Collection system and collection method

Abstract

To make safe landing while suppressing deterioration in capability of a rocket.SOLUTION: A recovery system for recovering a spacecraft for lowering an airframe while generating thrust in landing includes a plurality of rope-like members which are connected to the airframe and extend outside the airframe when the airframe is lowered, a plurality of unmanned aircrafts flying while capturing the respective rope-like members, and a recovery structure which is provided at the landing point of the spacecraft, and supports the spacecraft in a suspended state by being engaged with the plurality of rope-like members captured and released by the unmanned aircrafts, and executes steps of: engaging the plurality of captured rope-like members with the recovery structure by the plurality of unmanned aircrafts when the airframe is lowered; releasing capturing of the rope-like members by the plurality of unmanned aircrafts; and suspending and supporting the spacecraft by the recovery structure, after the thrust of the spacecraft has stopped.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a recovery system and a recovery method.

Background Art

[0002] Conventionally, as a recovery system, a method of catching a separated and descending rocket in the air by a helicopter and transporting the rocket is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The rocket recovery method such as in Patent Document 1 is a highly difficult operation using a helicopter. As another recovery method, there is a method in which a separated rocket generates thrust at the time of landing, descends the aircraft while controlling the position and attitude, and deploys legs from the rear of the aircraft to land vertically. However, providing legs and a deployment mechanism for the landing of the rocket increases the weight and reduces the capabilities of the rocket. Also, near the landing, since the descent speed of the rocket becomes slow, attitude control and the like are difficult, and safe landing becomes difficult.

[0005] Therefore, an object of the present disclosure is to provide a recovery system and a recovery method that can land safely while suppressing a decrease in the capabilities of a rocket.

Means for Solving the Problems

[0006] The recovery system of this disclosure is a recovery system for recovering a spacecraft that is descending while generating thrust upon landing, comprising: a plurality of cable-like members connected to the spacecraft and extending outward from the spacecraft during descent; a plurality of unmanned aerial vehicles (UAVs) that fly while each of the cable-like members is captured; and a recovery structure provided at the landing site of the spacecraft, which supports the spacecraft in a suspended state by being locked to the plurality of cable-like members that have been released from capture by the UAVs, wherein during descent, the plurality of UAVs but , the step of securing the multiple captured cable-like members to the recovery structure, and the multiple unmanned aircraft but, The steps of releasing the binding of the cable-like member and, after the thrust of the spacecraft is stopped, the recovery structure but, The steps of suspending and supporting the aforementioned spacecraft are performed.

[0007] The recovery method of this disclosure is a recovery method performed by a recovery system for recovering a spacecraft that is descending while generating thrust upon landing, the recovery system comprising: a plurality of cable-like members connected to the spacecraft and extending outward from the spacecraft when the spacecraft descends; a plurality of unmanned aerial vehicles that fly while each of the cable-like members is captured; and a recovery structure provided at the landing site of the spacecraft, which supports the spacecraft in a suspended state by locking the plurality of cable-like members that have been released from capture by the unmanned aerial vehicles, the recovery method performing the steps of: locking the plurality of captured cable-like members to the recovery structure by the plurality of unmanned aerial vehicles when the spacecraft descends; releasing the cable-like members from capture by the plurality of unmanned aerial vehicles; and supporting the spacecraft in a suspended state by the recovery structure after the thrust of the spacecraft has stopped. [Effects of the Invention]

[0008] According to this disclosure, it is possible to land safely while suppressing a degradation in the rocket's capabilities. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram showing an example of a recovery system according to Embodiment 1. [Figure 2] Figure 2 is a block diagram of the recovery system according to Embodiment 1. [Figure 3] Figure 3 is a schematic diagram illustrating the area around the wires installed on the rocket. [Figure 4] Figure 4 is a schematic diagram illustrating the recovered structure. [Figure 5] Figure 5 is a schematic diagram illustrating a wire trap. [Figure 6] Figure 6 is an explanatory diagram of the operation of the wire trap. [Figure 7] Figure 7 shows an example of a wire stopper. [Figure 8] Figure 8 is an explanatory diagram regarding the locking mechanism between the wire trap and the wire stopper. [Figure 9] Figure 9 is an explanatory diagram regarding the position control between a rocket and a ship. [Figure 10] Figure 10 is a flowchart relating to the first position control. [Figure 11] Figure 11 is a flowchart relating to the second position control. [Figure 12] Figure 12 is an explanatory diagram illustrating the operation of an example of a recovery system. [Figure 13] Figure 13 is an explanatory diagram regarding swarm control of unmanned aerial vehicles. [Figure 14] Figure 14 is an explanatory diagram illustrating the operation of an example of a recovery system. [Figure 15] Figure 15 is an explanatory diagram showing the rocket after recovery. [Figure 16] Figure 16 is an explanatory diagram of the operation of the recovery system according to Embodiment 2. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments according to the present disclosure will be described in detail based on the drawings. Note that the present disclosure is not limited by these embodiments. In addition, the components in the following embodiments include those that can be replaced by those skilled in the art and are easy to replace, or those that are substantially the same. Furthermore, the components described below can be combined as appropriate, and when there are multiple embodiments, the embodiments can also be combined with each other.

