Rocket recovery system with adaptive tracking and capture and method of recovery thereof

Abstract

This invention discloses an adaptive tracking and capture rocket recovery system and method, belonging to the technical field of rocket recovery. It includes a recovery site with a transverse track laid within it. A transverse moving platform is movably connected to the transverse track, and a longitudinal track is mounted on the transverse moving platform. The transverse and longitudinal tracks are perpendicular to each other. A capture tower module is movably connected to the longitudinal track. The capture tower module has adjustable transverse and longitudinal positions relative to the recovery site. The capture tower module includes several capture tower bodies, each including a capture tower base connected to the longitudinal track. The capture tower base moves along the longitudinal track, and a support arm is hinged to the capture tower base. A first tower arm is located at the end of the support arm furthest from the capture tower base, and a capture arm module is mounted on the first tower arm. This invention can reduce the precision requirements for rocket landing point and attitude control, and improve the flexibility of rocket recovery.

Description

Technical Field

[0001] This invention relates to the technical field of rocket recovery, and more particularly to an adaptive tracking and capture rocket recovery system and recovery method thereof. Background Technology

[0002] Currently, the mainstream rocket recovery technologies mainly include the following methods:

[0003] Parachute recovery: Compared to complex propulsion systems and sophisticated control systems, parachute recovery may be technically simpler. Parachute recovery can reduce reliance on ground facilities and lower the need for specific landing areas.

[0004] Land-based recovery: This is currently the most common recovery method. It involves the rocket undergoing powered deceleration after launch and landing vertically. This technology requires a high-precision navigation and control system.

[0005] Offshore recovery: Some companies use offshore platforms for recovery, taking advantage of the wind and waves at sea to reduce reliance on land-based recovery and reduce landing risks.

[0006] Fixed Launch Pad Capture Technology: The launch pad primarily supports the launch, landing, and recovery of Starship. It not only provides a launch platform for the rocket but also supports its landing and securing during recovery. SpaceX developed a mechanical gripping device for Starship called Mechazilla, inspired by the structure of chopsticks, using two long arms for gripping and securing. After Starship completes its mission, returns to Earth, and lands, Mechazilla will precisely grasp it using its telescopic arms. This process requires a high degree of automation and precise control to ensure successful capture of the falling rocket in a fast-moving environment. Once successfully grasped, Mechazilla will securely hold Starship on the launch pad, allowing for subsequent maintenance and repairs, preparing it for the next launch.

[0007] Regarding the aforementioned technologies, the applicant has found that existing rocket recovery technologies have many shortcomings, especially fixed tower capture and recovery, which has high requirements for rocket landing point and attitude control and poor flexibility. Therefore, it is urgent to optimize the tower capture rocket recovery method to improve the flexibility of rocket body recovery. Summary of the Invention

[0008] This invention addresses the shortcomings of existing technologies by providing an adaptive tracking and capture rocket recovery system and method, which reduces the precision requirements for rocket landing point and attitude control, and improves the flexibility of rocket recovery.

[0009] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0010] An adaptive tracking and capture rocket recovery system includes a recovery field, a transverse track laid within the recovery field, a transverse moving platform movably connected to the transverse track, a longitudinal track on the transverse moving platform, the transverse track and the longitudinal track being in a perpendicular position relationship, and a capture tower module movably connected to the longitudinal track. The capture tower module has adjustable transverse and longitudinal positions relative to the interior of the recovery field.

[0011] The capture tower module includes several capture tower bodies, each including a capture tower base connected to a longitudinal track. The capture tower base moves along the longitudinal track and is hinged to a support arm. A first tower arm is located at the end of the support arm away from the capture tower base. The first tower arm is vertically positioned and has a capture arm module.

[0012] Furthermore, the number of capture tower bodies is two, and the capture arm module includes a horizontal capture arm and a vertical capture arm. The horizontal capture arm is connected to the first tower arm, and the vertical capture arm is connected to the end of the horizontal capture arm. The vertical capture arm and the horizontal capture arm are in a vertical position relationship. The horizontal capture arm and the vertical capture arm of two adjacent capture arm modules intersect and combine to form a square-shaped capture port. The size of the capture port is adjustable.

[0013] Furthermore, the ends of the two longitudinal capture arms that are close to each other are provided with interpenetration auxiliary blocks, and the end of the transverse capture arm that is away from the longitudinal capture arm is provided with an interpenetration auxiliary port, and a roller is provided in the interpenetration auxiliary port.

[0014] Furthermore, the longitudinal capture arm is equipped with a longitudinal arm pressure sensor and a longitudinal arm distance sensor, and the transverse capture arm is equipped with a transverse arm pressure sensor and a transverse arm distance sensor.

[0015] Furthermore, the longitudinal capture arm is provided with a longitudinal arm buffer block, and the transverse capture arm is provided with a transverse arm buffer block.

[0016] Furthermore, the number of capture tower bodies is one, and the capture arm module includes a horizontal capture arm and two vertical capture arms. The horizontal capture arm is connected to the first tower arm, and the two vertical capture arms are respectively placed at both ends of the horizontal capture arm and connected to the end of the horizontal capture arm. The vertical capture arm and the horizontal capture arm are in a vertical position relationship. The two vertical capture arms and the horizontal capture arm intersect each other to form a U-shaped capture port, and the size of the capture port is adjustable.

[0017] Furthermore, a telescopic arm is provided between the supporting boom and the first tower arm. The telescopic arm is arranged vertically, with one end connected to the supporting boom and the other end of the telescopic arm away from the supporting boom connected to the first tower arm.

[0018] Furthermore, the base of the capture tower is equipped with several tail cable winches, and the first tower arm is equipped with several head cable winches.

[0019] Furthermore, the outer side of the capture tower body is covered with a fireproof shell, and a flame guide base is movably connected on the longitudinal track, with a flame guide plate provided on the flame guide base.

[0020] Furthermore, a roller assembly is provided between the longitudinal track and the flame guide plate. The longitudinal track has an I-shaped structure, and the roller assembly includes a bracket and multiple roller bodies. The roller bodies are placed inside the bracket, and the multiple roller bodies are connected to the longitudinal track in a limiting abutment connection.

[0021] Furthermore, the capture arm module is equipped with a ground tracking and positioning control system, which includes a high-tower gimbal tracker, a first-tower gimbal tracker, and software for calculating the relative position, distance, and height between the rocket and the capture tower body. The first-tower gimbal tracker includes a gimbal base, on which a vision module, a laser module, and an ultrasonic ranging module are installed.

[0022] Furthermore, several positioning towers are set up around the recycling site, and the tower gimbal tracking device is placed on the positioning tower.

