Spatial positioning device for high-repetition-frequency freezing target shooting

Abstract

The invention provides a spatial positioning device for high-repetition-frequency freezing target shooting, which comprises a magnetic field suspension mechanism, a target chamber as a suspension magnet of the magnetic field suspension mechanism, and a freezing target as a suspended body of the magnetic field suspension mechanism, and realizes hovering of the freezing target falling into the target chamber at a target position; and the magnetic field servo mechanism is used for controlling the freezing target to be stabilized at the target position. Spatial positioning is carried out based on magnetic field suspension, and precise hovering of the freezing target at the target position in the target chamber is guaranteed; a magnetic field servo mechanism is adopted, feedback adjustment is conducted in time when the target deviates from the target position, rapid and accurate positioning is ensured, and the requirement for high-repetition-frequency freezing target shooting is met.

Description

Technical Field

[0001] The present application relates to the field of nuclear fusion cryogenic freezing targets, and in particular, to a spatial positioning device for high-repetition-rate freezing target shooting. Background Art

[0002] Controlled nuclear fusion, as one of the approaches to developing nuclear energy, offers advantages over nuclear fission in terms of safety, environmental friendliness, and energy density. To achieve laser-driven fusion ignition, hundreds of high-energy laser beams must be focused and precisely aligned with a target pellet according to a specific spatial distribution. This symmetrically distributed X-ray beam compresses the fuel pellet, causing it to uniformly implode. This process is known as "laser targeting." Current laser targeting frequencies are very low, and the target chamber observation system and target delivery mechanism work together to locate the target: the observation system confirms the target's position within the chamber, and the target delivery mechanism then adjusts the target's position until it reaches the target location. To move nuclear fusion from the laboratory to civilian use, the frequency of laser targeting needs to be increased to tens to hundreds of hertz, placing new requirements on the preparation and delivery of frozen targets. The most important requirement is ensuring the high-frequency and accurate implosion of the frozen target at the target location.

[0003] Through the search of existing technologies, we found that:

[0004] Kalantar, DH, et al. of the Lawrence Livermore National Laboratory in the United States wrote an article titled "An Overview of Target and Diagnostic Alignment at the National Ignition Facility" in Preoceedings of SPIE, 2012, 8505. The article details the NIF alignment system, which involves moving the imaging system (TAS) into the target chamber for observation to achieve target positioning. The conjugate optical path design within the TAS allows for observation of the relative relationship between the incident simulated light and the target's spatial position without the use of a simulated target. Furthermore, because it is a parallel calibration scheme (the target positioning process and the beam-target coupling process are performed in parallel, and the calibration of each beam of light is performed in parallel), the calibration process is highly efficient.

[0005] Cheng Ningbo et al. from the Laser Fusion Research Center of the China Academy of Engineering Physics published an article titled "Research on Kinematic Coupling Problems in the Target Positioning System of an ICF Laser Facility" in the Chinese Journal of Mechanical Engineering, 2016, 52. The target positioning system is divided into two main components: a target sensor that defines the target chamber reference (i.e., the target chamber center coordinate system) and monitors the target (measuring the target's position coordinates); and a target transport mechanism that supports the target and adjusts its posture and position. The target transport mechanism comprises a large-stroke target transport mechanism, a small-stroke target transport mechanism, and a six-degree-of-freedom parallel manipulator. Precise control of the target's posture and position is achieved by adjusting the six-degree-of-freedom parallel manipulator's posture and position. The system achieves target positioning by monitoring the target's position and continuously adjusting it using the target transport mechanism.

[0006] M. Luttmann et al. of the French Energy and Atomic Commission published an article titled "Overview of LMJ alignment to target chamber center and very first results" in the Journal of Physical: Conference Series, 2016, 717. To improve target positioning accuracy, they designed a special optical path structure for the observation system and a custom coordinate system within the observation system to enable joint positioning of multiple pairs of observation systems at multiple angles. This system achieved a positioning accuracy of less than 52 μm rms from the laser beam to the target.

