Self-positioning offshore recovery platform and method for launch vehicle core stage recovery

Abstract

The application provides a self-positioning offshore recovery platform and method for core stage recovery of a carrier rocket, which comprises the following steps: stably floating the offshore recovery platform body on the sea surface; moving the rapid positioning mechanism on the surface of the offshore recovery platform body and bearing the falling rocket; opening the wake release device on the upper surface of the offshore recovery platform body and extending it downward and outward for wake release; the discrete positioning system device comprises a plurality of suspended micro radars; the propulsion holding structure is arranged on the suspended micro radar to generate thrust to push the suspended micro radar to ascend and control the suspended micro radar to keep suspending; and the global satellite positioning system can locate the real-time position of the suspended micro radar. The application has the effects that the offshore recovery platform is not disturbed by waves, the positioning accuracy is higher, the rocket landing point prediction is more accurate, and the offshore recovery platform can be timely adjusted to the appropriate position, thereby providing stable guarantee.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aerospace launch and recovery technology, and in particular, relates to a self-positioning offshore recovery platform and method for recovering a core stage of a launch vehicle. BACKGROUND

[0002] The current offshore recovery platform and technology is that the offshore recovery ship receives satellite signals at sea, moves to the predicted recovery landing position of the core stage of the launch vehicle in advance, and waits for the core stage of the launch vehicle to land on the offshore recovery ship platform. However, the current offshore recovery platform and technology has the following disadvantages: the offshore recovery ship is directly positioned by satellite, the distance between the satellite and the offshore recovery ship is far, the long-distance electromagnetic wave propagation accuracy is easily affected by huge waves, leading to inaccurate positioning of the offshore recovery ship, greatly affecting the offshore recovery landing accuracy of the core stage of the launch vehicle, and more seriously, due to signal transmission delay, the actual recovery landing position of the core stage of the launch vehicle deviates from the previously predicted landing position, which cannot be adjusted in time, and the core stage of the launch vehicle cannot be accurately landed on the offshore recovery ship platform, resulting in failure of the offshore recovery mission of the core stage of the launch vehicle.

[0003] Patent document CN119879660A discloses a kind of offshore rocket recovery system and recovery method, the offshore rocket recovery system includes: float, float on sea surface;Inclination measuring unit, be located on float, for measuring inclination angle of float and sea surface, and produce inclination signal;Recovery unit, including recovery deck, rocket fixing device and multiple groups of lifting devices, rocket fixing device is installed on recovery deck, multiple groups of lifting devices are arranged at the bottom of recovery deck around and are installed on float, lifting device is used to drive recovery deck to move up and down;And control unit, be located on float, control unit is connected with inclination measuring unit and lifting device signal, control unit is configured to receive inclination signal of inclination measuring unit and control lifting device to drive recovery deck to move up and down.

[0004] Although patent document CN119879660A is beneficial to the recovery landing of the rocket assisted by the sea waves on the sea surface, in the case of large sea waves, the sea waves will interfere with the propagation of electromagnetic waves, and when the rocket approaches the recovery platform, the deviation of the position of the recovery platform and the rocket will cause the platform to fail to adjust in time, resulting in recovery failure.

[0005] In order to prevent the interference of sea waves on electromagnetic waves, leading to the failure of the recovery platform to adjust to the appropriate position in time, and cooperate with the recovery of the rocket, the present application designs a self-positioning offshore recovery platform and method for recovering the core stage of a launch vehicle, which solves the above-mentioned problems. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a self-positioning offshore recovery platform and method for recovering the core stage of a launch vehicle.

[0007] According to the application, a self-positioning offshore recovery platform for core stage recovery of a launch vehicle is provided, comprising: an offshore recovery platform body, a discrete positioning system device, a wake release device, a rapid positioning mechanism, a propulsion maintaining structure, and a central processing unit;

[0008] The offshore recovery platform body is stably floating on the sea surface.

[0009] The rapid positioning mechanism is movable on the surface of the offshore recovery platform body and carries the falling launch vehicle.

[0010] The wake release device is opened on the upper surface of the offshore recovery platform body and extends downward and outward for wake release.

[0011] The discrete positioning system device comprises a plurality of suspended micro radars.

[0012] The propulsion maintaining structure is arranged on the suspended micro radar to generate thrust to drive the suspended micro radar to ascend and control the suspended micro radar to remain suspended.

[0013] The suspended micro radar is driven by the propulsion maintaining structure to ascend to an altitude ranging from 1 to 10 kilometers above the offshore recovery platform body, and the global satellite positioning system can locate the real-time position of the suspended micro radar.

