Stabilizing device and method for recovery rocket

Abstract

The invention provides a stabilizing device and method for a recovery rocket. The stabilizing device for the recovery rocket comprises a rocket drop point measuring system, a fixed supporting trolley and a movable dragging trolley. The rocket drop point measuring system is used for acquiring the accurate drop point position of the rocket after landing; the number of the fixed supporting trolleys is two, and the two fixed supporting trolleys are matched with each other and can be connected with the lower portion of a rocket body through mechanical arms installed on the fixed supporting trolleys. The end of the movable dragging trolley is detachably connected with the upper portion of the rocket body, a telescopic structure is arranged on the movable dragging trolley, and the rocket body turns over along with movement of the movable dragging trolley and contraction of the telescopic structure. On the basis of measuring the falling point position of the rocket, the automatic device is adopted to turn over the rocket by 90 degrees and then stabilize the rocket in a horizontal state, the gravity center is lowered, wind resistance is reduced, and the risk that the rocket topples over can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of ground support systems for reusable rocket recovery, and in particular, to a device and method for stabilizing a recovered rocket, and in particular, to a device and method for stabilizing the flipping level of a recovered rocket. Background Art

[0002] Currently, SpaceX's Falcon 9 reusable launch vehicle recovery technology has been put into large-scale operation, reducing costs while increasing the scale of space access. After a reusable launch vehicle successfully lands on an offshore recovery platform, it must be transported from the offshore recovery platform to a port. During sea transportation, due to complex and changeable sea conditions, wind and waves can cause the offshore recovery platform to sway, potentially causing the rocket to sway or even tip over. After landing on a land pad, the impact of landing can cause the rocket's legs to tilt, putting the rocket at risk of toppling over and causing recovery failure. Therefore, the rocket needs to be stabilized after landing on the offshore recovery platform or land pad.

[0003] Publication CN115479506B describes a system for recovering residual fuel from an offshore rocket. This system includes a rocket securing device that uses two movable carts to drive retractable robotic arms to approach the rocket from both sides. Straightening members at the ends of the robotic arms clamp the rocket from both sides, securing it in a vertical position. Publication CN114750881B describes a locking system for recovering rockets at sea. The system includes a mobile platform equipped with a detector and controller to locate and approach the rocket. Several locking robotic arms, evenly distributed around the platform, connect to the rocket from below. The arms tilt toward the rocket from all sides, supporting and securing the rocket on the rocket's own legs. Publication CN118144936A describes a high-position securing device for towing and transporting recovered rockets at sea. This system utilizes columns at the four corners of the offshore recovery platform, and a traction system that causes steel cables to drive rings to tighten around the upper portion of the rocket, securing the rocket. Publication CN114413689A discloses a rocket recovery system and method, which includes: a recovery tower; a recovery platform, which is fixedly mounted on the recovery tower and formed by splicing multiple sub-platforms, and the recovery platform has a closed state and an expanded state; when the recovery platform is in the closed state, the multiple sub-platforms are enclosed in the center to form a clamping hole that can capture and hold the rocket to be recovered, thereby realizing rocket recovery.

[0004] Some rocket stabilization devices are mentioned in the published literature, including devices that use mobile platforms and robotic arms for rocket stabilization, as well as devices that use vertical column cables for high-position stabilization. Currently, all devices stabilize the rocket in a vertical state. However, the vertical fixing method inevitably has the defect of high space requirements in the height direction. Moreover, if the stabilization device fails after fixation, the rocket may still collapse and topple over, posing a risk of injuring the staff. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a rocket recovery stabilization device and method.

[0006] A rocket recovery stabilization device provided by the present invention includes a rocket landing point measurement system, a fixed support trolley, and a mobile towing trolley;

[0007] The rocket landing point measurement system is used to obtain the precise landing point position of the rocket after landing;

[0008] The number of the fixed support trolleys is 2. The two fixed support trolleys cooperate with each other and can be connected to the lower position of the rocket body through the fixed robotic arm of the fixed support trolley;

[0009] The end of the mobile towing trolley is detachably connected to the upper position of the rocket body. A telescopic structure is arranged on the mobile towing trolley. As the mobile towing trolley moves and the telescopic structure contracts, the rocket body realizes flipping.