[0011] [Embodiment 1] FIG. 1 is a schematic configuration diagram showing an example of a recovery system according to Embodiment 1. FIG. 2 is a block diagram of the recovery system according to Embodiment 1. FIG. 3 is a schematic diagram schematically showing the periphery of a wire provided on a rocket. FIG. 4 is a schematic diagram schematically showing a recovery structure. FIG. 5 is a schematic diagram schematically showing a wire trap. FIG. 6 is an explanatory diagram regarding the operation of the wire trap. FIG. 7 is a diagram showing an example of a wire stopper. FIG. 8 is an explanatory diagram regarding the locking of the wire trap and the wire stopper. FIG. 9 is an explanatory diagram regarding the position control between the rocket and the ship. FIG. 10 is a flowchart regarding the first position control. FIG. 11 is a flowchart regarding the second position control. FIG. 12 is an explanatory diagram regarding the operation of an example of the recovery system. FIG. 13 is an explanatory diagram regarding the group control of unmanned aerial vehicles. FIG. 14 is an explanatory diagram regarding the operation of an example of the recovery system. FIG. 15 is an explanatory diagram showing the rocket after recovery.

[0012] (Recovery System) The recovery system 1 of Embodiment 1 is a system for recovering a spacecraft such as a rocket. Here, when the spacecraft lands, during the descent of the aircraft body, the descent speed is decelerated while generating thrust from the rear of the aircraft body. In Embodiment 1, as the spacecraft, it will be described by applying it to the first-stage rocket after separation.

[0013] As shown in Figures 1 and 2, the recovery system 1 according to Embodiment 1 uses an unmanned aerial vehicle 8 to recover the descending rocket 3 while it is suspended from a recovery structure 50 installed on a ship 5. The recovery system 1 is mounted on both the rocket 3 and the ship 5 and includes the unmanned aerial vehicle 8. Furthermore, the recovery system 1 enables bidirectional communication between the rocket 3, the ship 5, and the unmanned aerial vehicle 8 via a communication network 9 such as wireless communication.

[0014] As shown in Figure 2, the rocket 3 is equipped with a navigation system 20, an altitude sensor 25, a control unit 30, a wire (rope-like member) 35, and a wire ejection unit 40. The ship 5 is equipped with a recovery structure 50, a control unit 60, and a navigation system 70. The recovery system 1 is equipped with the wire 35 and wire ejection unit 40 in the rocket 3, the recovery structure 50 in the ship 5, and an unmanned aerial vehicle 8.

[0015] (rocket) As described above, rocket 3 is equipped with a navigation system 20, an altitude sensor 25, a control unit 30, a wire (rope-like member) 35, and a wire launching unit 40.

[0016] The navigation system 20 is, for example, an inertial navigation system (INS) that acquires the attitude angles of the rocket 3 in the roll, yaw, and pitch directions, the rocket's vehicle speed, inertial velocity, vehicle acceleration, heading, and position coordinates in the Earth coordinate system. In Embodiment 1, the navigation system 20 is described in relation to an inertial navigation system, but it is not particularly limited, and any navigation system 20 may be used. In Embodiment 1, the navigation system 20 is an inertial navigation system that includes a GPS (Global Positioning System) to improve the accuracy of position measurement. In Embodiment 1, the navigation system 20 is described in relation to an inertial navigation system that includes a GPS, but it is not particularly limited to a GPS, and any system that can measure position accurately is acceptable. The navigation system 20 may also have an attitude angle sensor to detect the attitude angle of the rocket 3, a velocity sensor to detect the vehicle speed of the rocket 3, an acceleration sensor to detect the vehicle acceleration of the rocket 3, and a sensor to detect the heading of the rocket 3.

[0017] The altitude sensor 25 is equipped with an altitude sensor 25 that detects the altitude of the rocket 3 from the landing surface or water surface. The altitude sensor 25 is, for example, a laser altimeter and measures the relative altitude from the rocket 3 to the landing site. The altitude sensor 25 may be a radio altimeter or a barometric altimeter; either type of altimeter may be used. The altitude sensor 25 outputs the detected relative altitude of the rocket 3 to the control unit 30.

[0018] The control unit 30 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 30 controls the attitude and thrust of the rocket 3 during its descent, and also executes the ejection of the wire 35, which will be described later, during the descent of the rocket 3.