[0007] Chinese patent application publication number CN105489253A discloses a cryostat system and operating method for studying the equation of state of liquid deuterium. The system includes a liquid deuterium target, a liquid deuterium target monitoring system, a gas replacement system, a vacuum cryogenic refrigeration system, and a measurement and control system. The liquid deuterium target includes a target core, a gasket, a detection window, an incident window, and a gas tube. The liquid deuterium target monitoring system includes a helium mass spectrometer leak detector, a collimator, a visible light CCD camera, and a laser velocity interferometer. The helium mass spectrometer leak detector is used to detect the leak rate of the liquid deuterium target. The collimator and visible light CCD camera can observe the liquefaction of deuterium gas in the liquid deuterium target during cooling. The laser velocity interferometer is used to detect the residual reflectivity of the liquid deuterium target detection window surface to determine whether the target meets experimental requirements. However, the system is cumbersome and time-consuming to operate. The cryostat target is fixed to the front end of the target shooting system, making it only suitable for single-shot cryostat shooting experiments and unable to meet the needs of high-frequency shooting.

[0008] In summary, the current target positioning system in laser target shooting relies on the coordination between an observation system and a target delivery mechanism to achieve target positioning. This is cumbersome and inefficient, making it unsuitable for high-repetition-rate frozen target shooting and unable to meet the needs of commercial nuclear fusion. Therefore, a highly accurate, efficient, and easy-to-use spatial positioning system suitable for high-repetition-rate frozen target shooting is urgently needed. Summary of the Invention

[0009] In view of one of the defects in the prior art, the purpose of this application is to provide a spatial positioning device for high-repetition-rate frozen target shooting.

[0010] The present application provides a spatial positioning device for high-repetition-rate frozen target shooting, comprising:

[0011] A magnetic field suspension mechanism, wherein the target chamber serves as a suspension magnet of the magnetic field suspension mechanism and the frozen target serves as a suspended object of the magnetic field suspension mechanism, so as to achieve the hovering of the frozen target dropped into the target chamber at a target position;

[0012] A magnetic field servo mechanism is used to control the freezing target to be stable at a target position.

[0013] Optionally, the freezing target falls vertically from the top center of the target chamber into the target chamber.

[0014] Optionally, the dropping mode of the frozen target is any one of free fall, uniform vertical speed, falling motion and accelerated target delivery.

[0015] Optionally, the suspension magnet has a target chamber bottom magnetic field and an equatorial magnetic field around the target chamber. The target chamber bottom magnetic field is used to provide the magnetic field required for the frozen target to hover in the target position to be constrained in the vertical direction, and the equatorial magnetic field around the target chamber is used to achieve the horizontal position constraint of the frozen target.

[0016] Optionally, a plurality of first electromagnets arranged in an array are provided at the bottom of the target chamber, and an array magnetic field formed by the plurality of first electromagnets serves as the magnetic field at the bottom of the target chamber;

[0017] Optionally, a plurality of second electromagnets are regularly arranged at intervals of the same angle on the equatorial plane of the target chamber, and the magnetic field formed by the plurality of second electromagnets serves as the equatorial magnetic field of the target chamber.

[0018] Optionally, an annular permanent magnet is provided at the bottom of the freezing target to form a "tumbler" structure, and the magnetic field of the suspended object is generated by the annular permanent magnet.

[0019] Optionally, the magnetic field servo mechanism includes an air gap sensor, a controller and a power amplifier;

[0020] The air gap sensor is placed on the equatorial plane and the bottom of the target chamber to obtain the deviation of the freezing target from the target position, thereby monitoring the horizontal and vertical positions of the freezing target.

[0021] The air gap sensor and the power amplifier are respectively connected to the controller. The controller is used to drive the power amplifier to adjust the magnetic field of the suspension magnet according to the deviation, correct the deviation, and stabilize the freezing target at the target position.

[0022] Optionally, the power amplifier is connected to a first electromagnet at the bottom of the target chamber; the controller drives the power amplifier to increase or decrease the magnetic field strength of the first electromagnet according to the distance between the target drop position and the top of the target chamber and a set distance value.

[0023] Optionally, it further comprises: an observation mechanism, wherein the observation mechanism is used to observe the position of the freezing target in real time.

[0024] The spatial positioning device for high-repetition-rate frozen target shooting provided in the present application adopts a magnetic field suspension mechanism, which performs spatial positioning based on magnetic field suspension to ensure that the frozen target is accurately hovering at the target position inside the target chamber; it adopts a magnetic field servo mechanism to provide timely feedback adjustment when the target deviates from the target position, and fully automated feedback adjustment ensures fast and accurate positioning to meet the needs of high-repetition-rate frozen target shooting.