[0010] Preferably, the rocket landing point measurement system includes two rows of laser sensors perpendicular to each other, and the two perpendicular sides and their intersection point form a coordinate system XOY;

[0011] The laser sensor is signal-connected to the fixed support trolley and the mobile towing trolley.

[0012] Preferably, the fixed support trolley includes a first mobile platform, a first locking device, a fixed robotic arm, and an arc-shaped plate;

[0013] The first locking device is installed on the first mobile platform, and mobile wheels are installed at the bottom end of the first mobile platform;

[0014] One end of the fixed robotic arm is rotatably installed on the first mobile platform, and the other end of the fixed robotic arm is rotatable and an arc-shaped plate is installed at the end.

[0015] Preferably, an attitude measurement sensor is integrated on the arc-shaped plate;

[0016] The other end of the fixed robotic arm is detachably connected to the arc-shaped plate installed at the end.

[0017] Preferably, the mobile towing cart includes a second mobile platform, a second locking device, a telescopic robotic arm, and a gripper;

[0018] The second locking device is installed on the second mobile platform, and mobile wheels are installed at the bottom end of the second mobile platform;

[0019] One end of the telescopic robotic arm is rotatably installed on the second mobile platform, and a gripper is rotatably installed at the other end of the telescopic robotic arm.

[0020] Preferably, the gripper is used to tightly hold the connectable part on the upper part of the rocket, and attitude measurement sensors are integrated thereon;

[0021] The other end of the telescopic robotic arm is detachably connected to the gripper.

[0022] Preferably, it further includes a guard plate, and the guard plate is installed on the opposite side of any row of laser sensors.

[0023] Preferably, it further includes a front-end automatic control system, and the front-end automatic control system is installed behind the guard plate;

[0024] The rocket landing point measurement system, the fixed support cart, and the mobile towing cart are all signal-connected to the front-end automatic control system.

[0025] Preferably, it further includes a rear-end remote communication control system, and the rear-end remote communication control system is installed in the rear-end command room;

[0026] The rocket landing point measurement system, the fixed support cart, the mobile towing cart, and the front-end automatic control system are all signal-connected to the rear-end remote communication control system.

[0027] According to a method for stabilizing a recovered rocket provided by the present invention, by using the stabilizing device for the recovered rocket, the following steps are further included:

[0028] S1. The rear-end remote communication control system communicates with the front-end automatic control system and monitors the rocket stabilization process, and the rocket landing point measurement system measures the landing point of the recovered rocket;

[0029] S2. Two fixed support carts approach the rocket, and the fixed robotic arms thereon are connected to the connection part at the lower part of the rocket body, and the carts are locked to the recovery platform or the apron;

[0030] S3. The mobile towing cart approaches the rocket, and the telescopic robotic arm thereon is connected to the connection part at the upper part of the rocket body;

[0031] S4. The mobile towing cart moves and the telescopic robotic arm expands and contracts to turn the rocket 90° into a horizontal state;

[0032] S5. Multiple carts cooperate to transfer the rocket to the center of the offshore recovery platform or the onshore parking station.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. Based on measuring the landing position of the rocket, the present invention uses an automatic device to turn the rocket by 90° and then stabilize it in a horizontal state, reducing the center of gravity and wind resistance, and greatly reducing the risk of the rocket tipping over.

[0035] 2. The present invention stabilizes the rocket by using the principle of turning the rocket by 90° to make it in a horizontal state. Compared with the vertical stabilization of the rocket, less space is utilized in the height direction. And since the rocket is already in a horizontal state, and the ground clearance of the rocket can also be adjusted by the fixed support trolley and the mobile towing trolley, even if the fixing device is damaged after the rocket is fixed, the rocket will not collapse or overturn, reducing the risk of personnel being injured. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 is a schematic structural diagram of the present invention;

[0038] Figure 2 is a schematic structural diagram of the fixed support trolley in the present invention;

[0039] Figure 3 is a schematic structural diagram of the mobile towing trolley in the present invention;

[0040] Figure 4 is a schematic diagram of the stabilization process of the method for stabilizing the recovered rocket in the present invention;

[0041] Figure 5 is a schematic diagram when the rocket just lands on the sea recovery platform or the land apron;

[0042] Figure 6 is a schematic diagram when both the fixed support trolley and the mobile towing trolley are connected to the rocket;

[0043] Figure 7 is a schematic diagram when the rocket is turned to a horizontal state;

[0044] Figure 8 is a schematic diagram when multiple vehicles cooperate to move the rocket and lower the center of gravity of the rocket while moving the rocket.