[0019] The wire 35 is captured by the unmanned aerial vehicle 8 when the rocket 3 descends. As shown in Figure 3, one end of the wire 35 is connected to a hardpoint provided on the top of the rocket 3. As shown in Figure 13, multiple wires (for example, 10) are provided on the hardpoint and are arranged around the body of the rocket 3 at predetermined intervals. The wire 35 is also provided with a capture member 36 that is captured by the unmanned aerial vehicle 8. The capture member 36 is, for example, ring-shaped. The shape of the capture member 36 is not particularly limited and can be any shape that can be captured by the unmanned aerial vehicle 8. The wire 35 is also provided with a locking member 37 that is locked to a wire trap 52, which will be described later, as shown in Figures 4 and 7. As shown in Figure 7, the locking member 37 may be a disc-shaped locking member 37a centered on the longitudinal direction of the wire 35, or a shaft-shaped locking member 37b provided perpendicular to the longitudinal direction of the wire 35.

[0020] The wire launching unit 40 launches the wire 35 when the rocket 3 descends. The wire launching unit 40 includes a drag chute 41. The drag chute 41 is connected to the other end of the wire 35 and provides air resistance so that tension is applied to the wire 35 when the rocket 3 descends. The wire launching unit 40 is connected to the control unit 30, which controls the wire launching unit 40 to deploy the drag chute 41 at a predetermined timing. In Embodiment 1, a drag chute 41 is provided, but a parachute or a balloon may be provided instead of the drag chute 41.

[0021] (ship) As described above, the vessel 5 comprises a recovery structure 50, a control unit 60, and a navigation device 70.

[0022] The navigation system 70 is, for example, an inertial navigation system (INS) that acquires the attitude angles of the ship 5 in the pitch and roll directions, heading, speed, acceleration, and position coordinates in the Earth coordinate system. In Embodiment 1, the navigation system 70 is described in relation to an inertial navigation system, but it is not particularly limited, and any navigation system 70 may be used. In Embodiment 1, the navigation system 70 is an inertial navigation system that includes a GPS (Global Positioning System) in order to improve the accuracy of position measurement. In Embodiment 1, the description is based on an inertial navigation system that includes a GPS, but it is not particularly limited to a GPS, and any system that can measure position accurately is acceptable.

[0023] The control unit 60 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). Based on the input data, the control unit 60 moves the ship 5 to a predetermined position and communicates information with the unmanned aerial vehicle 8.

[0024] The recovery structure 50 is installed on the ship 5, and the rocket 3 lands on the ship using the recovery structure 50 as the landing point. In Embodiment 1, the recovery structure 50 is installed on the ship 5, but it may also be installed on land or at sea, and is not particularly limited as long as it is a location where the rocket 3 can be recovered. The recovery structure 50 comprises a main body 51, a wire trap 52, and a locking detection sensor 53.

[0025] As shown in Figures 1 and 4, the main body 51 is mounted on the ship 5 and is at a height from which the rocket 3 can be suspended. Specifically, the main body 51 consists of a ring-shaped section 51a located at the upper vertical end and a plurality of fixed legs 51b extending vertically downward from the ring-shaped section 51a and fixed to the ship 5. The central space of the ring-shaped section 51a has a larger diameter than the body of the rocket 3 and is large enough to accommodate the rocket 3 as it descends. The plurality of fixed legs 51b are arranged at predetermined intervals around the ring-shaped section 51a.

[0026] As shown in Figure 5, the wire trap 52 is provided on the annular portion 51a of the main body 51 and is arranged in a line along the circumferential direction. The wire trap 52 consists of a trap body 55, a movable door 56, and a spring hinge 57. The trap body 55 is provided extending upward in the vertical direction, with its lower base end connected to the annular portion 51a, and a guide portion 55a formed on its upper tip end. The trap body 55 forms a storage space for accommodating the wire 35 between adjacent trap bodies 55. This storage space is sized to accommodate the wire 35 and to allow the locking member 37 provided on the wire 35 to lock into place. The guide portion 55a is formed in a tapered shape that narrows from the base end to the tip end. The guide portion 55a guides the wire 35, which is entering from the tip end, along its surface, thereby guiding the wire 35 into the storage space formed between adjacent trap bodies 55. Furthermore, the guide portion 55a functions as a stopper, with its base end regulating the movable door 56 (described later) to a closed position. The movable door 56 opens and closes an opening that leads to a containment space formed between the guide portions 55a. The spring-loaded hinge 57 connects the movable door 56 to the guide portions 55a of the trap body 55 so that it can be opened and closed, and biases the movable door 56 toward the closed position. As shown in Figure 6, the spring-loaded hinge 57 moves the movable door 56 toward the open position to allow the wire 35 to enter through the opening between the guide portions 55a. On the other hand, the spring-loaded hinge 57 also moves the movable door 56 toward the closed position to prevent the wire 35 contained in the containment space from escaping. At this time, the movable door 56 is regulated to a closed position by the guide portions 55a of the trap body 55.