[0014] The suspended micro radar remains in a stationary state relative to the offshore recovery platform body and covers an area of five kilometers in square horizontally around the offshore recovery platform body with electromagnetic waves, and the remote sensing data of the suspended micro radar can be mutually corrected in the algorithm of the central processing unit to accurately locate the offshore recovery platform body and the rapid positioning mechanism.

[0015] Preferably, the discrete positioning system device further comprises a suspended micro radar collecting and releasing device.

[0016] The suspended micro radar collecting and releasing device is arranged at the outer edge of the offshore recovery platform body.

[0017] The suspended micro radar is accommodated and released by the suspended micro radar collecting and releasing device, and the number of the suspended micro radars is not less than four.

[0018] Preferably, the propulsion maintaining structure comprises an ascending and descending reverse thruster, an attitude adjusting reverse thruster, and a wind speed sensor.

[0019] The ascending and descending reverse thruster is a nozzle respectively installed at the upper and lower ends of the suspended micro radar, and the nozzle is outward, and the ascending and descending reverse thruster respectively sprays and drives the suspended micro radar to descend or ascend.

[0020] The attitude adjusting reverse thruster is a nozzle rotationally connected to the side wall of the suspended micro radar, and the attitude adjusting reverse thruster sprays and drives the suspended micro radar to move along the horizontal plane.

[0021] The wind speed sensor is arranged on the side wall of the floating micro radar and provides correction data for the attitude adjustment backstepper.

[0022] Preferably, the wake release device comprises a wake collection and release channel.

[0023] The wake collection and release channel is arranged in the offshore recovery platform body, the top end of the wake collection and release channel corresponds to the center of the upper surface of the offshore recovery platform body, and is bent downward and then extends horizontally outward to the outside of the offshore recovery platform body in the circumferential direction. When the rocket is recovered, the wake jetted towards the offshore recovery platform body is jetted horizontally along the wake collection and release channel.

[0024] Preferably, the quick positioning mechanism comprises a ring-shaped electromagnetic device, a moving mechanism and a quick moving slide;

[0025] The quick moving slide is arranged on the upper surface of the offshore recovery platform body and forms a groove. A plurality of quick moving slides are arranged in the circumferential direction at intervals corresponding to the center of the offshore recovery platform body. The quick moving slides are connected to each other at the center of the offshore recovery platform body. The wake release device is arranged corresponding to the quick moving slide.

[0026] The moving mechanism slides along the quick moving slide and forms a support end abutting and slidingly connected to the upper surface of the offshore recovery platform body.

[0027] The ring-shaped electromagnetic device is sleeved outside the quick moving slide and magnetically attracts the moving mechanism to move along a single quick moving slide close to the outside of the offshore recovery platform body.

[0028] Preferably, the moving mechanism comprises a moving mechanism body, a moving mechanism body support wheel, a moving ball group and a moving ball group support;

[0029] The moving mechanism body is accommodated and slidingly connected to the quick moving slide. The moving mechanism body is hollow to allow the rocket wake to pass through.

[0030] The moving mechanism body support wheel is located outside the moving mechanism body. The distance between the moving mechanism body support wheels is wider than that of the quick moving slide. The moving mechanism body support wheels are rollingly connected to the upper surface of the offshore recovery platform body and support the moving mechanism body.

[0031] The moving ball group support is arranged below the moving mechanism body.

[0032] The moving ball group is installed on the moving ball group support and rolls in the quick moving slide to guide the moving mechanism body to move along the quick moving slide.

[0033] Preferably, the ring-shaped electromagnetic device comprises a ring-shaped vacuum pipeline, positive and negative electrode electromagnetic blocks, an electromagnetic block moving mechanism and a magnetic field induction device.

[0034] The annular vacuum pipeline is fixed to the outer edge of the offshore recovery platform body, and the inside is provided with a vacuum;

[0035] The positive and negative electromagnetic blocks are relatively accommodated on both sides of the annular vacuum pipeline;

[0036] The electromagnetic block moving mechanism is accommodated in the annular vacuum pipeline, and is connected and drives the positive and negative electromagnetic blocks on both sides to rotate in the same direction;

[0037] The magnetic field induction device is arranged on the moving mechanism, the positive and negative electromagnetic blocks generate a same direction magnetic field near the magnetic field induction device, the magnetic field induction device generates a magnetic field after being electrified, and is attracted to one end of the corresponding positive and negative electromagnetic block on one side, and repels the other side, and the magnetic field induction device slides along the fast moving slide towards the side where the positive and negative electromagnetic blocks are attracted to each other.