[0025] Other technical effects brought about by the additional features will be further explained in the corresponding embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0027] Figure 1 1 is a schematic structural diagram of a spatial positioning device for high-repetition-rate frozen target shooting according to an exemplary embodiment;

[0028] Figure 2 1 is a schematic cross-sectional view of a spatial positioning device for high-repetition-rate frozen target shooting, taken perpendicular to the equatorial plane, according to an exemplary embodiment;

[0029] Figure 3 1 is a schematic cross-sectional structural diagram of a horizontal equatorial plane of a spatial positioning device for high-repetition-rate frozen target shooting according to an exemplary embodiment;

[0030] Figure 4 1 is a schematic structural diagram of a freezing target according to an exemplary embodiment;

[0031] Figure 5 is a structural block diagram of a spatial positioning mechanism according to an exemplary embodiment;

[0032] Figure 6 1 is a flow chart illustrating a spatial positioning method for high-repetition-rate frozen target shooting according to an exemplary embodiment;

[0033] In the figure: 1 is the target dropping mechanism, 2 is the target chamber, 3 is the second electromagnet, 4 is the observation mechanism, 5 is the incident laser, 6 is the first electromagnet, 1-1 is the vacuum shielding chamber, 1-2 is the low-temperature guide rail, 1-3 is the target chamber conveying guide rail, 3-1 is the annular permanent magnet, 3-2 is the gold cone, and 3-3 is the aluminum sleeve. DETAILED DESCRIPTION

[0034] The present application is described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that, without departing from the concept of the present application, a number of variations and improvements may be made by those skilled in the art, and these all fall within the scope of protection of the present application. Parts not described in detail in the following examples may be implemented using existing technologies.

[0035] Current target positioning systems used in laser target shooting suffer from cumbersome operation and low efficiency, making them unsuitable for high-repetition-rate frozen target shooting and unable to meet the needs of commercial nuclear fusion. To address these issues, the present invention provides a spatial positioning device for high-repetition-rate frozen target shooting to address these issues.

[0036] Reference Figures 1 to 3 As shown, in one embodiment of the present application, a spatial positioning device for high-repetition-rate frozen target shooting includes a magnetic field suspension mechanism and a magnetic field servo mechanism, wherein: the target chamber 2 serves as a suspension magnet of the magnetic field suspension mechanism, and the frozen target serves as a suspended object of the magnetic field suspension mechanism, so as to achieve the hovering of the frozen target dropped into the target chamber 2 at the target position; the magnetic field servo mechanism is used to control the frozen target to stabilize at the target position.

[0037] Specifically, high-repetition-rate frozen target shooting requires automated, highly precise, and rapid positioning of the target within target chamber 2. To meet this requirement, the spatial positioning device in the embodiments of this application has been designed. A magnetic field suspension mechanism, formed by the interaction between the target chamber's magnetic field and the frozen target, performs spatial positioning based on magnetic field suspension, allowing the frozen target to precisely hover at the target position, thereby achieving positioning within target chamber 2. The magnetic field servo mechanism can calibrate positioning errors, further improving positioning accuracy and precision. This enables rapid, high-precision positioning, providing a solution for high-repetition-rate frozen target shooting.

[0038] The above-mentioned embodiment of the present application adopts a magnetic field suspension mechanism, and performs spatial positioning based on magnetic field suspension to ensure that the frozen target is accurately hovering at the target position inside the target chamber 2; a magnetic field servo mechanism is adopted to provide timely feedback adjustment when the target deviates from the target position, and the feedback adjustment is fully automated to ensure fast and accurate positioning to meet the needs of high-repetition-rate frozen target shooting.

[0039] After the target frozen target is transported to the designated location, it is released by the target drop mechanism 1 and vertically falls into the target range to achieve target shooting. In order to allow the frozen target to enter the target chamber 2, in some specific embodiments of the present application, the frozen target vertically falls from the center top of the target chamber 2 into the target chamber 2.

[0040] In order to achieve high-frequency and fixed-frequency targeting, such as 10Hz\100Hz, the focal point of the incident laser 5 is at the center of the target chamber 2 during laser targeting, so it is necessary to ensure that the frozen target is at this position to achieve laser targeting. For this purpose, the target dropping mechanism 1 is placed on the top of the center of the target chamber 2, and the frozen target falls vertically. The vertical falling method of the frozen target is simple, such as free fall, which is easy to implement.