[0027] The lock detection sensor 53 is a sensor that detects the locking of the wire 35 to the recovery structure 50. As shown in Figure 8, the wire 35, which is housed inside the trap body 55 of the wire trap 52, is pulled downward in the longitudinal direction by the descent of the rocket 3. At this time, the locking member 37 provided on the wire 35 catches on the trap body 55, thereby locking the wire 35 to the wire trap 52. The lock detection sensor 53 then detects that the wire 35 has been locked to the wire trap 52. The lock detection sensor 53 may, for example, detect contact between the locking member 37 and the trap body 55, or it may detect the locking state between the wire 35 and the wire trap 52 by image recognition. The lock detection sensor 53 is connected to the control unit 60 and outputs the locking state between the wire 35 and the wire trap 52 to the control unit 60.

[0028] (Unmanned aerial vehicle) As shown in Figures 1 and 2, the unmanned aerial vehicle 8 is an unmanned aircraft with a rotary wing (e.g., a helicopter, drone, etc.). The unmanned aerial vehicle 8 can be any aircraft capable of moving forward, backward, sideways, turning, and hovering. The unmanned aerial vehicle 8 constitutes part of the recovery system 1. Multiple unmanned aerial vehicles 8 are provided depending on the number of wires 35. Multiple unmanned aerial vehicles 8 are arranged on the ship 5. The unmanned aerial vehicle 8 has a control unit 80, a wire capture unit 85, and a capture detection sensor 90.

[0029] The control unit 80 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 80 controls the flight of the unmanned aerial vehicle 8 and controls the wire-binding operation of the wire-binding unit 85 to bind the wire 35.

[0030] The wire binding unit 85 is a mechanism capable of performing a binding operation on the member to be bound 36 provided on the wire 35, and for example, an arm is used. By binding the member to be bound 36, the wire binding unit 85 makes it possible to tow the wire 35 by the unmanned aerial vehicle 8. Furthermore, by releasing the binding of the member to be bound 36, the wire binding unit 85 makes it possible for the unmanned aerial vehicle 8 to move away from the wire 35.

[0031] The capture detection sensor 90 is a sensor that detects the presence or absence of the wire 35 (member to be captured 36) by the wire capture unit 85. The capture detection sensor 90 may, for example, detect contact between the wire capture unit 85 and the member to be captured 36, or it may detect the capture state between the wire capture unit 85 and the member to be captured 36 by image recognition. The capture detection sensor 90 is connected to the control unit 80 and outputs the capture state between the wire capture unit 85 and the member to be captured 36 to the control unit 80.

[0032] Next, with reference to Figures 9 to 11, the position control of rocket 3 and ship 5 during the landing of rocket 3 on ship 5 will be explained. During the recovery of rocket 3 by recovery system 1, rocket 3 and ship 5 switch from first position control to second position control during the descent of rocket 3. The switch between first and second position control is performed based on the relative position measured by the altitude sensor 25. In other words, the altitude at which the switch from first position control to second position control occurs during the descent is defined as the first altitude threshold H1. Therefore, the control unit 30 of rocket 3 and the control unit 60 of ship 5 switch from first position control to second position control when the relative altitude reaches the first altitude threshold H1, as measured by the altitude sensor 25. The control unit 60 of ship 5 acquires the relative altitude from the altitude sensor 25, which is input from rocket 3 via the communication network 9.

[0033] In the first position control, the positions of the rocket 3 and the ship 5 are controlled based on absolute coordinates in the Earth coordinate system. In the first position control for the rocket 3, a predetermined area directly above the landing site is designated as the target area, and the control unit 30 of the rocket 3 performs position control so that the rocket 3 is located in the target area. Similarly, in the first position control for the ship 5, a predetermined area on the ocean is designated as the target area, and the control unit 60 of the ship 5 performs position control so that the ship 5 is located in the target area.

[0034] The first position control will be explained in detail with reference to Figure 10. Note that the first position control shown in Figure 10 is performed on both the rocket 3 and the ship 5. The control units 30 and 60 obtain the current absolute coordinates of the rocket 3 and the ship in the Earth coordinate system using the navigation devices 20 and 70 (step S11). Subsequently, the control units 30 and 60 determine whether the obtained current absolute coordinates are in the target area set in the Earth coordinate system (step S12). If the obtained current absolute coordinates are not in the target area (step S12: No), the control units 30 and 60 correct the positions of the rocket 3 and the ship so that they are located in the target area (step S13). In step S13, the control unit 30 of the rocket 3 corrects the position by controlling the rocket 3's body, and the control unit 60 of the ship 5 corrects the position by controlling the ship 5's movement. After step S13 is completed, the control units 30 and 60 proceed back to step S11. In step S12, the control units 30 and 60 determine whether there is a position control switch if the acquired current absolute coordinates are within the target area (step S12: Yes) (step S14). In step S14, the control units 30 and 60 determine whether there is a position control switch based on whether the relative altitude has reached the first altitude threshold H1. If the control units 30 and 60 determine that there is a position control switch (step S14: Yes), they terminate the execution of the first position control. On the other hand, if the control units 30 and 60 determine that there is no position control switch (step S14: No), they proceed back to step S11.

