive the recovery deck 31 to move up and down. When in use, the plurality of lifting devices 33 are independently raised and lowered to adjust the horizontal position of the recovery deck 31. For example, Figure 4As shown, when the left side of the floating body 1 tilts downward, the lifting device 33 on the left side is extended, while the lifting device 33 on the right side is retracted to keep the recovery deck 31 in a horizontal position.

[0034] The control unit 4 is disposed on the floating body 1, and the control unit 4 is connected to the inclination measuring unit 2 and the lifting device 33 by signal. The control unit 4 is configured to receive the inclination signal of the inclination measuring unit 2 and control the lifting device 33 to drive the recovery deck 31 to move up and down, and adjust the recovery deck 31 to be in a horizontal state when the floating body 1 is shaking. The control unit 4 can accurately control the independent lifting range of each lifting device 33 by analyzing and processing the signals of the inclination measuring unit 2 and the lifting device 33, so as to accurately adjust the horizontal position of the recovery deck 31.

[0035] Based on the above structural setting, the offshore rocket recovery system 100 can smoothly recover the rocket, improve recovery efficiency and reduce costs.

[0036] In some embodiments, the inclination measuring unit 2 includes a gyro device 21, a transmission rod 22 and an inclination signal generating device 23. The bottom of the gyro device 21 is hinged on the floating body 1. The inclination signal generating device 23 is connected to the outer wall of the gyro device 21 through the transmission rod 22. The inclination signal generating device 23 is connected to the control unit 4 by signal. When the floating body 1 tilts, the inclination signal generating device 23 can detect the inclination signal of the gyro device 21 through the transmission rod 22, so as to achieve accurate measurement of the inclination data.

[0037] In some embodiments, at least four transmission rods 22 and inclination signal generating devices 23 are provided, and the four transmission rods 22 are arranged around the gyro device 21, and the transmission rods 22 and the inclination signal generating devices 23 are arranged one by one, so as to achieve accurate measurement of inclination in multiple directions.

[0038] In some embodiments, at least four groups of lifting devices 33 are provided, and the lifting devices 33 and the inclination signal generating devices 23 are provided one by one. The lifting devices 33 can adjust the recovery deck 31 at multiple positions to improve the accuracy of the adjustment.

[0039] In some embodiments, the inclination measuring unit 2 further includes an inclination signal transmission device 24, and the inclination signal generating device 23 is connected to the control unit 4 by signals via the inclination signal transmission device 24. Exemplarily, the inclination signal transmission device 24 uses a wireless communication module to ensure convenient communication.

[0040] In some embodiments, it also includes a photoelectric positioning unit 5, which is arranged on the recovery deck 31. The photoelectric positioning unit 5 is signal-connected to the control unit 4. The photoelectric positioning unit 5 is used to detect the position of the rocket and generate a rocket position signal. The control unit 4 is configured to receive the rocket position signal and control the floating body 1 to move on the sea surface to ensure that the recovery deck 31 is directly below the rocket 7.

[0041] In some embodiments, the lifting device 33 includes a hydraulic pump station 331, a hydraulic pipe 332, a hydraulic control valve 333 and a hydraulic actuator 334. The hydraulic pump station 331 is connected to the hydraulic actuator 334 through the hydraulic pipe 332, the hydraulic control valve 333 is installed on the hydraulic pipe 332, the power output end of the hydraulic actuator 334 is connected to the bottom of the recovery deck 31, and the hydraulic control valve 333 and the hydraulic actuator 334 are respectively connected to the control unit 4 by signal. When in use, the hydraulic pump station 331 can pressurize the liquid in the hydraulic pipe 332, and adjust the flow and pressure in the hydraulic pipe 332 through the hydraulic control valve 333, so as to achieve precise adjustment of the extension and contraction amount of the hydraulic actuator 334.

[0042] In some embodiments, a transition mechanism 6 is further included, and the hydraulic actuator 334 is installed on the floating body 1 through the transition mechanism 6, and the transition mechanism 6 is used to adjust the horizontal position of the hydraulic actuator 334. Exemplarily, the transition mechanism 6 adopts a cross slide, so that the hydraulic actuator 334 can move in the X-axis and Y-axis directions on the surface of the floating body 1, so as to adjust the position of the recovery deck 31, which is more conducive to the recovery of the rocket 7.

[0043] In some embodiments, the control unit 4 includes a processor and a memory connected to the processor, the processor is used to process and analyze signals and generate control signals, and the memory is used to store signal data.