[0041] Specifically, the target freezing target falls vertically at a fixed frequency at the top center of the target chamber 2 .

[0042] For example, the freezing target is dropped in any one of free fall (without initial velocity), vertical uniform velocity, and free fall with initial velocity, and the dropping frequency is any one of 1 Hz, 10 Hz, 50 Hz, 100 Hz, etc.

[0043] It should be noted that the dropping frequency depends on the target shooting frequency and needs to be consistent with the on-off frequency of the incident laser 5. According to the target shooting requirements, the target frozen target can also adopt other dropping methods or dropping frequencies.

[0044] In some specific embodiments of the present application, the suspension magnet has a target chamber bottom magnetic field and an equatorial magnetic field surrounding the target chamber. The target chamber bottom magnetic field is used to provide the magnetic field required for the frozen target to hover in the vertical direction of the target position, and the equatorial magnetic field surrounding the target chamber is used to achieve horizontal position constraint of the frozen target.

[0045] The above-mentioned embodiment of the present application provides the magnetic field strength required for hovering positioning of the target freezing target through the magnetic field at the bottom of the target chamber and the equatorial magnetic field around the target chamber, and constrains it in the vertical and horizontal directions, thereby improving the positioning accuracy.

[0046] In some specific embodiments of the present application, a plurality of first electromagnets 6 arranged in an array are provided at the bottom of the target chamber 2 , and the array magnetic field formed by the plurality of first electromagnets 6 serves as the magnetic field at the bottom of the target chamber.

[0047] In some specific embodiments of the present application, multiple second electromagnets 3 are regularly arranged at the same angle in the equatorial plane of the target chamber (the equatorial plane parallel to the ground), and the magnetic field formed by the multiple second electromagnets 3 serves as the equatorial magnetic field of the target chamber.

[0048] It should be noted that the spacing angle of the second electromagnets 3 can be evenly arranged according to the size of the magnetic field. The target chamber 2 has a diameter of about 10m and is in a high vacuum state. The second electromagnets 3 need to be arranged so that the magnetic field can confine the frozen target.

[0049] Exemplarily, the angular interval between the second electromagnets 3 is 120°.

[0050] In order to realize the magnetic suspension positioning of the freezing target at the target position, in some specific embodiments of the present application, reference is made to Figure 4 As shown, an annular permanent magnet 3-1 is provided at the bottom of the freezing target to form a "tumbler" structure, and the magnetic field of the suspended object is generated by the annular permanent magnet 3-1.

[0051] Specifically, the cryotarget includes an inner gold cone 3-2 and an outer aluminum sleeve 3-3. The outer aluminum sleeve 3-3 is used for temperature control and structural support. The annular permanent magnet 3-1 is located at the bottom of the aluminum sleeve 3-3.

[0052] In the above embodiment of the present application, a permanent magnet around the target body is set at the bottom of the target freezing target. On the one hand, it provides a repulsive force between the magnetic field and the magnetic field of the target chamber, and balances at the target position to achieve magnetic levitation space positioning; in terms of horizontal position constraint, the interaction between the magnetic fields is utilized, and the equatorial magnetic field of the target chamber interacts with the permanent magnet at the bottom of the freezing target. Since the equatorial plane is regularly arranged, the freezing target is uniformly subjected to the magnetic force, and balance can be achieved. The principle of vertical position constraint is similar to that of the horizontal direction. On the other hand, a "tumbler" structure is formed to ensure stability during the falling process, that is, the invariance (consistency) of the shape.

[0053] In order to realize feedback adjustment of the position of the target freezing target in the target chamber 2, in some specific embodiments of the present application, reference is made to Figure 5 As shown, the magnetic field servo mechanism includes an air gap sensor, a controller and a power amplifier; the air gap sensor is placed on the equatorial plane of the target chamber and the bottom of the target chamber 2, and is used to obtain the deviation of the freezing target from the target position, so as to monitor the horizontal and vertical positions of the freezing target; the air gap sensor and the power amplifier are respectively connected to the controller, and the controller is used to drive the power amplifier to adjust the magnetic field of the suspension magnet according to the deviation, correct the deviation, and stabilize the freezing target at the target position.