[0023] A recovery method for an adaptive tracking and capture rocket recovery system includes the following stages:

[0024] High-altitude descent phase: from the moment the rocket recovery stage successfully separates and enters the descent process until the rocket recovery stage descends to the designated altitude and the distance and altitude of the rocket recovery stage can be seen by the gimbal tracking instrument on the first tower;

[0025] Low-altitude landing visual control phase: from the moment the rocket recovery stage descends to the distance and height visible to the gimbal tracking device on the first tower, until the rocket recovery stage descends to the preset altitude;

[0026] Landing and capture phase: from the moment the rocket recovery stage descends to the preset altitude until the rocket recovery stage is captured by the capture tower and the landing is completed;

[0027] As the rocket recovery stage gradually descends, the control system of the capture tower controls the lateral moving platform to carry the capture tower body and adjust its position along the lateral track. At the same time, the capture tower body moves along the longitudinal track. When the height of the lower end of the rocket recovery stage is lower than the height of the lower end of the first tower arm, the capture arm module closes. The lateral capture arm and the longitudinal capture arm intersect and combine to form a capture port, and the horizontal movement of the rocket recovery stage is restricted.

[0028] As the rocket recovery stage gradually descends, the support arm of the rocket recovery stage lands on the buffer block, and the capture tower body gradually tightens and closes. The rocket recovery stage is captured by the capture tower body and the landing is completed.

[0029] Rocket recovery phase: from the moment the rocket recovery stage is captured by the capture tower and landing is completed, until the rocket recovery stage is transferred from the capture tower to the recovery vehicle and fixedly connected by the service arm, and the capture tower enters standby mode.

[0030] In summary, compared with the prior art, the beneficial effects of the above technical solution are:

[0031] 1. This invention provides an adaptive tracking and capture rocket recovery system and method, which can reduce the accuracy requirements for rocket landing point and attitude control and improve the flexibility of rocket recovery.

[0032] 2. This invention supports both hot and cold rocket recovery. With a guide vane and a fireproof casing installed on the capture tower body, the rocket recovery system supports both hot and cold recovery. Otherwise, it only supports cold recovery.

[0033] 3. The adaptive tracking and capture of this invention can minimize recovery failure caused by deviation between the rocket's landing position and the target position. Within the tracking and capture range, the flight control system only needs to maintain the rocket's attitude and slow down the descent. This also saves fuel and reduces the difficulty of flight control. By increasing the area of ​​the recovery field, a larger tracking and capture range can be achieved, thereby minimizing the difficulty of flight control technology and further improving the recovery success rate.

[0034] 4. This invention supports rockets of various diameters. Since both the horizontal and vertical capture arms have a certain length, the square closing opening (capture opening) after closing also has a certain width. Therefore, it supports rockets within a certain diameter range and rockets of various heights. The support arm of the capture tower body is equipped with a telescopic arm, that is, the height of the capture tower body is adjustable, so it can support rockets within a certain height range.

[0035] 5. This invention is adaptable to rocket recovery under various weather conditions (daytime, nighttime, foggy, rainy / snowy), and also has a buffering function during the rocket's descent. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of the capture tower body in Embodiment 1 of the present invention;

[0038] Figure 3 This is a schematic diagram of the lateral movement platform structure in Embodiment 1 of the present invention;

[0039] Figure 4 This is a schematic diagram of the flame guide disk in Embodiment 1 of the present invention;

[0040] Figure 5 This is a schematic diagram of the roller assembly in Embodiment 1 of the present invention;

[0041] Figure 6 This is a schematic diagram of the telescopic arm in Embodiment 1 of the present invention;

[0042] Figure 7 This is a schematic diagram of the capture arm module in Embodiment 1 of the present invention. Figure 1 ;

[0043] Figure 8 This is a schematic diagram of the capture arm module in Embodiment 1 of the present invention. Figure 2 ;

[0044] Figure 9 This is a schematic diagram of the two capture arm modules being joined together in Embodiment 1 of the present invention;

[0045] Figure 10 This is a schematic diagram of the structure of the first tower gimbal tracking device in Embodiment 1 of the present invention;

[0046] Figure 11 This is a schematic diagram of the rocket recovery process in Embodiment 1 of the present invention. Figure 1 ;

[0047] Figure 12 This is a schematic diagram of the rocket recovery process in Embodiment 1 of the present invention. Figure 2 ;

[0048] Figure 13 This is a schematic diagram of the rocket recovery process in Embodiment 1 of the present invention. Figure 3 ;

[0049] Figure 14 This is a schematic diagram of the rocket recovery process in Embodiment 1 of the present invention. Figure 4 ;

[0050] Figure 15 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0051] Figure 16 This is a schematic diagram of the capture arm module in Embodiment 2 of the present invention. Figure 1 ;

[0052] Figure 17 This is a schematic diagram of the capture arm module in Embodiment 2 of the present invention. Figure 2 ;

[0053] Figure 18 This is a schematic diagram of the rocket recovery process in Embodiment 2 of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1. Recycling yard; 2. Lateral moving platform; 3. Lateral track; 31. Lateral moving drive device; 32. Lateral worm gear; 4. Longitudinal track; 41. Longitudinal worm gear;

[0056] 5. Capture tower body; 51. Capture tower base; 52. Support boom; 53. First tower boom; 54. Telescopic boom; 55. Capture boom module; 551. Lateral capture boom; 5511. Upper beam of lateral boom; 5512. Lower beam of lateral boom; 5513. Distance sensor of lateral boom; 5514. Horizontal boom buffer block; 5515. Lateral movement drive unit; 5516. Crossbeam slide rail; 5517. Lateral boom worm gear; 5518. Roller; 552. Longitudinal capture boom; 5521. Longitudinal boom slide rail; 5522. Longitudinal boom worm gear; 552... 3. Interleaving auxiliary block; 5524. Longitudinal drive unit; 5525. Longitudinal boom buffer block; 5526. Longitudinal boom distance sensor; 5527. Longitudinal boom sleeve; 553. First tower gimbal tracker; 5531. Gimbal base; 5532. Camera; 5533. Gimbal distance sensor; 5534. Infrared light source; 56. Tail cable winch a; 561. Cable a; 57. Tail cable winch b; 571. Cable b; 58. First cable winch c; 581. Cable c; 59. First tower traction boom;

[0057] 6. Fireproof shell; 7. Flame guide plate; 71. Flame guide plate drive device; 72. Flame guide base; 73. Roller assembly; 731. Bracket; 732. Roller body; 8. Positioning tower. Detailed Implementation

[0058] The principles and features of the present invention are described below with reference to all the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0059] Example 1

[0060] Embodiment 1 of the present invention discloses an adaptive tracking and capture rocket recovery system and recovery method thereof.

[0061] Reference Figures 1 to 10 As shown, an adaptive tracking and capture rocket recovery system includes a recovery field 1, with several positioning towers 8 surrounding the recovery field 1. A transverse track 3 is laid within the recovery field 1, and a transverse moving platform 2 is movably connected to the transverse track 3. A longitudinal track 4 is mounted on the transverse moving platform 2, with the transverse track 3 and longitudinal track 4 in a perpendicular relationship. A capture tower module is movably connected to the longitudinal track 4, and the capture tower module has adjustable transverse and longitudinal positions relative to the interior of the recovery field 1.