[0045] The figures show:

[0046] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0048] The present invention provides a stabilizing device for a reusable rocket, which is used for stabilizing the rocket after it lands on a recovery platform or apron to prevent the rocket from tipping over. As Figure 1 shown, the stabilizing device for the reusable rocket includes a rocket landing point measurement system 3, a fixed support trolley 4, and a moving towing trolley 5;

[0049] The rocket landing point measurement system 3 is used to obtain the precise landing point position of the rocket after landing; the fixed support trolley 4 is in the form of a group of two, and the number of each group of fixed support trolleys 4 is 2. The two fixed support trolleys 4 cooperate with each other and can be connected to the lower part of the rocket body 22 through the fixed robotic arm 43 on the fixed support trolley 4 to support the rocket body 22; in a preferred example, when the fixed support trolley 4 is connected to the rocket body 22, the rocket legs 21 still remain in contact with the ground.

[0050] The end of the moving towing trolley 5 is detachably connected to the upper part of the rocket body 22. The moving towing trolley 5 is provided with a telescopic structure. As the moving towing trolley 5 moves and the telescopic structure contracts, the rocket body 22 of the rocket 2 is flipped.

[0051] The rocket landing point measurement system 3 includes two rows of laser sensors perpendicular to each other. In each row, multiple laser sensors are evenly distributed at a certain interval. The two perpendicular sides and their intersection point form a coordinate system XOY coordinate system; in a preferred example, the laser sensors are installed on the edge of the recovery platform 1 or apron

[0052] The laser sensors are signal-connected to the fixed support trolley 4 and the moving towing trolley 5. After the rocket lands on the recovery platform 1 or the land apron, the laser sensors are used to measure the coordinates of the rocket to obtain its position and guide the trolley to approach the rocket body to be recovered.

[0053] As Figure 2 shown, the fixed support trolley 4 includes a first moving platform 41, a first locking device 42, a fixed robotic arm 43, and an arc plate 44; the first locking device 42 is installed on the first moving platform 41, and the bottom end of the first moving platform 41 is equipped with moving wheels; the fixed support trolley 4 can be fixed on the recovery platform 1 or apron through the locking device 42.

[0054] One end of the fixed robotic arm 43 is rotatably mounted on the first mobile platform 41, and the other end of the fixed robotic arm 43 is rotatable, with an arc-shaped plate 44 mounted at the end; specifically, one end of the fixed robotic arm 43 is connected to the mobile platform 41 through a first rotating joint 81, and the other end of the fixed robotic arm 43 is sequentially connected to the arc-shaped plate 44 mounted at the end through a second rotating joint 82 and a third rotating joint 83. The rotation axes of the second rotating joint 82 and the third rotating joint 83 are perpendicular to each other. That is, the fixed robotic arm 43 includes 3 rotating joints for the overall rotation of the robotic arm, the adjustment of the arc-shaped plate to fit the surface of the rocket body, and the 90° flipping of the rocket;

[0055] More specifically, the first rotating joint 81 is used for the overall rotation of the robotic arm, and the second rotating joint 82 and the third rotating joint 83 are used for the adjustment of the arc-shaped plate to fit the surface of the rocket body and the 90° flipping of the rocket

[0056] An attitude measurement sensor is integrated on the arc-shaped plate 44; it can measure the axis attitude of the rocket body and be used to guide the fixed robotic arm 43 to adjust the attitude of the arc-shaped plate 44 to fit the rocket surface. Among them, the preferred attitude measurement sensor is to use machine vision to identify the axis of the rocket body. The other end of the fixed robotic arm 43 is detachably connected to the arc-shaped plate 44 mounted at the end. The arc-shaped plate 44 can be replaced with multiple specifications for the recovery of rockets with different specifications.