[0038] Preferably, the wake collection and release flow channel is provided with a steam power generation structure, and the steam power generation structure comprises an annular pipe, a seawater circulating pump, an air outlet valve, a water vapor collection device and a power generation device;

[0039] The annular pipe is accommodated in the wake collection and release flow channel;

[0040] The seawater circulating pump can extract seawater, one end of the annular pipe is connected to the outlet of the seawater circulating pump, and the other end is connected to the inlet of the seawater circulating pump;

[0041] The air outlet valve is arranged on the upper side of the annular pipe;

[0042] The water vapor collection device is connected to the air outlet valve and can be driven by steam to generate power;

[0043] The power generation device is connected to the power input end of the water vapor collection device.

[0044] Preferably, the wake release device further comprises a wake collection connecting hose, and the wake collection connecting hose can be bent and communicated between the wake collection and release flow channel inlet and the fast positioning mechanism.

[0045] According to the self-positioning offshore recovery method for recovering the core stage of a carrier rocket provided by the application, the steps include:

[0046] Step S1: After the launch vehicle core stage sea recovery process begins, a certain number of suspended micro radars are released from the suspended micro radar collection release device, which rises to a certain preset altitude in the range of 1 to 10 kilometers above the sea recovery platform body through the ascending landing reverse thruster, and after reaching the preset altitude, the suspended micro radars are evenly arranged according to the preset distribution position according to the real-time data of the wind speed sensor through the adjustment of the attitude adjustment reverse thruster. After the suspended micro radars are in place, they remain stationary and real-time obtain the position information of the launch vehicle, and send the position information of the launch vehicle to the central processor at a certain time interval. The central processor predicts the specific landing position of the launch vehicle core stage on the moving mechanism according to the time interval, and when the distance between the launch vehicle core stage and the sea recovery platform body is less than the preset distance, the central processor gives the final predicted landing position of the launch vehicle core stage;

[0047] Step S2: The central processor controls the electromagnetic block moving mechanism of the annular vacuum pipeline to move to the corresponding position of the annular vacuum pipeline according to the final predicted landing position information of the launch vehicle core stage on the sea recovery platform body. The line between the positive and negative electromagnetic blocks at this position corresponds to the final landing position of the rocket on the sea recovery platform body;

[0048] Step S3: The central processor issues an instruction to energize the positive and negative electromagnetic blocks to form a magnetic field inside the annular vacuum pipeline. The magnetic field sensing device is subjected to electromagnetic force, and the moving mechanism body starts to move towards the predicted landing position. The moving mechanism slides along the fast-moving slide under the action of the positive and negative electromagnetic blocks at the center of the sea recovery platform body. The central processor issues an instruction to reverse the polarity of the positive and negative electromagnetic blocks. The magnetic field sensing device is subjected to an opposite electromagnetic force, and the moving mechanism body starts to decelerate until it moves to the predicted landing position. Then the central processor issues an instruction to stop energizing the positive and negative electromagnetic blocks, and finally moves to the predicted landing position;

[0049] Step S4: When the distance between the launch vehicle core stage and the sea recovery platform body reaches the preset value, the central processor issues an instruction to start the sea water circulating pump and open the air outlet valve of the annular pipe. In this way, a circulating water flow is formed in the annular pipe, and the exhaust flow emitted by the launch vehicle engine enters the moving mechanism body and enters the exhaust flow collection and release flow channel along the exhaust flow collection connection hose. The circulating seawater in the annular pipe is heated to form a large amount of water vapor in the annular pipe. With the continuous heating process, the generated water vapor gradually increases in the annular pipe. Under the action of the circulating water flow, the generated water vapor enters the water vapor collection device through the air outlet valve, and the power generation device is driven to generate electricity as needed;

[0050] Step S5: When the offshore recovery platform body moves from the sea to the coast, the central processing unit sends a command to energize the positive and negative electromagnetic blocks after the recovered carrier rocket stage is lifted off the offshore recovery platform body by the coast lifting device, the moving mechanism body starts to accelerate to the center of the offshore recovery platform body, i.e. the original position of the moving mechanism, when moving a certain distance, the central processing unit sends a command to reverse the polarity of the positive and negative electromagnetic blocks, the moving mechanism body starts to decelerate and finally stops at the center of the offshore recovery platform body, ready for the next offshore recovery task of the carrier rocket.

[0051] Compared with the prior art, the present application has the following beneficial effects:

[0052] By proposing the suspended micro radar positioning technology, the suspended micro radar can be stabilized in the air at the same altitude plane, and the satellite signal received in the air is not disturbed by the huge waves. In addition, due to the short distance between the suspended micro radar and the offshore recovery platform body, the short-distance electromagnetic wave propagation is basically not disturbed by the waves, the positioning accuracy is higher, and the rocket landing point prediction is more accurate, which provides stable protection for the timely adjustment of the recovery platform to the appropriate position. BRIEF DESCRIPTION OF DRAWINGS

[0053] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0054] Figure 1 is a schematic diagram of the whole aspect of the present application.