[0062] The capture tower module includes several capture tower bodies 5. Each capture tower body 5 includes a capture tower base 51, which is connected to a longitudinal track 4. The capture tower base 51 moves along the longitudinal track 4. A support arm 52 is hinged to the capture tower base 51. A first tower arm 53 is provided at the end of the support arm 52 away from the capture tower base 51. The first tower arm 53 is vertically arranged and a capture arm module 55 is provided on the first tower arm 53.

[0063] When there are two capture tower bodies 5, the capture arm module 55 includes a horizontal capture arm 551 and a vertical capture arm 552. The horizontal capture arm 551 is connected to the first tower arm 53, and the vertical capture arm 552 is connected to the end of the horizontal capture arm 551. The vertical capture arm 552 and the horizontal capture arm 551 are in a vertical position relationship. The horizontal capture arm 551 and the vertical capture arm 552 of two adjacent capture arm modules 55 intersect and combine to form a square-shaped capture port. The size of the capture port is adjustable.

[0064] The ends of the two longitudinal capture arms 552 that are close to each other are provided with insertion auxiliary blocks 5523, and the end of the transverse capture arm 551 that is away from the longitudinal capture arm 552 is provided with an insertion auxiliary port, and a roller 5518 is provided in the insertion auxiliary port.

[0065] The longitudinal capture arm 552 is equipped with a longitudinal arm pressure sensor and a longitudinal arm distance sensor 5526, and the transverse capture arm 551 is equipped with a transverse arm pressure sensor and a transverse arm distance sensor 5513. The longitudinal capture arm 552 is equipped with a longitudinal arm buffer block 5525, and the transverse capture arm 551 is equipped with a transverse arm buffer block 5514.

[0066] A telescopic arm 54 is provided between the supporting boom 52 and the first tower boom 53. The telescopic arm 54 is set vertically, with one end of the telescopic arm 54 connected to the supporting boom 52 and the other end of the telescopic arm 54 away from the supporting boom 52 connected to the first tower boom 53.

[0067] The capture tower base 51 is equipped with several tail cable winches, and the head tower arm 53 is equipped with several head cable winches.

[0068] The outer side of the capture tower body 5 is covered with a fireproof shell 6, and a flame guide base 72 is movably connected to the longitudinal track 4. A flame guide plate 7 is provided on the flame guide base 72.

[0069] A roller assembly 73 is provided between the longitudinal track 4 and the flame guide plate 7. The longitudinal track 4 has an I-shaped structure. The roller assembly 73 includes a bracket 731 and multiple roller bodies 732. The roller bodies 732 are placed inside the bracket 731. The multiple roller bodies 732 are in a limiting contact connection with the longitudinal track 4.

[0070] The capture arm module 55 is equipped with a ground tracking and positioning control system, which includes a high-tower gimbal tracker, a first-tower gimbal tracker 553, and software for calculating the relative position, distance, and height between the rocket and the capture tower body 5. The first-tower gimbal tracker 553 includes a gimbal base 5531, which is equipped with a vision module, a laser module, and an ultrasonic ranging module. The high-tower gimbal tracker is placed on the positioning tower 8.

[0071] In this embodiment, an adaptive tracking and capture rocket recovery system comprises a recovery site 1, multiple transverse tracks 3, multiple longitudinal tracks 4, one transverse moving platform 2, one guide vane disk 7, two capture tower bodies 5, multiple positioning towers 8, and a ground tracking and positioning control system (one set). The key innovation of this application lies in the longitudinal and transverse movement of the capture tower body 5 within the recovery site 1, the adjustment of its angle to further adjust its height, and the adaptive adjustment of the angle of the first tower arm 53 following the angle of the supporting boom 52 of the capture tower body 5 to maintain horizontality.

[0072] Recovery site 1 is a dedicated area for rocket recovery operations. The transverse track 3 has an "I"-shaped cross-section and is fixedly installed on the ground / wall of recovery site 1. The longitudinal track 4 has an "I"-shaped cross-section and is fixedly installed on the transverse moving platform 2.

[0073] In this embodiment, the transverse moving platform 2 consists of a transverse moving drive device 31 and multiple sets of C-shaped roller groups 73 arranged longitudinally and laterally at intervals and fixedly mounted on the platform plate. The orientation of the C-shaped roller groups 73 is the direction in which their roller bodies 732 roll on the transverse track 3, and the longitudinal installation interval of the C-shaped roller groups 73 is adapted to the transverse track 3. Multiple longitudinal tracks 4 are fixedly mounted side by side at intervals on the transverse moving platform 2. Several longitudinal worm gear racks 41 are fixedly mounted at intervals on the transverse moving platform 2, with the tooth surface of the worm gear as the vertical direction.

[0074] The lateral movement drive device 31 consists of several drive motors and worm gears (preferably), which mesh with the lateral worm rack 32 to drive the lateral movement platform 2 to move.

[0075] The transverse worm gear 32 works in conjunction with the transverse movement drive device 31 to enable the transverse movement platform 2 to move. The transverse worm gear 32 is fixedly installed on the ground / wall of the recycling yard 1.

[0076] The C-shaped roller assembly 73 consists of multiple roller bodies 732 and a U-shaped bracket 731, forming a C-shaped structure. The C-shaped notch is adapted to pass through the "I"-shaped transverse track 3 and longitudinal track 4, and can maintain the sliding connection of the C-shaped roller assembly 73 to the track in a nesting / clamping manner, thereby realizing the stable movement of the C-shaped roller assembly 73 on the track and effectively preventing derailment.

[0077] The flame guide plate 7 consists of a flame guide plate 7 and a flame guide base 72. The flame guide plate 7 is fixed on the flame guide base 72, and is disc-shaped. Its surface is covered with a material that is resistant to high temperature, fire, impact and corrosion.

[0078] The flame guide base 72 consists of a flame guide disc 7 driving device and multiple sets of C-shaped roller groups 73 that are fixedly installed on the base in a longitudinal and transverse manner. The orientation of the C-shaped roller groups 73 is the direction in which their roller bodies 732 roll on the longitudinal track 4, and the transverse installation interval of the C-shaped roller groups 73 is adapted to the longitudinal track 4.

[0079] The flame guide disk drive device 71 consists of several drive motors and worm gears (preferably), which mesh with the longitudinal worm rack 41 to drive the flame guide disk 7 to move along the longitudinal track 4.

[0080] The capture tower body 5 consists of a capture tower base 51, a supporting boom 52, a fireproof shell 6, a tail cable winch a56, a cable a561, a tail cable winch b57, a cable b571, and a head boom 53. The supporting boom 52 is hinged to the capture tower base 51. The fireproof shell 6 is fixedly installed on both the supporting boom 52 and the capture tower base 51. The tail cable winches a56 and b57 are fixed to the capture tower base 51 and located on opposite sides of the supporting boom 52. One end of cable a561 is connected to the tail cable winch a56, and the other end is connected to the top of the supporting boom 52. One end of cable b571 is connected to the tail cable winch b57, and the other end is connected to the top of the supporting boom 52.