[0057] Such as Figure 3As shown in the figure, the mobile towing cart 5 includes a second mobile platform 51, a second locking device 52, a telescopic robotic arm 53, and a gripper 54; the second locking device 52 is installed on the second mobile platform 51, and mobile wheels are installed at the bottom of the second mobile platform 51; one end of the telescopic robotic arm 53 is rotatably installed on the second mobile platform 51, and the other end of the telescopic robotic arm 53 is rotatably installed with the gripper 54. At this time, the telescopic robotic arm 53 is the telescopic structure provided on the mobile towing cart 5. Specifically, one end of the telescopic robotic arm 53 is connected to the mobile platform 51 through a first rotating joint 81, and the other end of the telescopic robotic arm 53 is sequentially connected to the gripper 54 through a second rotating joint 82 and a third rotating joint 83. The rotation axes of the second rotating joint 82 and the third rotating joint 83 are perpendicular to each other. That is, the telescopic robotic arm 53 has 3 rotating joints and a translational joint. The 3 rotating joints are used for the overall rotation of the robotic arm, adjusting the axis of the gripper to coincide with the axis of the rocket body, and the rotation of the gripper during the process of dragging and pulling the rocket to flip. The translational joint is used for the telescoping of the robotic arm during the process of dragging and pulling the rocket to flip; it can also be understood as: the telescopic robotic arm 53 has 3 rotating joints and a translational joint. The first rotating joint is used for the overall rotation of the robotic arm, and the second and third rotating joints are used to adjust the axis of the gripper to coincide with the axis of the rocket body and the rotation of the gripper during the process of dragging and pulling the rocket to flip. The translational joint is used for the telescoping of the robotic arm during the process of dragging and pulling the rocket to flip;

[0058] The gripper 54 is used to grip the connectable part on the upper part of the rocket, and an attitude measurement sensor is integrated thereon; it can measure the axis attitude of the rocket body and is used to guide the telescopic robotic arm 53 to adjust the attitude of the gripper 54 to fit the rocket surface. Among them, a better attitude measurement sensor is to use machine vision to identify the axis of the rocket body. The other end of the telescopic robotic arm 53 is detachably connected to the gripper 54. The gripper 54 can be replaced with multiple specifications for the recovery of rockets with different specifications.

[0059] The stabilizing device for the recovered rocket further includes a guard plate 12, and the guard plate 12 is installed on the opposite side of any row of laser sensors.

[0060] The stabilizing device for the recovered rocket further includes a front-end automatic control system 6, and the front-end automatic control system 6 is installed behind the guard plate 12; the rocket landing point measurement system 3, the fixed support cart 4, and the mobile towing cart 5 are all signal-connected to the front-end automatic control system 6. The front-end automatic control system 6 can achieve multi-vehicle coordination. When the landing point of the rocket on the recovery platform 1 deviates far from the center of the platform, after the fixed support cart 4 and the mobile towing cart 5 cooperate to convert the rocket from a vertical state to a horizontal state, the rocket can be transported to the center position of the recovery platform 1 to further ensure the safety of the rocket during sea transportation. After the rocket is flipped on the land field apron, multi-vehicle coordination can also be used to transport the recovered rocket to the parking station;

[0061] The described stabilizing device for the recovered rocket further includes a rear-end remote communication control system 7, which is installed in the command room; the rocket landing point measurement system 3, the fixed support trolley 4, the mobile towing trolley 5, and the front-end automatic control system 6 are all signal-connected to the rear-end remote communication control system 7. Operators can monitor the rocket recovery situation and issue operation instructions in a support ship or onshore command room at a certain distance from the recovery platform 1, ensuring personnel safety. In a preferred example, the front end is within a range of 500 meters close to the rocket, and the rear end is beyond a range of 1 kilometer away from the rocket.

[0062] Reference Figure 4 As shown, the present invention also provides a method for stabilizing a recovered rocket. Using the described stabilizing device for the recovered rocket, it further includes the following steps:

[0063] S1. The rear-end remote communication control system 7 communicates with the front-end automatic control system 6 and monitors the rocket stabilization process, and the rocket landing point measurement system 3 measures the landing point of the recovered rocket.