[0055] Figure 2 is a schematic diagram of the wake release device of the present application.

[0056] Figure 3 is a schematic diagram of the propulsion retention structure of the present application.

[0057] Figure 4 is a schematic diagram of the quick positioning mechanism of the present application.

[0058] Figure 5 is a partial enlarged view of the moving mechanism body of the present application.

[0059] In the drawings:

[0060] DETAILED DESCRIPTION

[0061] The present application 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 application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0062] like Figures 1-5 As shown, a self-positioning offshore recovery platform for recovering a core stage of a carrier rocket comprises an offshore recovery platform body 1, a discrete positioning system device 2, a wake release device 3, a rapid positioning mechanism 4, a propulsion and holding structure, and a central processing unit;

[0063] The offshore recovery platform body 1 floats stably on the sea surface;

[0064] The rapid positioning mechanism 4 can move on the surface of the offshore recovery platform body 1 and carry the falling rocket;

[0065] The rapid positioning mechanism 4 includes an annular electromagnetic device 41, a moving mechanism 42 and a rapid moving slide 43;

[0066] The fast moving slide 43 is provided on the upper surface of the offshore recovery platform body 1 and forms a groove. A plurality of fast moving slides 43 are arranged in a circle at intervals corresponding to the center of the offshore recovery platform body 1. The fast moving slides 43 are connected at the center of the offshore recovery platform body 1. The wake release device 3 is provided at the fast moving slide 43.

[0067] The moving mechanism 42 slides along the fast moving slide 43 and is formed with a support end that abuts and slides against the upper surface of the offshore recovery platform body 1; the moving mechanism 42 includes a moving mechanism body 421, a moving mechanism body support wheel 422, a moving ball group 423, and a moving ball group support 424;

[0068] The moving mechanism body 421 is accommodated and slidably connected to the fast moving slide 43. The moving mechanism body 421 is hollow for the rocket tail flow to pass through.

[0069] The mobile mechanism body support wheels 422 are located outside the mobile mechanism body 421. The spacing between the mobile mechanism body support wheels 422 is wider than the fast moving slide 43. The mobile mechanism body support wheels 422 are rollingly connected to the upper surface of the offshore recovery platform body 1 and support the mobile mechanism body 421.

[0070] The moving ball group support 424 is disposed below the moving mechanism body 421;

[0071] The moving ball group 423 is mounted on the moving ball group support 424 . The moving ball group 423 rolls on the fast moving slide 43 and guides the moving mechanism body 421 to move along the fast moving slide 43 .

[0072] The annular electromagnetic device 41 is sleeved on the outside of the fast moving slide 43 , and the magnetic moving mechanism 42 is moved along the single fast moving slide 43 close to the outside of the offshore recovery platform body 1 .

[0073] The annular electromagnetic device 41 comprises an annular vacuum pipeline 411, positive and negative electromagnetic blocks 412, an electromagnetic block moving mechanism 413 and a magnetic field induction device 425;

[0074] The annular vacuum pipeline 411 is fixed to the outer edge of the offshore recovery platform body 1 and is internally provided with a vacuum;

[0075] The positive and negative electromagnetic blocks 412 are oppositely accommodated in the annular vacuum pipeline 411;

[0076] The electromagnetic block moving mechanism 413 is accommodated in the annular vacuum pipeline 411 and is connected and drives the positive and negative electromagnetic blocks 412 on both sides to rotate in the same direction;

[0077] The magnetic field induction device 425 is arranged on the moving mechanism 42, the positive and negative electromagnetic blocks 412 generate a same direction magnetic field near the magnetic field induction device 425, the magnetic field induction device 425 generates a magnetic field by being electrified and is attracted to one end of the corresponding positive and negative electromagnetic block 412 on one side and repelled on the other side, and the magnetic field induction device 425 slides along the fast moving slide 43 towards the side where the positive and negative electromagnetic blocks 412 are attracted to each other.

[0078] The wake release device 3 is opened on the upper surface of the offshore recovery platform body 1 and extends downwards and outward for wake release; the wake release device 3 comprises a wake collection and release flow channel 301 and a wake collection connecting hose 44;

[0079] The wake collection and release flow channel 301 is opened in the offshore recovery platform body 1, the top end of the wake collection and release flow channel 301 corresponds to the center of the upper surface of the offshore recovery platform body 1 and extends horizontally to the outside of the offshore recovery platform body 1 after being bent downwards, and the wake of the rocket recovery is sprayed along the wake collection and release flow channel 301 to the horizontal direction;

[0080] The wake collection connecting hose 44 can be bent and communicated between the inlet of the wake collection and release flow channel 301 and the fast positioning mechanism 4 to guide the wake into the wake collection and release flow channel 301.