[0054] Specifically, since the cryogenic target is in free fall, an air gap sensor can be omitted around the equatorial plane. However, to improve positioning accuracy, air gap sensors are installed on the equatorial plane and at the bottom of the target chamber to monitor the target's position and provide feedback to the controller for positioning. The target's deviation from the target position is set to 0. If it deviates from the target position, the air gap sensor generates a signal that is fed back to the magnetic field servo mechanism.

[0055] The air gap sensor is placed at a fixed position in the target chamber 2. Before use, its distance X from the shooting position, i.e., the target position of the frozen target, is calibrated. The air gap sensor measures the position Y of the frozen target in real time and compares it with the calibrated distance parameter to generate a distance difference (YX), which is fed back to the magnetic field servo mechanism to adjust the magnetic field strength accordingly.

[0056] In the above-mentioned embodiment of the present application, the magnetic field servo mechanism is a closed-loop system, and the feedback signal of the air gap sensor is transmitted to the controller end and converted into a digital signal. The whole process is completed quickly and automatically, achieving fast and accurate positioning to meet the needs of high-repetition-rate frozen target shooting.

[0057] In order to make the target body stably suspended in the set equilibrium position and reduce positioning errors, in some specific embodiments of the present application, the power amplifier is connected to the first electromagnet 6 at the bottom of the target chamber 2; the controller drives the power amplifier to increase or decrease the magnetic field strength of the first electromagnet 6 according to the distance between the target drop position and the top of the target chamber 2 and the set distance value.

[0058] Specifically, an air gap sensor is installed at the top of the target chamber 2 to detect the distance between the cryotarget and the top of the target chamber 2. The air gap sensor is connected to a negative feedback controller, which is connected to the first electromagnet 6 at the bottom of the target chamber 2 via a power amplifier. The method for adjusting the magnetic field strength of the second electromagnet 3 is similar to that of the first electromagnet 6 and will not be described in detail here.

[0059] The working process of the magnetic field servo mechanism includes: if the air gap distance changes, that is, the target body deviates from the equilibrium position, the deviation can be measured in real time by a non-contact air gap sensor and converted into a digital signal. The power amplifier is driven by a negative feedback controller to correct the deviation and stabilize the equilibrium position.

[0060] Specifically, refer to Figure 6 As shown in the figure, the distance between the laser focus center of the target chamber and the top of the target chamber is set to g. When the target drop position is less than g, the magnetic field servo mechanism feeds back to the controller to reduce the magnetic field strength of the magnet at the bottom of the target chamber. On the contrary, if the distance between the target position and the top of the target chamber is greater than g, the magnetic field servo mechanism feeds back to the controller to increase the magnetic field strength of the bottom magnet.

[0061] In order to observe and determine the accuracy of the positioning of the target freezing target, in some specific embodiments of the present application, the above-mentioned device further includes an observation mechanism 4, which is used to observe the position of the freezing target in real time.

[0062] Specifically, the observation mechanism 4 includes a backlight imaging unit and an X-ray phase-contrast imaging unit.

[0063] In the above-described embodiments of the present application, the backlight imaging unit and the X-ray phase imaging unit serve as auxiliary detection equipment to achieve macroscopic observation. During single-shot frozen target shooting, they can comprehensively characterize the frozen target's morphology and the fuel sphere within the frozen target, ensuring successful frozen target production. The position of the observation mechanism 4 can be flexibly designed based on the positions of other key units.

[0064] The process of spatial positioning of high-repetition-rate frozen target shooting using the device in the above embodiment of the present application is as follows:

[0065] The frozen target falls from the target dropping mechanism 1 into the target chamber 2. During the falling process of the frozen target, it reaches a balanced suspension state at the target position under the action of the magnetic field suspension mechanism. The magnetic field servo mechanism automatically monitors the deviation between the frozen target and the target position and corrects the deviation to stabilize the frozen target at the target position, thereby accurately and quickly achieving the positioning of the target in the target chamber 2.

[0066] Exemplarily, a spatial positioning method for high-repetition-rate frozen target shooting using the apparatus in the above embodiment includes the following steps:

[0067] 1) The cryotarget is frozen in batches in an offline mode. A permanent magnet device is added to the bottom of the external temperature-controlled aluminum sleeve to provide a magnetic field and form a "tumbler design" to ensure that the shape of the cryotarget remains unchanged during the falling process. The frozen cryotarget is placed in the vacuum shielding chamber 1-1.