[0081] The capture tower base 51 consists of a longitudinal movement drive device and multiple sets of C-shaped roller groups 73 that are fixedly installed on the base in a longitudinal and transverse manner. The orientation of the C-shaped roller groups 73 is the direction in which their roller bodies 732 roll on the longitudinal track 4, and the transverse installation interval of the C-shaped roller groups 73 is adapted to the longitudinal track 4.

[0082] The longitudinal movement drive device consists of several drive motors and a worm gear (preferably), which meshes with the longitudinal worm rack 41 to drive the capture tower body 5 to move along the longitudinal track 4.

[0083] The rocket recovery system is equipped with at least two capture tower bodies 5. The two capture tower bodies 5 have the same structure and function and are arranged facing each other.

[0084] The guide vane 7 can be configured as needed depending on the type of recovered rocket. When configuring the guide vane 7, its installation position should be between the two capture tower bodies 5.

[0085] The support boom 52 is divided into two types based on whether its height (length) is adjustable: fixed height type and telescopic type. The fixed height type has a fixed height (length), and the first tower arm 53 is hinged to the top of the support boom 52; the telescopic type has a telescopic arm 54 on the support boom 52, which makes the height of the support boom 52 adjustable, and thus the capture height of the capture tower body 5 adjustable, and the first tower arm 53 is hinged to the top of the telescopic arm 54.

[0086] The advantages of the fixed-altitude type are its simple structure and light weight, while the disadvantage is that the capture tower body 5 has a limited capture height range. The advantages of the telescopic type are its large capture height range, making it more adaptable to rocket recovery missions at different altitudes, while the disadvantage is its relatively complex and heavier structure. The appropriate type can be selected based on the actual conditions at the rocket recovery site.

[0087] The fireproof shell 6 is divided into two parts. One part is installed on the support arm 52, protecting the three sides of the support arm 52 closest to the rocket thrust engine. In this example, only three sides are protected, mainly for practicality. The back side does not need protection, saving materials, reducing weight, and facilitating maintenance. The other part is used to install the capture tower base 51. The material that is fixedly covered on the surface of the fireproof shell 6 or the material used to manufacture the fireproof shell 6 has the characteristics of high temperature resistance, fire resistance, impact resistance, and corrosion resistance, protecting the support arm 52 and the capture tower base 51 from being burned by the rocket thrust engine's flame.

[0088] Tail cable winches a56 and b57 are fixed to the capture tower base 51 and located on both sides of the supporting boom 52. The two tail cable winches cooperate to adjust the tilt angle of the supporting boom 52 by tightening / releasing the cable. Of course, in addition to the method in this embodiment, the tilt angle of the supporting boom 52 can also be adjusted using structures such as electric actuators, hydraulic rods, and pneumatic rods.

[0089] The first tower arm 53 has a triangular stable structure. In this example, the first tower arm 53 is preferably a right triangle (where the 90-degree angle is at the top, the vertex of the short right angle is the hinge axis, and the vertex of the long right angle is the axis of the first tower traction arm 59). The first tower arm 53 is hinged to the top of the supporting boom 52 / telescopic boom 54. The first tower traction arm 59 and the lateral capture arm 551 are fixed on the first tower arm 53. One end of the cable c581 is hinged to the first tower traction arm 59, and the other end is connected to the first cable winch c58. The first cable winch c58 is fixed to the top of the supporting boom 52 / telescopic boom 54. The first cable winch c58 adjusts the tilt angle of the first tower arm 53 by tightening / releasing the cable c581. Of course, in addition to the method described in this embodiment, the tilt angle of the first tower arm 53 can also be adjusted by using electric actuators, hydraulic actuators, pneumatic actuators, etc., to ensure that the first tower arm 53 is in a vertical state when it is closed.

[0090] The lateral capture arm 551 consists of an upper horizontal beam 5511 and a lower horizontal beam 5512 arranged at intervals. A horizontal arm buffer block 5514 is fixedly installed on the upper middle part of the upper horizontal beam 5511, and is equipped with a horizontal arm pressure sensor and a horizontal arm distance sensor 5513. A first-tower gimbal tracker 553 is installed at both ends of the upper horizontal beam 5511. On one side of the first-tower arm 53, on the opposite surfaces of the upper horizontal beam 5511 and the lower horizontal beam 5512, there is a horizontal beam slide rail 5516 and a horizontal arm worm gear 5517, and a longitudinal arm sleeve 5527 that can move along the horizontal beam slide rail 5516. On the other side, on the opposite surfaces of the upper horizontal beam 5511 and the lower horizontal beam 5512, there is a roller 5518.

[0091] The longitudinal boom sleeve 5527 is provided with several lateral sliding rail wheels and at least one lateral drive unit 5515. The lateral drive unit 5515 is composed of several drive motors and a worm gear (preferably). The lateral sliding rail wheels are adapted to the crossbeam slide rail 5516 of the first tower boom 53, and the lateral drive unit 5515 is adapted to mesh with the crossbeam worm gear 5517 of the first tower boom 53, so as to realize the movement of the longitudinal boom sleeve 5527 along the crossbeam slide rail 5516, that is, to realize the lateral movement of the longitudinal boom sleeve 5527. The longitudinal boom sleeve 5527 is also provided with several longitudinal sliding rail wheels and at least one longitudinal drive unit 5524. The longitudinal drive unit 5524 is composed of several drive motors and a worm gear (preferably).

[0092] The upper and lower surfaces of one end of the longitudinal capture arm 552 are respectively provided with a longitudinal arm slide rail 5521 and a longitudinal arm worm gear 5522. The other end of the longitudinal capture arm 552 is provided with an insertion auxiliary block 5523. The upper part of the middle section is fixedly provided with a longitudinal arm buffer block 5525, a longitudinal arm pressure sensor, and a longitudinal arm distance sensor 5526.

[0093] One end of the longitudinal capture arm 552 with the longitudinal arm worm gear 5522 is inserted into the longitudinal arm sleeve 5527. The longitudinal sliding slide wheel is adapted to the longitudinal arm slide rail 5521, and the longitudinal movement drive unit 5524 is adapted to mesh with the longitudinal arm worm gear 5522. The longitudinal movement drive unit 5524 of the longitudinal arm sleeve 5527 drives the meshing longitudinal arm worm gear 5522 to move, thereby realizing the longitudinal movement of the longitudinal capture arm 552, that is, realizing the extension and retraction of the longitudinal capture arm 552.