[0035] In the second position control, the position of rocket 3 is controlled based on its relative position, which is the relative position between rocket 3 and the landing point (on ship 5). Furthermore, the second position control controls the vehicle's movement upon landing based on its relative velocity, which is the relative speed between rocket 3 and the landing point (on ship 5). The second position control performs position control so that the relative position and relative velocity reach target values.

[0036] The second position control will be explained in detail with reference to Figure 11. Note that the second position control shown in Figure 11 is performed on rocket 3. The control unit 30 acquires the relative position and relative velocity using the navigation device 20 and the altitude sensor 25 (step S21). Next, the control unit 30 determines whether the acquired relative position and relative velocity are at or above the preset target values ​​(step S22). If the acquired relative position and relative velocity are not at or above the target values ​​(step S22: No), the control unit 30 corrects the position and descent velocity of rocket 3 to achieve the target values ​​(step S23). In step S23, the control unit 30 of rocket 3 corrects the position and descent velocity by performing rocket 3 body control and thrust control. After the execution of step S23, the control unit 30 proceeds back to step S21. In step S22, if the acquired relative position and relative velocity are at or above the target values ​​(step S22: Yes), the control unit 30 determines whether rocket 3 has landed (step S24). Landing of rocket 3 means that rocket 3 is suspended from the recovery structure 50. The determination of rocket 3's landing may be made, for example, based on whether or not rocket 3 has stopped thrusting. In step S24, if the control unit 30 determines that rocket 3 has landed (step S24: Yes), it terminates the execution of the second position control. On the other hand, if the control unit 30 determines that rocket 3 has not landed (step S24: No), it proceeds back to step S21.

[0037] (Collection method) Next, with reference to Figures 12 to 15, the recovery method of the rocket 3 by the recovery system 1 will be described. First, in the recovery system 1, during the descent of the aircraft upon landing, multiple wires 35 are launched, and then multiple unmanned aerial vehicles 8 are launched in step S31. After this, the recovery system 1 performs step S32 in which the launched unmanned aerial vehicles 8 capture the launched wires 35. Next, the recovery system 1 performs step S33 in which the captured wires 35 are attached to the recovery structure 50 by the multiple unmanned aerial vehicles 8. Subsequently, the recovery system 1 performs step S34 in which the multiple unmanned aerial vehicles 8 release the capture of the wires 35. Finally, after the thrust of the rocket 3 has stopped, the recovery system 1 performs step S35 in which the recovery structure 50 suspends and supports the rocket 3.

[0038] In step S31, when the altitude reaches a second altitude threshold H2, which is lower than the first altitude threshold H1, the wire ejection unit 40 ejects multiple wires 35. Specifically, in step S31, when the altitude acquired by the altitude sensor 25 reaches the second altitude threshold H2, the control unit 30 of the rocket 3 controls the wire ejection unit 40 to eject the drag chute 41 of the wire ejection unit 40, thereby pulling the wires 35 out of the rocket 3. The multiple wires 35 that are pulled out extend outwards from the rocket 3. After this, in step S31, when the altitude acquired by the altitude sensor 25 reaches a third altitude threshold H3, which is lower than the second altitude threshold H2, the control unit 30 of the rocket 3 outputs information about the altitude at which the third altitude threshold H3 occurs to multiple unmanned aerial vehicles 8. When the multiple unmanned aerial vehicles 8 acquire information about the altitude at which the third altitude threshold H3 occurs, they take off from the ship 5.

[0039] In step S32, multiple unmanned aerial vehicles (UAVs) 8 that have taken off from the ship 5 capture multiple ejected wires 35. Specifically, in step S32, the UAVs 8 fly toward the capture members 36 provided on the wires 35. At this time, the UAVs 8 recognize the capture members 36 by image recognition of images captured by a camera (not shown) and fly toward the capture members 36. The UAVs 8 are also able to identify the capture members 36 and fly toward a predetermined capture member 36 associated with the UAVs 8. Identification of the capture members 36 by the UAVs 8 is possible, for example, by providing a small transponder on the capture member 36. The multiple UAVs 8 capture the corresponding predetermined capture members 36 by executing a capture operation using the wire capture unit 85 while performing collision avoidance maneuvers.

[0040] As shown in Figure 13, in step S32, after the unmanned aerial vehicle (UAV) 8 performs the capture operation, the UAV 8 detects whether or not the captured member 36 has been captured using the capture detection sensor 90. If the capture detection sensor 90 detects that the capture has been made, the UAV 8 outputs a capture success signal D1, which indicates that the capture was successful, to the control unit 60 of the ship 5 via the communication network 9. If the capture detection sensor 90 detects that the capture has not been made, the UAV 8 outputs a capture failure signal D2, which indicates that the capture was unsuccessful, to the control unit 60 of the ship 5 via the communication network 9. Based on the position of the UAV 8, which was detected as having been captured, the control unit 60 of the ship 5 performs a position correction so that the support load of the rocket 3 on the recovery structure 50 is balanced, and outputs a position correction signal D3 to the UAV 8 so that it is in the corrected position. In Figure 13, the UAV 8a, which successfully captured the UAV, moves to the position of the UAV 8b, which failed to capture the UAV. Furthermore, the positions of the captured unmanned aerial vehicles 8a may be corrected so that they are spaced equally apart. In other words, the position correction is not particularly limited as long as it balances the support load of the rocket 3 on the recovery structure 50.