[0081] The wake collection and release flow channel 301 is provided with a steam power generation structure, which comprises an annular pipe 3021, a seawater circulating pump 3022, an air outlet valve 3023, a water vapor collection device 303 and a power generation device 304;

[0082] The annular pipe 3021 is accommodated in the wake collection and release flow channel 301;

[0083] The seawater circulating pump 3022 can extract seawater, one end of the annular pipe 3021 is connected to the outlet of the seawater circulating pump 3022, and the other end is connected to the inlet of the seawater circulating pump 3022;

[0084] The air outlet valve 3023 is arranged on the upper side of the annular pipe 3021;

[0085] The water vapor collecting device 303 is connected to the air outlet valve 3023 and can be driven by steam to generate power;

[0086] The power generation device 304 is connected to the power input end of the water vapor collecting device 303.

[0087] The discrete positioning system device 2 includes a suspended micro radar 201 and a suspended micro radar collecting and releasing device 202;

[0088] A plurality of suspended micro radar collecting and releasing devices 202 are arranged on the outer edge of the offshore recovery platform body 1;

[0089] The suspended micro radar 201 is accommodated and released by the suspended micro radar collecting and releasing device 202, and the number of the suspended micro radar 201 is not less than four.

[0090] The propulsion and retention structure is arranged on the suspended micro radar 201 to generate thrust to lift the suspended micro radar 201 and control the suspended micro radar 201 to remain suspended. The suspended micro radar 201 is driven by the propulsion and retention structure to ascend to an altitude within a range of 1 to 10 kilometers above the offshore recovery platform body 1. During the ascending process, the global satellite positioning system can locate the real-time position of the suspended micro radar 201 without the influence of waves;

[0091] The propulsion and retention structure includes an ascending and descending reverse thruster 2011, an attitude adjustment reverse thruster 2012, and a wind speed sensor 2013;

[0092] The ascending and descending reverse thruster 2011 is a nozzle arranged on the upper and lower ends of the suspended micro radar 201, respectively, and the nozzle is outward. The ascending and descending reverse thruster 2011 sprays and drives the suspended micro radar 201 to descend or ascend, respectively;

[0093] The attitude adjustment reverse thruster 2012 is a nozzle rotatably connected to the side wall of the suspended micro radar 201. The attitude adjustment reverse thruster 2012 sprays and drives the suspended micro radar 201 to move along the horizontal plane;

[0094] The wind speed sensor 2013 is arranged on the side wall of the suspended micro radar 201 and provides correction data of the horizontal coordinates and the altitude for the attitude adjustment reverse thruster 2012. The suspended micro radar 201 is arranged according to the preset altitude and distribution distance.

[0095] The suspended micro radar 201 remains stationary relative to the offshore recovery platform body 1 and covers an electromagnetic wave range of five kilometers in all directions horizontally. The remote sensing data of the suspended micro radar 201 can be corrected in the algorithm of the central processor. Since the distance between the suspended micro radar 201 and the offshore recovery platform body 1 is very close, the influence of sea waves on electromagnetic waves is very small, and the remote sensing data of these suspended micro radars 201 can be corrected in the algorithm, and finally the offshore recovery platform body 1 and the moving mechanism body 421 in the region are accurately positioned.

[0096] The embodiment also provides a self-positioning offshore recovery method for recovering a core stage of a launch vehicle, and the steps include:

[0097] Step S1: After the offshore recovery process of the core stage of the launch vehicle starts, a certain number of suspended micro radars 201 are released from the suspended micro radar collection and release device 202. These suspended micro radars 201 rise to a certain preset altitude within 1-10 kilometers above the offshore recovery platform body 1 through the ascending landing reverse thruster 2011. After reaching the preset altitude, these suspended micro radars 201 are arranged according to the preset distribution position according to the real-time data of the wind speed sensor 2013 through the adjustment of the attitude adjustment reverse thruster 2012. These suspended micro radars 201 remain stationary after being positioned and obtain the position information of the launch vehicle in real time, and send the position information of the launch vehicle to the central processor at a certain time interval. The central processor predicts the specific landing position of the core stage of the launch vehicle on the moving mechanism 42 according to the time interval, and gives the final predicted landing position of the core stage of the launch vehicle when the distance between the core stage of the launch vehicle and the offshore recovery platform body 1 is less than the preset distance.

[0098] Step S2: The central processor controls the electromagnetic block moving mechanism 413 of the annular vacuum pipeline 411 to move to the corresponding position of the annular vacuum pipeline 411 according to the final predicted landing position information of the core stage of the launch vehicle on the offshore recovery platform body 1. The line between the positive and negative electromagnetic blocks 412 at this position corresponds to the final landing position of the rocket on the offshore recovery platform body 1.