[0094] One end of the insertion auxiliary block 5523 is square and fixedly connected to the longitudinal capture arm 552. The other end has a rounded blade-shaped side. The top and bottom surfaces of the insertion auxiliary block 5523 are at the same height as the apex of the adjacent longitudinal arm slide rail 5521. The insertion auxiliary block 5523 is used to assist the longitudinal capture arm 552 in inserting itself between the upper beam 5511 and lower beam 5512 of the transverse capture arm 551 of the opposite capture tower body 5. The longitudinal arm slide rail 5521 slides and rolls against the roller 5518 of the transverse capture arm 551 of the opposite capture tower body 5, thus achieving the closing of the two capture tower bodies 5. The beneficial effect of the insertion auxiliary block 5523 is to increase the redundancy of the insertion height difference between the longitudinal capture arm 552 and the upper beam 5511 and lower beam 5512 of the transverse capture arm 551 of the opposite capture tower body 5, further ensuring the success rate of successful insertion.

[0095] In this embodiment, the gear schemes for multiple driving devices and multiple driving units are preferably worm gear schemes. The purpose and beneficial effect is that the worm gear structure with a small lead angle allows only the worm to drive the worm wheel and worm rack, while the worm wheel and worm rack cannot drive the worm, i.e., a reverse self-locking function. This ensures that the lateral moving platform 2, the capture tower body 5, the flame guide plate 7, and the longitudinal capture arm 552 can only be moved by the worm and are positionally self-locked, preventing illegal reverse pushing. Of course, other structural forms are also acceptable, as long as they can realize the driving of the driving device, the movement of the moving parts, and the motion form of this application, all of which are feasible solutions of this application.

[0096] The ground tracking and positioning control system includes a high-tower gimbal tracker, a first-tower gimbal tracker 553, software for calculating the relative position, distance, and height between the rocket and the capture tower body 5, and a capture tower control system.

[0097] The positioning tower 8 consists of several positioning towers 8 fixedly arranged on one side of the recycling field 1. Each positioning tower 8 is fixedly equipped with a tower gimbal tracker, forming a tracker matrix.

[0098] Both the high-tower gimbal tracker and the first-tower gimbal tracker 553 consist of a gimbal base 5531, a camera 5532, an infrared light source 5534, and a gimbal distance sensor 5533. The gimbal tracker is waterproof and explosion-proof. The camera 5532, infrared light source 5534, and gimbal distance sensor 5533 are mounted on the gimbal base 5531. The camera 5532 supports daylight mode and infrared shooting. In low visibility conditions such as nighttime, foggy days, or rain / snow, the infrared light source 5534 provides supplementary lighting to enhance the shooting effect of the camera 5532. The gimbal distance sensor 5533 is a laser and ultrasonic distance sensor. In addition to this embodiment, the high-tower gimbal tracker and the first-tower gimbal tracker 553 can also use a LiDAR solution, supporting daytime, nighttime, rain, snow, and foggy days without requiring infrared light supplementary lighting.

[0099] The implementation principle of an adaptive tracking and capture rocket recovery system according to an embodiment of the present invention is as follows:

[0100] This invention provides an adaptive tracking and capture rocket recovery system that reduces the precision requirements for rocket landing point and attitude control, and improves the flexibility of rocket recovery. This invention supports both hot and cold rocket recovery. With the guide vane 7 and the capture tower body 5 fitted with a fireproof shell 6, the rocket recovery system supports both hot and cold rocket recovery. Otherwise, it only supports cold rocket recovery. The adaptive tracking and capture of this invention can minimize recovery failures caused by deviations between the rocket's landing position and the target position. Within the tracking and capture range, the flight control system only needs to focus on maintaining the rocket's attitude and slowing down its descent, which also saves fuel and reduces flight control complexity. By increasing the area of ​​the recovery field 1, a larger tracking and capture range can be achieved, further minimizing the difficulty of flight control technology and improving the recovery success rate. This invention supports rockets of various diameters. Because both the lateral capture arm 551 and the longitudinal capture arm 552 have a certain length, the resulting square closing opening (capture port) also has a certain width, thus supporting rockets within a certain diameter range and rockets of various heights. The supporting arm 52 of the capture tower body 5 is equipped with a telescopic arm 54, meaning the height of the capture tower body 5 is adjustable, thereby supporting rockets within a certain height range. This invention is adaptable to rocket recovery under various weather conditions (daytime, nighttime, foggy, rainy, and snowy), and also has a cushioning function during rocket descent.

[0101] Reference Figures 11 to 13 As shown, a recovery method for an adaptive tracking and capture rocket recovery system includes the following stages:

[0102] High-altitude descent phase: from the moment the rocket recovery stage successfully separates and enters the descent process until the rocket recovery stage descends to the designated altitude, when the distance and altitude of the rocket recovery stage can be visualized by the 553 tracking instrument on the first tower.

[0103] Low-altitude landing visual control phase: from the moment the rocket recovery stage descends to the distance and height visible to the first tower gimbal tracker 553, until the rocket recovery stage descends to the preset altitude;

[0104] Landing and capture phase: from the moment the rocket recovery stage descends to the preset altitude until the rocket recovery stage is captured by the capture tower body 5 and the landing is completed;

[0105] As the rocket recovery stage gradually descends, the control system of the capture tower body 5 controls the lateral moving platform 2 to carry the capture tower body 5 and adjust its position along the lateral track 3. At the same time, the capture tower body 5 moves along the longitudinal track 4. When the height of the lower end of the rocket recovery stage is lower than the height of the lower end of the first tower arm 53, the capture arm module 55 closes. The lateral capture arm 551 and the longitudinal capture arm 552 intersect and combine to form a capture port, and the horizontal movement of the rocket recovery stage is restricted.

[0106] As the rocket recovery stage gradually descends, the support arm of the rocket recovery stage lands on the buffer block, and the capture tower body 5 gradually tightens and closes. The rocket recovery stage is captured by the capture tower body 5 and the descent is complete.

[0107] Rocket recovery phase: from the moment the rocket recovery stage is captured by the capture tower body 5 and the landing is completed, until the rocket recovery stage is transferred from the capture tower body 5 to the recovery vehicle and fixedly connected by the service arm, and the capture tower body 5 enters the standby state.

[0108] Reference Figures 10 to 13 The image shows a method description for a rocket recovery system using adaptive tracking and capture:

[0109] Rocket cold recovery: During the rocket capture process, the rocket's thrust engine is shut down and there is no flame.

[0110] Rocket thermal recovery: During the rocket capture process, the rocket thrust engine is powered on and working, producing a plume of flame.

[0111] The rocket recovery system supports the recovery of both liquid and solid rockets. When the rocket recovery system is equipped with a fireproof shell 6 and a flame guide plate 7, it supports both cold and hot rocket recovery; otherwise, it only supports cold rocket recovery.

[0112] Working angle: refers to the working angle of the capture tower body 5, that is, the angle at which the capture tower body 5 supports the boom 52 and tilts forward. It is a range of values, from the minimum angle to the maximum angle. The working angle value must meet the requirements of the capture tower body 5's own structural safety, stability, and collision-free operation, as well as its collision-free operation and interference-free operation with other equipment.