[0041] In step S33, the unmanned aerial vehicle 8 that has captured the wire 35 moves to secure the wire 35 to the recovery structure 50. Specifically, in step S33, when the altitude acquired by the altitude sensor 25 reaches the fourth altitude threshold H4, which is lower than the third altitude threshold H3, the control unit 30 of the rocket 3 outputs information of the altitude at which the fourth altitude threshold H4 occurs to the multiple unmanned aerial vehicles 8. Once the multiple unmanned aerial vehicles 8 acquire the information of the altitude at which the fourth altitude threshold H4 occurs, they deploy outside the annular portion 51a of the recovery structure 50 and then move to a position below the annular portion 51a. Through this movement, the multiple unmanned aerial vehicles 8 house the wire 35 in the storage space between the trap bodies 55 and secure the wire 35 to the wire trap 52 with the locking member 37.

[0042] In step S34, multiple unmanned aerial vehicles (UAVs) 8 release the multiple wires 35 that they are holding. Specifically, in step S34, the ship 5 uses a lock detection sensor 53 to detect whether or not the locking member 37 is locked to the wire trap 52. When the ship 5 detects that the lock is locked using the lock detection sensor 53, it outputs lock success information, which is information that the lock was successful, to the UAVs 8 via the communication network 9. When the UAVs 8 receive the lock success information, they release the wire 35 from the wire locking unit 85 and move away from the recovery structure 50.

[0043] In step S35, the thrust of rocket 3 is stopped, and rocket 3 is supported by being suspended from the recovery structure 50 via wire 35. Step S35 completes the recovery method of rocket 3 using recovery system 1.

[0044] [Embodiment 2] Next, Embodiment 2 will be described with reference to Figure 16. In Embodiment 2, in order to avoid redundant descriptions, only the parts that differ from Embodiment 1 will be described, and parts that have the same configuration as Embodiment 1 will be denoted by the same reference numerals. Figure 16 is an explanatory diagram of the operation of the recovery system according to Embodiment 2.

[0045] In Embodiment 2, the recovery system 100 is positioned inside the rocket 3 with multiple unmanned aerial vehicles 8 holding onto the wire 35. In other words, the recovery system 100 is located inside the rocket 3 and includes a mounting platform 101 for installing multiple unmanned aerial vehicles 8.

[0046] In the recovery method for the rocket 3 using the recovery system 100 of Embodiment 2, when the altitude reaches the second altitude threshold H2, step S41 is performed in which multiple unmanned aerial vehicles 8 fly outwards from the rocket 3. In other words, in the recovery method, step S41 is performed instead of step S31 of Embodiment 1. Also, in the recovery method, the execution of step S32 of Embodiment 1 is omitted, and steps S33 onwards are the same as in Embodiment 1.

[0047] As described above, the recovery system and recovery method described in Embodiments 1 and 2 can be understood, for example, as follows.

[0048] The first embodiment of the recovery system 1 is a recovery system 1 for recovering a spacecraft (rocket 3) that descends while generating thrust upon landing, comprising: a plurality of cable-like members (wires 35) connected to the spacecraft and extending outward from the spacecraft during descent; a plurality of unmanned aerial vehicles 8 that fly while each of the cable-like members is captured; and a recovery structure 50 provided at the landing site of the spacecraft, which supports the spacecraft in a suspended state by being locked to the plurality of cable-like members that have been released from capture by the unmanned aerial vehicles 8, and during descent of the spacecraft, the plurality of unmanned aerial vehicles 8 but Step S33 involves securing the multiple captured cable-like members to the recovery structure 50, and the multiple unmanned aircraft 8 but, Step S34 to release the binding of the cable-like member, and after the thrust of the spacecraft is stopped, the recovery structure 50 but, Step S35 is performed, which involves suspending and supporting the aforementioned spacecraft.

[0049] This configuration eliminates the need for conventional legs and deployment mechanisms on the spacecraft, thus suppressing any degradation in its capabilities. Furthermore, near the landing point, the spacecraft can be secured to the recovery structure 50 via a cable-like member, stabilizing its landing attitude and enabling a safe landing.

[0050] In a second embodiment, the recovery system 1 according to the first embodiment further includes an ejection unit (wire ejection unit 40) that ejects a plurality of the cable-like members toward the outside of the aircraft when the aircraft descends, and the plurality of the unmanned aerial vehicles 8 are arranged on the outside of the spacecraft, and when the aircraft descends, the plurality of the cable-like members ejected by the ejection unit are carried out by the plurality of the unmanned aerial vehicles 8 but The capture step S32 is then performed.