[0064] Specifically, as shown in Figure 5 , after the rocket lands on the offshore recovery platform 1 or the onshore apron, the operator issues an instruction through the rear-end remote communication control system 7 to the front-end automatic control system 6 and monitors the rocket stabilization process. The rocket landing point measurement system 3 obtains the rocket landing point position and transmits it to the front-end automatic control system 6.

[0065] S2. Two fixed support trolleys 4 approach the rocket, and the robotic arms on them are connected to the connection part at the lower part of the rocket. The trolleys are locked to the recovery platform 1 or the apron.

[0066] Specifically, as shown in Figure 6 , under the guidance of the rocket landing point measurement system 3, the two fixed support trolleys 4 drive out from behind the protective plate 12. The fixed robotic arms 43 are opened at a certain angle from the horizontal state, approach the rocket body 22 from both sides at the gap of the rocket leg 21. The attitude measurement sensor of the arc plate 44 measures the axis attitude of the rocket body, and then guides the fixed robotic arm 43 to adjust the axis of the arc plate 44 to coincide with the axis of the rocket body, and at the same time makes the arc plate 44 fit the connectable part at the lower part of the rocket. At this time, the fixed support trolley 4 is locked to the recovery platform 1 or the apron through the locking device 42. The two arc plates fit the rocket body surface and clamp and fix it. At this time, the two fixed robotic arms support the rocket from both sides inward, and the two arc plates 44 and the rocket can rotate around the rotating joint of the fixed robotic arm 43.

[0067] S3. The mobile towing trolley 5 approaches the rocket, and the robotic arm on it is connected to the connection part at the upper part of the rocket.

[0068] Specifically, as shown in Figure 6As shown, under the guidance of the rocket landing point measurement system, the mobile towing trolley 5 drives out from behind the protective plate 12, the retractable robotic arm 53 opens a certain angle from the horizontal state and approaches the rocket body 22, and the attitude measurement sensor of the gripper 54 measures the axial attitude of the rocket body, and then guides the retractable robotic arm 53 to adjust the axis of the gripper 54 to coincide with the axis of the rocket body, while making the gripper 54 grasp the upper connectable part of the rocket.

[0069] S4, the mobile dragging trolley 5 moves and the mechanical arm on it extends and retracts, causing the rocket to flip 90° to a horizontal state;

[0070] Specifically, refer to Figure 7 As shown, the rocket legs 21 are folded up. If the rocket axis is not perpendicular to the recovery platform 1 or the ground surface, the verticality is first adjusted using the mechanical arm, and then the towing trolley 5 is moved and the retractable mechanical arm 53 thereon is retracted to rotate the rocket around the lower connection part until it is flipped 90° to a horizontal state;

[0071] S5. Multiple vehicles work together to transfer the rocket to the center of the offshore recovery platform or to a parking position on land.

[0072] Specifically, refer to Figure 8 As shown, multiple vehicles work together to move the rocket, lowering the center of gravity of the rocket while moving it. For offshore recovery, the vehicle is moved to the center of the recovery platform, and then each vehicle is locked with the recovery platform, and each joint of the robotic arm is locked, and the return journey by sea begins. For land recovery, the vehicle is transferred to a suitable work station.

[0073] The present invention solves the problem of a rocket toppling after vertical landing due to the impact of the rocket legs 21 being unstable or the recovery platform shaking due to wind and waves at sea. Based on the measurement of the rocket's landing point, the present invention uses an automatic device to flip the rocket 90 degrees and stabilize it in a horizontal state, lowering the center of gravity, reducing wind resistance, and greatly reducing the risk of the rocket toppling. The stabilization system and method for recovering large sections of a rocket provided by the present invention can realize the flipping of a recoverable rocket to a horizontal state and stabilization after vertical landing, reducing the influence of factors such as wind resistance, and ensuring stable support of the rocket during subsequent transportation and other processes.

[0074] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply 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 this application.