[0099] Step S3: The central processor sends a command to energize the positive and negative electromagnetic blocks 412 to form a magnetic field in the inner area of the annular vacuum pipeline 411. The magnetic field induction device 425 is affected by electromagnetic force, and the moving mechanism body 421 starts to move towards the predicted landing position. The moving mechanism 42 slides along the fast-moving slide 43 in the center of the offshore recovery platform body 1 under the action of the positive and negative electromagnetic blocks 412. The central processor sends a command to reverse the polarity of the positive and negative electromagnetic blocks. The magnetic field induction device 425 is affected by the opposite electromagnetic force, and the moving mechanism body 421 starts to decelerate until it moves to the predicted landing position. Then the central processor sends a command to stop energizing the positive and negative electromagnetic blocks, and finally moves to the predicted landing position.

[0100] Step S4: When the distance between the carrier rocket core stage and the offshore recovery platform body 1 reaches the preset value, the central processor sends a command to start the seawater circulating pump 3022 and open the air outlet valve of the annular pipe 3021. This forms a circulating water flow in the annular pipe 3021. The exhaust flow from the carrier rocket engine enters the moving mechanism body 421 and enters the exhaust flow collection and release channel 301 through the exhaust flow collection connection hose 44. The exhaust flow is sprayed in the circumferential horizontal direction through the exhaust flow collection and release channel 301. The circulating seawater in the annular pipe 3021 is heated, forming a large amount of water vapor in the annular pipe 3021. As the high-speed heating process continues, the amount of water vapor produced in the annular pipe 3021 gradually increases. Under the action of the circulating water flow, the produced water vapor enters the water vapor collection device 303 through the air outlet valve. The power generation device 304 is driven to generate electricity as needed. The energy of the rocket recovery exhaust flow is maximized. After the carrier rocket core stage is stabilized on the surface of the moving mechanism body 421, the central processor sends a command to close the seawater circulating pump 3022 and the air outlet valve of the annular pipe 3021.

[0101] Step S5: When the offshore recovery platform body 1 moves from the sea to the shore, after the recovered carrier rocket core stage is lifted off the offshore recovery platform body 1 by the shore lifting equipment, the central processor sends a command to energize the positive and negative electromagnetic blocks 412. The moving mechanism body 421 starts to accelerate towards the center of the offshore recovery platform body 1, i.e. the original position of the moving mechanism 42. When moving a certain distance, the central processor sends a command to reverse the polarity of the positive and negative electromagnetic blocks. The moving mechanism body 421 starts to decelerate and finally stops in the center of the offshore recovery platform body 1, preparing for the next carrier rocket offshore recovery task.

[0102] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0103] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. A self-positioning offshore recovery platform for carrier rocket core stage recovery, characterized in that: include: Offshore recovery platform body (1), discrete positioning system device (2), wake release device (3), rapid positioning mechanism (4), propulsion holding structure and central processing unit; The offshore recovery platform body (1) floats stably on the sea surface; The quick positioning mechanism (4) can move on the surface of the offshore recovery platform body (1) and carry the falling rocket; The wake release device (3) is provided on the upper surface of the offshore recovery platform body (1) and extends downward and outward for wake release; The discrete positioning system device (2) includes a plurality of suspended micro radars (201); The propulsion and holding structure is arranged on the levitation micro radar (201), generates thrust to propel the levitation micro radar (201) into the air and controls and holds the levitation micro radar (201) in suspension; The suspended micro radar (201) is driven by the propulsion holding structure to rise to an altitude within a range of 1 to 10 kilometers above the offshore recovery platform body (1), and the global satellite positioning system locates the real-time position of the suspended micro radar (201); The suspended micro radar (201) remains stationary relative to the offshore recovery platform body (1) and covers the electromagnetic wave area within a five-kilometer radius within the horizontal range of the offshore recovery platform body (1). The remote sensing data of the suspended micro radar (201) are mutually corrected in the algorithm of the central processing unit, and the offshore recovery platform body (1) and the rapid positioning mechanism (4) are accurately positioned.

2. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 1, characterized in that: The discrete positioning system device (2) further includes a suspended micro-radar collection and release device (202); The suspended micro-radar collection and release device (202) is arranged on the outer edge of the offshore recovery platform body (1); The suspended miniature radar (201) is accommodated and released by the suspended miniature radar collecting and releasing device (202), and the number of the suspended miniature radars (201) is not less than four.

3. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 2, characterized in that: The propulsion and holding structure includes a lift-off and landing reverse thruster (2011), an attitude adjustment reverse thruster (2012) and a wind speed sensor (2013); The lift-off and landing reverse thrusters (2011) are nozzles respectively installed at the upper and lower ends of the suspended micro-radar (201), with the nozzles facing outwards. The upper and lower ends of the lift-off and landing reverse thrusters (2011) respectively spray and drive the suspended micro-radar (201) to descend or ascend; The attitude adjustment reverse thruster (2012) is rotatably connected to a nozzle on the side wall of the suspended micro radar (201), and the attitude adjustment reverse thruster (2012) sprays and drives the suspended micro radar (201) to move along a horizontal plane; The wind speed sensor (2013) is arranged on the side wall of the suspended micro radar (201) and provides correction data for the attitude adjustment reverse thruster (2012).

4. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 3, characterized in that: The wake release device (3) comprises a wake collection and release flow channel (301); The wake collection and release flow channel (301) is opened in the offshore recovery platform body (1), the top of the wake collection and release flow channel (301) corresponds to the center of the upper surface of the offshore recovery platform body (1), and bends downward and extends horizontally in the circumferential direction to the outside of the offshore recovery platform body (1). When the rocket is recovered, the wake sprayed toward the offshore recovery platform body (1) is sprayed horizontally along the wake collection and release flow channel (301).

5. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 4, characterized in that: The rapid positioning mechanism (4) comprises an annular electromagnetic device (41), a moving mechanism (42) and a rapid moving slideway (43); A fast moving slideway (43) is provided on the upper surface of the offshore recovery platform body (1) and forms a groove. A plurality of fast moving slideways (43) are arranged in a circle at intervals corresponding to the center of the offshore recovery platform body (1). The fast moving slideways (43) are connected to each other at the center of the offshore recovery platform body (1). The wake release device (3) is provided at the location corresponding to the fast moving slideway (43). The moving mechanism (42) slides along the fast moving slideway (43) and is formed with a support end that abuts and is slidably connected to the upper surface of the offshore recovery platform body (1); The annular electromagnetic device (41) is sleeved on the outside of the fast moving slideway (43), and the magnetic moving mechanism (42) is moved along the single fast moving slideway (43) close to the outside of the offshore recovery platform body (1).

6. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 5, characterized in that: The moving mechanism (42) comprises a moving mechanism body (421), a moving mechanism body support wheel (422), a moving ball group (423), and a moving ball group support (424); The moving mechanism body (421) is accommodated and slidably connected to the fast moving slideway (43), and the moving mechanism body (421) is hollow for the rocket tail flow to pass through; The mobile mechanism body support wheels (422) are located outside the mobile mechanism body (421), the spacing between the mobile mechanism body support wheels (422) is wider than the fast moving slideway (43), and the mobile mechanism body support wheels (422) are rollingly connected to the upper surface of the offshore recovery platform body (1) and support the mobile mechanism body (421); The movable ball group support (424) is arranged below the movable mechanism body (421); The moving ball group (423) is mounted on the moving ball group support (424), and the moving ball group (423) rolls on the fast moving slideway (43) and guides the moving mechanism body (421) to move along the fast moving slideway (43).

7. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 6, characterized in that: The annular electromagnetic device (41) comprises an annular vacuum pipe (411), positive and negative electromagnetic blocks (412), an electromagnetic block moving mechanism (413), and a magnetic field induction device (425); An annular vacuum pipe (411) is fixed to the outer edge of the offshore recovery platform body (1), and an internal vacuum is provided; The positive and negative electromagnetic blocks (412) are relatively accommodated on both sides of the annular vacuum pipe (411); The electromagnetic block moving mechanism (413) is accommodated in the annular vacuum pipe (411), connected to and drives the positive and negative electromagnetic blocks (412) on both sides to rotate in the same direction; The magnetic field sensing device (425) is arranged on the moving mechanism (42), and the positive and negative electromagnetic blocks (412) are close to the magnetic field sensing device (425) to generate a magnetic field in the same direction. The magnetic field sensing device (425) is energized to generate a magnetic field, and attracts one end of the positive and negative electromagnetic blocks (412) corresponding to one side, and repels the other side. The magnetic field sensing device (425) slides along the fast moving slideway (43) with the moving mechanism (42) toward the side that attracts the positive and negative electromagnetic blocks (412).

8. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 7, characterized in that: A steam power generation structure is provided in the tail flow collection and release flow channel (301), and the steam power generation structure comprises an annular pipe (3021), a seawater circulation pump (3022), an air outlet valve (3023), a water vapor collection device (303), and a power generation device (304); The annular tube (3021) is accommodated in the tail flow collection and release channel (301); The seawater circulation pump (3022) can extract seawater, and one end of the annular tube (3021) is connected to the outlet of the seawater circulation pump (3022), and the other end is connected to the inlet of the seawater circulation pump (3022); The air outlet valve (3023) is arranged on the upper side of the annular tube (3021); The water vapor collecting device (303) is connected to the air outlet valve (3023) and can be driven by steam to generate power; The power generation device (304) is connected to the power input end of the water vapor collection device (303).