[0113] Capture height: refers to the vertical distance from the base of the capture tower body 5 or the flame guide plate 7 to the highest point of the buffer block on the horizontal capture arm 551 or the vertical capture arm 552 at the minimum working angle.

[0114] Formula: Capture height (maximum) = Length of support boom 52 * sin(90 - minimum working angle of capture tower body 5).

[0115] Formula: Capture height (minimum) = Length of support boom 52 * sin(90 - Maximum working angle of capture tower body 5).

[0116] Formula: Rocket recovery altitude = Height of rocket recovery stage + Buffer altitude + Unloading altitude + Safety altitude.

[0117] Buffer height: This is the height used to mitigate the impact of the rocket recovery stage landing on the capture tower body.

[0118] Unloading height: refers to the height of the working space at which the rocket recovery stage is unloaded from the capture tower body 5 after the rocket recovery is completed.

[0119] Safe height: refers to the safe distance between the lowest point of the rocket and the base of the capture tower 5 and the guide plate 7 to prevent collision.

[0120] Closing distance: refers to the distance between the two transverse capture arms 551 and the distance between the two longitudinal capture arms 552 after the two capture tower bodies 5 are closed. The technical requirements for the distance are: 1. It must be greater than the diameter of the rocket body to avoid squeezing damage to the rocket body; 2. It must be less than or equal to the diameter of the rocket body plus half the length of the rocket support arm to avoid exceeding the support range of the support arm.

[0121] Formula: Closing distance = Rocket body diameter + Rocket support arm length / 2.

[0122] Standby state: refers to the state of the capture tower body 5 when it is in standby mode; the longitudinal capture arm 552 on the first tower arm 53 is retracted, the first tower arm 53 is pulled by the first cable winch to maintain the angle of gravity balance, the support arm 52 is pulled by the tail cable winch to maintain the angle of gravity balance, and finally the capture tower body 5 is in a standing and gravity-balanced position, and the two capture tower bodies 5 are respectively located at the ends of the longitudinal track 4.

[0123] Ready state: This refers to the ready state of the capture tower body 5 before capture; the tilt angle of the first tower arm 53 is adaptively adjusted to keep the longitudinal capture arm 552 horizontal in real time, and the longitudinal capture arm 552 remains in a retracted state and moves to the end of the transverse capture arm 551. The supporting boom 52 is in a vertical standing posture pulled by the tail cable winch, and the two capture tower bodies 5 are respectively located at the ends of the longitudinal track 4.

[0124] Capture posture: refers to the posture of the capture tower body 5 when it begins to capture; the capture tower body 5 maintains the minimum working angle, the tilt angle of the first tower arm 53 is adaptively adjusted, so that the longitudinal capture arm 552 maintains a horizontal posture, the longitudinal capture arm 552 remains in a retracted state and moves to the end of the transverse capture arm 551.

[0125] Horizontal arm distance: refers to the distance between the horizontal capture arm 551 and the rocket body, that is, the distance between the horizontal arm distance sensor 5513 and the rocket body.

[0126] Longitudinal arm distance: refers to the distance between the longitudinal capture arm 552 and the rocket body, that is, the distance between the longitudinal arm distance sensor 5526 and the rocket body.

[0127] Closing: This refers to the longitudinal capture arms 552 of the two capture tower bodies 5 being inserted between the upper beam 5511 and the lower beam 5512 of the transverse capture arm 551 of the opposite capture tower body 5. The longitudinal arm slide rail 5521 and the roller 5518 slide and roll in contact, thus realizing the closure of the two capture tower bodies 5. The two capture tower bodies 5 support each other in the vertical direction to form a stable trapezoidal structure. The transverse capture arms 551 and the longitudinal capture arms 552 of the two capture tower bodies 5 form a square closing opening (capture opening).

[0128] Tightening and closing: This means that after the two capture tower bodies 5 close together, the two capture tower bodies 5 continue to move closer together, and at the same time, the two longitudinal capture arms 552 also move closer to each other until the distance between the two horizontal arm arrows plus the diameter of the rocket body equals the closing distance, and the distance between the two vertical arm arrows plus the diameter of the rocket body equals the closing distance. At this point, the tightening and closing of the capture tower bodies 5 is complete.

[0129] Reference Figures 11 to 13 The image shows the recovery process of a recovery method for an adaptive tracking and capture rocket recovery system:

[0130] 1. Rocket recovery preparation

[0131] 1.1 Configure the rocket recovery system:

[0132] Confirm the height of the rocket recovery stage, calculate the rocket recovery height, and select a capture tower body 5 with a capture height (maximum) ≥ rocket recovery height.

[0133] Confirming rocket cold / hot recovery, this embodiment uses rocket hot recovery. A fireproof shell 6 is installed on the base of the supporting boom 52 and the capture tower body 5, and a flame guide plate 7 is installed.

[0134] After confirming the rocket body diameter and rocket support arm length, the capture tower control system records and calculates the closing distance between the two capture tower bodies 5.

[0135] 1.2 Initialize the coordinate data of recovery site 1 in the rocket flight control system: rewrite the longitude, latitude and longitude coordinates and altitude data of the center of recovery site 1 into the rocket flight control system.

[0136] 2. Rocket recovery phase

[0137] 2.1 High-altitude descent phase: This phase begins when the rocket recovery stage successfully separates and enters the descent process, and ends when the rocket recovery stage descends to the designated altitude, i.e., when the distance and altitude of the rocket recovery stage are visible to the high-tower gimbal tracking instrument.

[0138] During the high-altitude descent phase, the flight control system (the flight control system of the rocket recovery stage) automatically calculates and plans the flight path in real time based on the recorded latitude and longitude coordinates and altitude of the recovery site 1. It also controls the heading, attitude, and deceleration of the rocket recovery stage in real time to ensure that the rocket recovery stage lands along the planned flight path. At the same time, it sends the planned flight path data and the GPS / BeiDou positioning and altitude data of the rocket recovery stage to the ground tracking and positioning control system in real time. The ground tracking and positioning control system automatically calculates and controls the high-tower gimbal tracker and the first tower gimbal tracker 553 to point towards the rocket recovery stage based on the received data.

[0139] 2.2 Low-altitude landing visual control phase: This phase begins when the rocket recovery stage descends to the distance and height visible to the gimbal tracking device on the high-altitude tower, and ends when the rocket recovery stage descends to the preset altitude.

[0140] During the low-altitude descent visual control phase, the ground tracking and positioning control system – capture tower control system – controls the lateral movement platform 2, carrying the guide flame disk 7 and the two capture tower bodies 5, to move to the center position of the recovery site 1. The two capture tower bodies 5 are in a ready state. The ground tracking and positioning control system controls each gimbal to point and track the descending rocket recovery stage, automatically calculating the visual, distance, gimbal position, and pointing data of the high-tower gimbal tracking matrix, and obtaining the positioning, altitude, and distance data of the rocket recovery stage relative to the center coordinates of the recovery site 1 in real time. This data is then synchronized in real time to the flight control system to control the heading, attitude, and deceleration of the rocket recovery stage.