[0075] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A stabilizing device for a reusable rocket, characterized in that, It includes a rocket landing point measurement system (3), a fixed support trolley (4), and a mobile towing trolley (5); The rocket landing point measurement system (3) is used to obtain the precise landing position of the rocket (2) after landing; The number of the fixed support trolleys (4) is two. The two fixed support trolleys (4) cooperate with each other and can be connected to the lower position of the rocket body (22) of the rocket (2) through the fixed robotic arm (43) of the fixed support trolley (4); The end of the mobile towing trolley (5) is detachably connected to the upper position of the rocket body (22) of the rocket (2). A telescopic structure is provided on the mobile towing trolley (5). As the mobile towing trolley (5) moves and the telescopic structure contracts, the rocket body (22) realizes flipping.

2. The stable device for recovering a rocket according to claim 1, wherein The rocket landing point measurement system (3) includes two rows of laser sensors perpendicular to each other, and two perpendicular sides and their intersection point form a coordinate system XOY coordinate system; The laser sensors are signal-connected to the fixed support trolley (4) and the mobile towing trolley (5).

3. The stabilizing device for a reusable rocket according to claim 1, characterized in that, The fixed support trolley (4) includes a first mobile platform (41), a first locking device (42), a fixed robotic arm (43), and an arc-shaped plate (44); The first locking device (42) is installed on the first mobile platform (41), and mobile wheels are installed at the bottom end of the first mobile platform (41); One end of the fixed robotic arm (43) is rotatably installed on the first mobile platform (41), and the other end of the fixed robotic arm (43) is rotatable and is installed with an end-mounted arc-shaped plate (44).

4. The stabilizing device for a reusable rocket according to claim 3, characterized in that, The arc-shaped plate (44) is integrated with an attitude measurement sensor; The other end of the fixed robotic arm (43) is detachably connected to the end-mounted arc-shaped plate (44).

5. The stabilizing device for a recycling rocket according to claim 1, characterized in that, The mobile towing trolley (5) includes a second mobile platform (51), a second locking device (52), a telescopic robotic arm (53), and a gripper (54); The second locking device (52) is installed on the second mobile platform (51), and mobile wheels are installed at the bottom end of the second mobile platform (51); One end of the telescopic robotic arm (53) is rotatably installed on the second mobile platform (51), and the other end of the telescopic robotic arm (53) is rotatably installed with a gripper (54).

6. The stabilizing device for a reusable rocket according to claim 5, characterized in that, The gripper (54) is used to grip the connectable part at the upper part of the rocket, and an attitude measurement sensor is integrated thereon; The other end of the telescopic robotic arm (53) is detachably connected to the gripper (54).

7. The stabilizing device for a reusable rocket according to claim 2, characterized in that, It further includes a guard plate (12), and the guard plate (12) is installed on the opposite side of any row of laser sensors.

8. The stabilizing device for a reusable rocket according to claim 7, characterized in that, It further includes a front-end automatic control system (6), and the front-end automatic control system (6) is installed behind the guard plate (12); The rocket landing point measurement system (3), the fixed support trolley (4), and the mobile towing trolley (5) are all signal-connected to the front-end automatic control system (6).

9. The stabilizing device for a reusable rocket according to claim 8, characterized in that, It further includes a rear-end remote communication control system (7), and the rear-end remote communication control system (7) is installed in the rear-end command room; The rocket landing point measurement system (3), the fixed support trolley (4), the mobile towing trolley (5), and the front-end automatic control system (6) are all signal-connected to the rear-end remote communication control system (7).

10. A method for stabilizing a reusable rocket, characterized in that, Adopting the rocket recovery stabilizing device described in claim 9, it further includes the following steps: S1. The rear-end remote communication control system (7) communicates with the front-end automatic control system (6) and monitors the rocket (2) stabilizing process, and the rocket landing point measurement system (3) measures the landing point of the recovered rocket; S2. Two fixed support trolleys (4) approach the rocket (2), and the fixed robotic arms (43) on them are connected to the connection part at the lower part of the rocket body (22), and the trolleys are locked to the recovery platform or the apron; S3. The mobile towing trolley (5) approaches the rocket, and the telescopic robotic arm (53) on it is connected to the connection part at the upper part of the rocket body (22); S4. The mobile towing trolley (5) moves and the telescopic robotic arm (53) extends and retracts to turn the rocket 90° to a horizontal state; S5. Multiple vehicles cooperate to transfer the rocket to the center of the offshore recovery platform or the onshore parking station.

Images