9. The self-positioning offshore recovery platform for carrier rocket core stage recovery according to claim 8, characterized in that: The wake release device (3) further comprises a wake collection connecting hose (44), which can be bent to connect between the inlet of the wake collection and release flow channel (301) and the quick-positioning mechanism (4).

10. A self-positioning offshore recovery method for carrier rocket core stage recovery, characterized in that: The self-positioning offshore recovery platform for recovering the core stage of a carrier rocket according to claim 9 comprises the following steps: Step S1: After the carrier rocket core stage offshore recovery process begins, a certain number of suspended micro-radars (201) are released from the suspended micro-radar collecting and releasing device (202). These suspended micro-radars (201) are lifted to a preset altitude within a range of 1 to 10 kilometers above the offshore recovery platform body (1) via the lift-off and landing reverse thrusters (2011). After reaching the preset altitude, these suspended micro-radars (201) are evenly arranged according to preset distribution positions through the adjustment of the attitude adjustment reverse thrusters (2012) based on the real-time data of the wind speed sensor (2013). After being in place, these suspended micro-radars (201) remain stationary and obtain the position information of the carrier rocket in real time. The position information of the carrier rocket is sent to the central processor at a certain time interval. The central processor predicts the specific landing position of the carrier rocket core stage on the moving mechanism (42) according to the time interval until the distance between the carrier rocket core stage and the offshore recovery platform body (1) is less than the preset distance. The central processor then gives the final predicted landing position of the carrier rocket core stage. Step S2: The central processing unit controls the electromagnetic block moving mechanism (413) of the annular vacuum pipe (411) to move to a corresponding position of the annular vacuum pipe (411) based on the final predicted landing position information of the carrier rocket core stage on the offshore recovery platform body (1). At this position, the connection line between the positive and negative electromagnetic blocks (412) corresponds to the final landing position of the rocket on the offshore recovery platform body (1); Step S3: the central processing unit issues an instruction to energize the positive and negative electromagnetic blocks (412) to form a magnetic field in the inner area of ​​the annular vacuum pipe (411). The magnetic field sensing device (425) is acted upon by the electromagnetic force, and the moving mechanism body (421) begins to move toward the predicted landing position. The moving mechanism (42) slides along the fast moving slideway (43) at the center of the offshore recovery platform body (1) under the action of the positive and negative electromagnetic blocks (412). The central processing unit issues an instruction to reverse the polarity of the positive and negative electromagnetic blocks. The magnetic field sensing device (425) is acted upon by opposite electromagnetic forces. The moving mechanism body (421) begins to decelerate until it moves to the predicted landing position. Then, the central processing unit issues an instruction to stop energizing the positive and negative electromagnetic blocks, and finally moves to the predicted landing position. Step S4: When the distance between the carrier rocket core stage and the offshore recovery platform body (1) reaches a preset value, the central processing unit issues an instruction to start the seawater circulation pump (3022) and open the outlet valve of the annular tube (3021), thereby forming a circulating water flow in the annular tube (3021), and the tail flow ejected by the carrier rocket engine enters the mobile mechanism body (421) and enters the tail flow collection and release flow channel (301) along the tail flow collection and connection hose (44), and is ejected in a circumferential horizontal direction through the tail flow collection and release flow channel (301), and the circulating seawater in the annular tube (3021) is heated, forming a large amount of water vapor in the annular tube (3021). As the high-speed heating process continues, the water vapor generated in the annular tube (3021) gradually increases. Under the action of the circulating water flow, the generated water vapor enters the water vapor collection device (303) through the outlet valve, driving the power generation device (304) to generate electricity; Step S5: After the offshore recovery platform body (1) moves from the ocean to the coast, the recovered carrier rocket core stage is lifted off the offshore recovery platform body (1) by the coast lifting equipment, and the central processing unit issues an instruction to energize the positive and negative electromagnetic blocks (412), and the mobile mechanism body (421) begins to accelerate and move toward the center of the offshore recovery platform body (1), that is, the initial position of the mobile mechanism (42). After moving a certain distance, the central processing unit issues an instruction to reverse the polarity of the positive and negative electromagnetic blocks, and the mobile mechanism body (421) begins to decelerate and eventually stops at the center of the offshore recovery platform body (1), preparing to perform the next carrier rocket offshore recovery mission.

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