[0141] 2.3 Landing and Capture Phase: This phase begins when the rocket recovery stage descends to the preset altitude and ends when the rocket recovery stage is captured by the capture tower 5 and the landing is complete.

[0142] During the landing and capture phase, the capture tower body 5 adjusts to the capture attitude, and the ground tracking and positioning control system controls each gimbal to point and track the landing rocket recovery stage in real time. It automatically calculates the visual, distance, gimbal position, and pointing data of the high tower gimbal tracker and the first tower gimbal tracker 553 matrix, and obtains the positioning, altitude, and distance data of the rocket recovery stage relative to the center coordinates of the recovery site 1 in real time. The data is synchronized in real time to the flight control system to control the heading, attitude, and deceleration of the rocket recovery stage. The goal is for the rocket recovery stage to be located directly above the center of the recovery site 1, which is also directly above the guide flame disk 7 and the two capture tower bodies 5.

[0143] Due to various practical factors during descent (such as meteorological factors: visibility, wind, rain, snow; technical factors: difficulty in low-altitude flight control of the rocket), there is a probability that the actual landing position of the rocket recovery stage will deviate from the target position. Often, the magnitude of this deviation directly affects the success or failure of the recovery. The solution of this invention is as follows: 1. For small position deviations, the two capture tower bodies 5 can be corrected by capturing and closing the capture arms; 2. For large position deviations, the ground tracking and positioning control system automatically calculates the visual, distance, gimbal position, and pointing data of the high tower gimbal tracker and the first tower gimbal tracker 553 matrix in real time to obtain the expected landing position of the rocket recovery stage in real time. The capture tower control system controls the lateral movement platform 2, the capture tower body 5, and the guide flame disk 7 to move to the new expected landing position, thereby realizing real-time tracking of the rocket recovery stage. The lateral movement platform 2, the capture tower body 5, and the guide flame disk 7 adaptively track and precisely adjust their positions to solve the problem of large position deviations, that is, to achieve adaptive tracking and capture of the rocket recovery stage by the capture tower body 5.

[0144] The range of adaptive tracking capture that can handle large positional deviations, i.e., the capture range of adaptive tracking capture, is positively correlated with the area of ​​the recovery field 1. That is, if a larger range of adaptive tracking capture is to be achieved, the area of ​​the recovery field 1 only needs to be increased.

[0145] As the rocket recovery stage gradually descends, the capture tower control system controls the two capture tower bodies 5 to move gradually closer to each other along the longitudinal track 4. When the height of the lower end of the rocket recovery stage is lower than the height of the lower end of the first tower arm 53, the two capture tower bodies 5 cooperate to close together. At this time, the horizontal movement of the rocket recovery stage is restricted.

[0146] As the rocket recovery stage gradually descends, before the rocket support arm lands on the buffer block, the two capture tower bodies 5 gradually tighten and close.

[0147] When the rocket support arm of the rocket recovery stage contacts the buffer block, and the pressure sensor value exceeds the initial value and reaches the threshold, the capture tower control system automatically calculates based on the pressure sensor data and the preset buffer height. Under the premise of maintaining tight closure, it simultaneously controls the increase of the working angle of the support arms 52 of the two capture tower bodies 5 and the backward movement of the two capture tower bodies 5. During the process, the tilt angle of the first tower arm 53 is adaptively adjusted to maintain the horizontal attitude of the longitudinal capture arm 552. The capture tower body 5 supports the rocket recovery stage and descends to buffer, thereby buffering and releasing the impact force of the rocket recovery stage on the capture tower body 5 and protecting the equipment of each system from impact damage.

[0148] The rocket recovery stage was successfully captured by the capture tower 5 and the landing was completed.

[0149] 2.4 Rocket recovery phase: This phase begins when the rocket recovery stage is captured by the capture tower body 5 and the landing is completed, and ends when the rocket recovery stage is transferred from the capture tower body 5 to the recovery vehicle and fixedly connected by the service arm, and the capture tower body 5 enters the standby state.

[0150] Once the recovery vehicle-mounted service arm is in position and erected, while the two capture tower bodies 5 remain tightened and closed, the capture tower control system synchronously controls the increase in the working angle of the support arm 52 of the two capture tower bodies 5 and the movement of the two capture tower bodies 5 backward. During this process, the tilt angle of the first tower arm 53 is adaptively adjusted to maintain the horizontal attitude of the longitudinal capture arm 552. The capture tower body 5 supports the rocket recovery stage and descends simultaneously until it reaches the unloading height. The service arm is then fixedly connected to the rocket recovery stage.

[0151] Subsequently, the capture tower control system synchronously controls the increase in the working angle of the support boom 52 of the two capture tower bodies 5 and the backward movement of the two capture tower bodies 5. During this process, the tilt angle of the first tower arm 53 is adaptively adjusted to maintain the horizontal attitude of the longitudinal capture arm 552 until the support arm of the rocket recovery stage separates from the capture tower body 5 and is a certain distance away.

[0152] At this point, the rocket recovery stage has been successfully transferred from the capture tower body 5 to the recovery vehicle and secured by the service arm.

[0153] Afterward, the two capture tower bodies 5 support the boom 52 to maintain the current working angle, and the two capture tower bodies 5 move backward until the two capture tower bodies 5 disengage from each other and close together. Then the two capture tower bodies 5 enter the standby state, and finally the rocket recovery is completed.

[0154] Example 2

[0155] Reference Figures 15 to 18 As shown, in this embodiment, an adaptive tracking and capture rocket recovery system consists of a recovery site 1, multiple transverse tracks 3, multiple longitudinal tracks 4, a transverse moving platform 2, a guide vane 7, a capture tower body 5, multiple positioning towers 8, and a ground tracking and positioning control system (one set). In particular, the capture tower body 5 moves longitudinally and laterally within the recovery site 1, and its angle is adjusted to further achieve height adjustment. The angle of the first tower arm 53 adaptively adjusts to follow the angle of the supporting boom 52 of the capture tower body 5, always maintaining a horizontal position, which is a key innovation of this application.

[0156] The difference between this embodiment and embodiment one is that the number of capture tower bodies 5 is different. In this embodiment, there is one capture tower body 5. The capture arm module 55 includes a horizontal capture arm 551 and two vertical capture arms 552. The horizontal capture arm 551 is connected to the first tower arm 53. The two vertical capture arms 552 are respectively placed at both ends of the horizontal capture arm 551 and connected to the end of the horizontal capture arm 551. The vertical capture arms 552 and the horizontal capture arm 551 are in a vertical position relationship. The two vertical capture arms 552 and the horizontal capture arm 551 cross each other to form a U-shaped capture port. The size of the capture port is adjustable.