[0051] With this configuration, multiple cable-like members can be ejected from the ejection unit, allowing the cable-like members to be properly deployed outside the aircraft body, and enabling effective capture by multiple unmanned aerial vehicles 8.

[0052] In a third embodiment, the recovery system 1 according to the second embodiment includes a drag chute 41, a parachute, or a balloon positioned at the outer end of the cable-like member.

[0053] This configuration allows tension to be applied to the multiple cable-like members ejected from the outside of the aircraft, thereby stabilizing the cable-like members and enabling more effective capture by multiple unmanned aerial vehicles 8.

[0054] In a fourth embodiment, the recovery system 1 according to the second embodiment includes, as position control for landing the spacecraft at a predetermined landing point, a first position control that controls the position of the spacecraft based on absolute coordinates in the Earth coordinate system, and a second position control that controls the position of the spacecraft based on relative position, which is the relative position between the spacecraft and the landing point, wherein the altitude at which the system switches from the first position control to the second position control during the descent of the spacecraft is defined as a first altitude threshold H1, and the ejection unit ejects a plurality of the cable-like members when the altitude reaches a second altitude threshold H2, which is lower than the first altitude threshold.

[0055] This configuration allows for the timing of the ejection of multiple cable-like members to be set appropriately, thereby ensuring sufficient time for the unmanned aerial vehicle 8 to capture the cable-like members.

[0056] In a fifth embodiment, in the recovery system 1 according to the fourth embodiment, the spacecraft has an altimeter (altitude sensor 25) for measuring altitude, and outputs the altitude measured by the altimeter to a plurality of unmanned aerial vehicles 8.

[0057] With this configuration, the unmanned aerial vehicle 8 can perform altitude-based maneuvers of the spacecraft, enabling it to perform coordinated maneuvers with the spacecraft.

[0058] In a sixth embodiment, the recovery system 1 according to the second embodiment further includes a lock detection sensor 53 for detecting the locking of the cable-like member to the recovery structure 50, and when the unmanned aerial vehicle 8 detects the locking of the cable-like member to the recovery structure 50 using the lock detection sensor 53, it releases the locking of the cable-like member.

[0059] With this configuration, the locking of the cable-like member to the recovery structure 50 can be detected, and then the unmanned aerial vehicle 8 can be released from its grasp, thereby increasing the reliability of the locking of the cable-like member to the recovery structure 50.

[0060] In a seventh embodiment, the recovery system 1 according to any one of the first to sixth embodiments further includes a capture detection sensor 90 for detecting whether or not the cable-like member has been captured by the unmanned aerial vehicle 8, and when multiple unmanned aerial vehicles 8 are detected as having been captured by the capture detection sensor 90, they correct their position so that the support load of the spacecraft on the recovery structure 50 is balanced, thereby locking the cable-like member to the recovery structure 50.

[0061] This configuration makes it possible to suppress the uneven distribution of the support load of the spacecraft on the recovery structure 50.

[0062] In an eighth embodiment, in the recovery system 1 according to the first embodiment, the plurality of unmanned aerial vehicles 8 are positioned inside the spacecraft while holding the cable-like member, and step S41 is further performed in which, during the descent of the aircraft, the plurality of unmanned aerial vehicles 8 fly toward the outside of the spacecraft.

[0063] This configuration eliminates the need to capture the cable-like components using the unmanned aerial vehicle 8, thus simplifying operations related to the recovery of the spacecraft.

[0064] The ninth aspect of the recovery method is a recovery method performed by a recovery system 1 that recovers a spacecraft (rocket 3) that descends while generating thrust upon landing, the recovery system 1 comprising: a plurality of cable-like members (wires 35) connected to the spacecraft and extending outward from the spacecraft when the spacecraft descends; a plurality of unmanned aerial vehicles 8 that fly while each of the cable-like members is captured; and a recovery structure 50 provided at the landing site of the spacecraft, which supports the spacecraft in a suspended state by being locked to the plurality of cable-like members released from capture by the unmanned aerial vehicles 8, the recovery method performing the following steps during the descent of the spacecraft: step S33 in which the plurality of unmanned aerial vehicles 8 lock the plurality of captured cable-like members to the recovery structure 50; step S34 in which the plurality of unmanned aerial vehicles 8 release the capture of the cable-like members; and step S35 in which the recovery structure 50 suspends and supports the spacecraft after the thrust of the spacecraft has stopped.