[0068] 2) The frozen target completed offline is transported to the target range via the target chamber transport rail 1-3 and connected to the low-temperature rail 1-2 of the target drop mechanism 1. The low-temperature rail 1-2 provides temperature control while transporting the frozen target into the target chamber 2 at a frequency of 10Hz / 100Hz. When the frozen target reaches the target position in the target chamber 2, the fixture releases the target frozen target and it enters the target chamber 2 vertically;

[0069] 3) During the falling process, the frozen target is subjected to the repulsive force of the magnetic field at the bottom of the target chamber and the magnetic field around the equator, and finally reaches a balanced suspension state at the target position;

[0070] 4) Target chamber 2 is equipped with an observation mechanism to observe and record the position of the frozen target in real time;

[0071] 5) The magnetic field servo mechanism automatically monitors the deviation between the freezing target and the target position. The deviation is measured in real time by a non-contact air gap sensor and converted into a digital signal. The negative feedback controller drives the power amplifier to correct the deviation and stabilize the equilibrium position.

[0072] The preferred features of the above embodiments can be used alone in any embodiment, or in any combination without conflict. In addition, parts not described in detail in the embodiments can be implemented using existing technologies.

[0073] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "bottom", "inside", "outside", "clockwise", "counterclockwise", 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 the present 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 the present application.

[0074] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0075] In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly specified and specifically defined. In the present application, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0076] In the embodiments of the present application, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0077] The above describes some specific embodiments of the present application. It should be understood that the present application is not limited to the specific embodiments described above, and those skilled in the art may make various variations or modifications within the scope of the claims, which do not affect the substantive content of the present application. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. A spatial positioning device for high-repetition-rate frozen target shooting, characterized in that: include: A magnetic field suspension mechanism, wherein the target chamber serves as a suspension magnet of the magnetic field suspension mechanism and the frozen target serves as a suspended object of the magnetic field suspension mechanism, so as to achieve the hovering of the frozen target dropped into the target chamber at a target position; A magnetic field servo mechanism is used to control the freezing target to be stable at a target position.

2. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 1, characterized in that: The freezing target falls vertically from the top of the target chamber center into the target chamber.

3. The spatial positioning device for high repetition rate frozen target shooting according to claim 2, characterized in that: The dropping mode of the freezing target is any one of free fall motion, uniform vertical speed and free fall motion with initial velocity.

4. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 1, characterized in that: The suspension magnet has a target chamber bottom magnetic field and an equatorial magnetic field around the target chamber. The target chamber bottom magnetic field is used to provide the magnetic field required for the frozen target to hover at the target position in the vertical direction, and the equatorial magnetic field around the target chamber is used to achieve the horizontal position constraint of the frozen target.

5. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 4, characterized in that: A plurality of first electromagnets arranged in an array are provided at the bottom of the target chamber, and an array magnetic field formed by the plurality of first electromagnets serves as the magnetic field at the bottom of the target chamber.

6. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 4, characterized in that: A plurality of second electromagnets are regularly arranged at intervals of the same angle on the equatorial plane of the target chamber, and the magnetic field formed by the plurality of second electromagnets serves as the equatorial magnetic field of the target chamber.

7. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 1, characterized in that: An annular permanent magnet is provided at the bottom of the freezing target to form a "tumbler" structure, and the magnetic field of the suspended object is generated by the annular permanent magnet.

8. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 5, characterized in that: The magnetic field servo mechanism includes an air gap sensor, a controller and a power amplifier; The air gap sensor is placed on the equatorial plane and the bottom of the target chamber to obtain the deviation of the freezing target from the target position, thereby monitoring the horizontal and vertical positions of the freezing target. The air gap sensor and the power amplifier are respectively connected to the controller. The controller is used to drive the power amplifier to adjust the magnetic field of the suspension magnet according to the deviation, correct the deviation, and stabilize the freezing target at the target position.

9. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 8, characterized in that: The power amplifier is connected to the first electromagnet at the bottom of the target chamber; the controller drives the power amplifier to increase or decrease the magnetic field strength of the first electromagnet according to the distance between the target drop position and the top of the target chamber and the set distance value.

10. The spatial positioning device for high-repetition-rate frozen target shooting according to claim 1, characterized in that: Also includes: An observation mechanism is used to observe the position of the freezing target in real time.

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