[0157] The difference between this embodiment 2 and embodiment 1 is that each end of the transverse capture arm 551 is connected to a longitudinal capture arm 552. The roller 732 of the transverse capture arm 551 in embodiment 1 is replaced with a connection method of slide rail and worm gear (i.e., the structure of crossbeam slide rail 5516 and transverse arm worm gear 5517). This allows the positions of the two longitudinal capture arms 552 at both ends of the transverse capture arm 551 to be adjustable. By moving the longitudinal capture arms 552, the clamping or size adjustment of the U-shaped capture port can be achieved, ultimately realizing the clamping and recovery of the rocket recovery stage.

[0158] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive tracking and capture rocket recovery system, characterized in that: It includes a recycling yard (1), a transverse track (3) is laid in the recycling yard (1), a transverse moving platform (2) is movably connected to the transverse track (3), a longitudinal track (4) is provided on the transverse moving platform (2), the transverse track (3) and the longitudinal track (4) are in a perpendicular position relationship, a capture tower module is movably connected to the longitudinal track (4), and the capture tower module has a transverse position adjustable relative to the inside of the recycling yard (1) and a longitudinal position adjustable. The capture tower module includes several capture tower bodies (5), each of which includes a capture tower base (51). The capture tower base (51) is connected to a longitudinal track (4) and moves along the longitudinal track (4). A support arm (52) is hinged on the capture tower base (51). A first tower arm (53) is provided at the end of the support arm (52) away from the capture tower base (51). The first tower arm (53) is vertically arranged and a capture arm module (55) is provided on the first tower arm (53).

2. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: The number of capture tower bodies (5) is two. The capture arm module (55) includes a horizontal capture arm (551) and a vertical capture arm (552). The horizontal capture arm (551) is connected to the first tower arm (53). The vertical capture arm (552) is connected to the end of the horizontal capture arm (551). The vertical capture arm (552) and the horizontal capture arm (551) are in a vertical position relationship. The horizontal capture arm (551) and the vertical capture arm (552) of the two adjacent capture arm modules (55) are combined to form a square-shaped capture port. The size of the capture port is adjustable.

3. The adaptive tracking and capture rocket recovery system according to claim 2, characterized in that: The two longitudinal capture arms (552) are provided with interpenetration auxiliary blocks (5523) at their close ends, and the transverse capture arm (551) is provided with an interpenetration auxiliary port at its end away from the longitudinal capture arm (552), and a roller (5518) is provided in the interpenetration auxiliary port.

4. The adaptive tracking and capture rocket recovery system according to claim 2, characterized in that: The longitudinal capture arm (552) is equipped with a longitudinal arm pressure sensor and a longitudinal arm distance sensor (5526), ​​and the transverse capture arm (551) is equipped with a transverse arm pressure sensor and a transverse arm distance sensor (5513).

5. The adaptive tracking and capture rocket recovery system according to claim 2, characterized in that: The longitudinal capture arm (552) is provided with a longitudinal arm buffer block (5525), and the transverse capture arm (551) is provided with a transverse arm buffer block (5514).

6. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: The number of capture tower bodies (5) is one. The capture arm module (55) includes a horizontal capture arm (551) and two vertical capture arms (552). The horizontal capture arm (551) is connected to the first tower arm (53). The two vertical capture arms (552) are respectively placed at both ends of the horizontal capture arm (551) and connected to the end of the horizontal capture arm (551). The vertical capture arm (552) and the horizontal capture arm (551) are in a vertical position relationship. The two vertical capture arms (552) and the horizontal capture arm (551) intersect and combine to form a U-shaped capture port. The size of the capture port is adjustable.

7. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: A telescopic arm (54) is provided between the supporting arm (52) and the first tower arm (53). The telescopic arm (54) is set vertically. One end of the telescopic arm (54) is connected to the supporting arm (52), and the other end of the telescopic arm (54) away from the supporting arm (52) is connected to the first tower arm (53).

8. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: The capture tower base (51) is equipped with several tail cable winches, and the first tower arm (53) is equipped with several head cable winches.

9. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: The outer side of the capture tower body (5) is covered with a fireproof shell (6), and a flame guide base (72) is movably connected on the longitudinal track (4). A flame guide plate (7) is provided on the flame guide base (72).

10. The adaptive tracking and capture rocket recovery system according to claim 9, characterized in that: A roller assembly (73) is provided between the longitudinal track (4) and the flame guide plate (7). The longitudinal track (4) has an I-shaped structure. The roller assembly (73) includes a bracket (731) and multiple roller bodies (732). The roller bodies (732) are placed inside the bracket (731). The multiple roller bodies (732) are connected to the longitudinal track (4) in a limiting abutment connection.

11. The adaptive tracking and capture rocket recovery system according to claim 1, characterized in that: The capture arm module (55) is equipped with a ground tracking and positioning control system. The ground tracking and positioning control system includes a high-tower gimbal tracker, a first-tower gimbal tracker (553), and software for calculating the relative position, distance, and height between the rocket and the capture tower body (5). The first-tower gimbal tracker (553) includes a gimbal base (5531), and the gimbal base (5531) is equipped with a vision module, a laser module, and an ultrasonic ranging module.

12. The adaptive tracking and capture rocket recovery system according to claim 11, characterized in that: The recycling yard (1) is surrounded by several positioning towers (8), and the tower gimbal tracking device is placed on the positioning towers (8).

13. A recovery method for an adaptive tracking and capture rocket recovery system, characterized in that, Includes the following stages: High-altitude descent phase: from the moment the rocket recovery stage successfully separates and enters the descent process until the rocket recovery stage descends to the designated altitude and the distance and altitude of the rocket recovery stage can be seen by the first tower gimbal tracking instrument (553); Low-altitude landing visual control phase: from the time when the rocket recovery stage descends to the distance and height visible to the first tower gimbal tracker (553) until the time when the rocket recovery stage descends to the preset altitude; Landing and capture phase: from the moment the rocket recovery stage descends to the preset altitude until the rocket recovery stage is captured by the capture tower body (5) and the landing is completed; As the rocket recovery stage gradually descends, the control system of the capture tower body (5) controls the lateral moving platform (2) to carry the capture tower body (5) along the lateral track (3) to adjust its position. At the same time, the capture tower body (5) moves along the longitudinal track (4). When the height of the lower end of the rocket recovery stage is lower than the height of the lower end of the first tower arm (53), the capture arm module (55) closes. The lateral capture arm (551) and the longitudinal capture arm (552) intersect and combine to form a capture port, and the horizontal movement of the rocket recovery stage is restricted. As the rocket recovery stage gradually descends, the support arm of the rocket recovery stage lands on the buffer block, and the capture tower body (5) gradually tightens and closes. The rocket recovery stage is captured by the capture tower body (5) and the descent is completed. Rocket recovery phase: from the moment the rocket recovery stage is captured by the capture tower body (5) and the landing is completed, until the rocket recovery stage is transferred from the capture tower body (5) to the recovery vehicle and fixedly connected by the service arm, and the capture tower body (5) enters the standby state.

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