[0044] Some embodiments of the present invention provide a recovery method for a marine rocket recovery system based on any embodiment, comprising the following steps:

[0045] Turning on the inclination measuring unit to measure the inclination angle between the floating body and the sea surface and generate an inclination signal;

[0046] The control unit controls the lifting device to drive the recovery deck according to the inclination signal, and adjusts the recovery deck to a horizontal state when the floating body is shaking, so that the rocket lands on the recovery deck and is fixed by the rocket fixing device.

[0047] The recovery method based on the above-mentioned offshore rocket recovery system has the following effects:

[0048] (1) In complex sea conditions, the recovery deck is always kept in a horizontal state through a lifting device, thereby improving its adaptability to complex sea conditions.

[0049] (2) Since the recovery deck can adapt to complex sea conditions, the number of rocket recoveries is increased under the same time, and the efficiency of offshore recovery operations is improved.

[0050] (3) Since the recovery deck is always in a horizontal state through the lifting device, there is no need to build a larger floating body to withstand severe sea conditions, so the floating body can be reduced in size, thereby reducing the construction cost.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A marine rocket recovery system, characterized in that: include: A floating body floating on the sea; An inclination measuring unit is provided on the floating body, and is used to measure the inclination angle between the floating body and the sea surface, and to generate an inclination signal; A recovery unit, comprising a recovery deck, a rocket fixing device and a plurality of lifting devices, wherein the rocket fixing device is installed on the recovery deck, the plurality of lifting devices are arranged around the bottom of the recovery deck and installed on the floating body, and the lifting devices are used to drive the recovery deck to move up and down; as well as A control unit is arranged on the floating body, and the control unit is connected to the inclination measuring unit and the lifting device signal. The control unit is configured to receive the inclination signal of the inclination measuring unit and control the lifting device to drive the recovery deck to move up and down, and adjust the recovery deck to be in a horizontal state when the floating body is shaking.

2. The offshore rocket recovery system according to claim 1, characterized in that: The inclination measuring unit comprises a gyro device, a transmission rod and an inclination signal generating device. The bottom of the gyro device is hinged on the floating body. The inclination signal generating device is connected to the outer wall of the gyro device through the transmission rod. The inclination signal generating device is connected to the control unit signal.

3. The offshore rocket recovery system according to claim 2, characterized in that: There are at least four transmission rods and inclination signal generating devices, and the four transmission rods are arranged around the gyro device. The transmission rods and the inclination signal generating devices are arranged in a one-to-one correspondence.

4. The offshore rocket recovery system according to claim 3, characterized in that: The lifting devices are provided with at least four groups, and the lifting devices and the inclination signal generating devices are arranged in one-to-one correspondence.

5. The offshore rocket recovery system according to claim 2, characterized in that: The inclination measuring unit further comprises an inclination signal transmission device, and the inclination signal generating device is signal-connected to the control unit via the inclination signal transmission device.

6. The offshore rocket recovery system according to claim 1, characterized in that: It also includes a photoelectric positioning unit, which is arranged on the recovery deck. The photoelectric positioning unit is signal-connected to the control unit. The photoelectric positioning unit is used to detect the position of the rocket and generate a rocket position signal. The control unit is configured to receive the rocket position signal and control the movement of the floating body on the sea surface to ensure that the recovery deck is directly below the rocket.

7. The offshore rocket recovery system according to claim 1, characterized in that: The lifting device includes a hydraulic pump station, a hydraulic pipe, a hydraulic control valve and a hydraulic actuator. The hydraulic pump station is connected to the hydraulic actuator through the hydraulic pipe, the hydraulic control valve is installed on the hydraulic pipe, the power output end of the hydraulic actuator is connected to the bottom of the recovery deck, and the hydraulic control valve and the hydraulic actuator are respectively connected to the control unit signal.

8. The offshore rocket recovery system according to claim 7, characterized in that: It also includes a transition mechanism, through which the hydraulic actuator is installed on the floating body, and the transition mechanism is used to adjust the horizontal position of the hydraulic actuator.

9. The offshore rocket recovery system according to claim 1, characterized in that: The control unit includes a processor and a memory connected to the processor, the processor is used to process and analyze signals and generate control signals, and the memory is used to store signal data.

10. A recovery method based on the offshore rocket recovery system according to any one of claims 1 to 9, characterized in that: include: Turning on the inclination measuring unit to measure the inclination angle between the floating body and the sea surface, and generating an inclination signal; The control unit controls the lifting device to drive the recovery deck according to the inclination signal, adjusts the recovery deck to a horizontal state when the floating body is shaking, and allows the rocket to land on the recovery deck and be fixed by the rocket fixing device.

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