[0065] This configuration eliminates the need for conventional legs and deployment mechanisms on the spacecraft, thus suppressing any degradation in its capabilities. Furthermore, near the landing point, the spacecraft can be secured to the recovery structure 50 via a cable-like member, stabilizing its landing attitude and enabling a safe landing. [Explanation of Symbols]

[0066] 1. Collection System 3 Rockets 5 Ships 8 Unmanned aerial vehicle 9. Communication Network 20 Navigation equipment 25 Advanced Sensors 30. Control Unit (Rocket) 35 wires 36 Member to be captured 37 Locking member 40 Wire ejection section 41 Drag chute 50 Recovered Structures 51 Main body 52 Wire Traps 53 Locking detection sensor 55 Trap body 56 Movable Door 57 Spring-loaded hinge 60 Control Unit (Ship) 70 Navigation equipment 80 Control Unit (Unmanned Aerial Vehicle) 85 Wire Binding Section 90 Capture detection sensor 100 Recovery System (Embodiment 2) 101 Installation stand

Claims

1. A recovery system for recovering a spacecraft that descends while generating thrust upon landing, Multiple cable-like members connected to the aircraft and extending outward from the aircraft when the aircraft descends, Multiple unmanned aerial vehicles that fly while each of the aforementioned cable-like members is captured, A recovery structure is provided at the landing site of the spacecraft, and the multiple cable-like members released from capture by the unmanned aerial vehicle are attached to it, thereby supporting the spacecraft in a suspended state. During the aircraft's descent, the system includes an ejection unit that ejects a plurality of the aforementioned cable-like members toward the outside of the aircraft, Multiple of the aforementioned unmanned aerial vehicles are positioned outside the spacecraft, During the aircraft's descent, the steps include: capturing the multiple cable-like members ejected by the ejection unit by multiple unmanned aerial vehicles; During the aircraft's descent, the steps include: multiple unmanned aerial vehicles securing the multiple rope-like members they have captured to the recovery structure; The steps include: multiple unmanned aerial vehicles releasing the binding of the cable-like member; A recovery system that, after the thrust of the spacecraft has ceased, performs the steps of the recovery structure suspending and supporting the spacecraft.

2. The recovery system according to claim 1, wherein the injection unit includes a drag chute, parachute, or balloon positioned at the outer end of the cable-like member.

3. The position control for landing the spacecraft at a predetermined landing point includes a first position control that controls the position of the spacecraft based on absolute coordinates in the Earth coordinate system, and a second position control that controls the position of the spacecraft based on relative position, which is the relative position between the spacecraft and the landing point. The altitude at which the aircraft switches from the first position control to the second position control during descent is defined as the first altitude threshold. The recovery system according to claim 1, wherein the injection unit injects a plurality of the cable-like members when the height reaches a second height threshold that is lower than the first height threshold.

4. The recovery system according to claim 3, wherein the spacecraft has an altimeter for measuring altitude, and outputs the altitude measured by the altimeter to a plurality of the unmanned aerial vehicles.

5. The system further includes a locking detection sensor for detecting the locking of the cable-like member to the recovery structure, The recovery system according to claim 1, wherein the unmanned aerial vehicle, upon detecting the locking of the cable-like member to the recovery structure using the locking detection sensor, releases the cable-like member from its grasp.

6. The system further includes a capture detection sensor that detects whether or not the cable-like member has been captured by the unmanned aerial vehicle, The recovery system according to claim 1, wherein the plurality of unmanned aerial vehicles detected as being captured by the capture detection sensor correct their positions so that the support load of the spacecraft on the recovery structure is balanced, and the cable-like member is locked to the recovery structure.

7. A recovery system for recovering a spacecraft that is descending while generating thrust upon landing, Multiple cable-like members connected to the aircraft and extending outward from the aircraft when the aircraft descends, Multiple unmanned aerial vehicles that fly while each of the aforementioned cable-like members is captured, A recovery structure is provided at the landing site of the spacecraft, and the multiple cable-like members released from capture by the unmanned aerial vehicle are attached to it, thereby supporting the spacecraft in a suspended state. The system includes a capture detection sensor that detects whether or not the cable-like member has been captured by the unmanned aerial vehicle, During the aircraft's descent, the steps include: securing the multiple rope-like members captured by multiple unmanned aerial vehicles to the recovery structure; The steps include releasing the rope-like member from the multiple unmanned aerial vehicles, After the thrust of the spacecraft is stopped, the recovery structure is used to suspend and support the spacecraft. A recovery system in which a plurality of unmanned aerial vehicles detected as being captured by the capture detection sensor correct their positions so that the support load of the spacecraft on the recovery structure is balanced, and then lock the cable-like member to the recovery structure.

8. A recovery method performed by a recovery system that recovers a spacecraft while it is descending and generating thrust upon landing, The aforementioned recovery system is Multiple cable-like members connected to the aircraft and extending outward from the aircraft when the aircraft descends, Multiple unmanned aerial vehicles that fly while each of the aforementioned cable-like members is captured, A recovery structure is provided at the landing site of the spacecraft, and the multiple cable-like members released from capture by the unmanned aerial vehicle are attached to it, thereby supporting the spacecraft in a suspended state. During the aircraft's descent, the system includes an ejection unit that ejects a plurality of the aforementioned cable-like members toward the outside of the aircraft, Multiple of the aforementioned unmanned aerial vehicles are positioned outside the spacecraft, During the aircraft's descent, the steps include: capturing the multiple cable-like members ejected by the ejection unit by multiple unmanned aerial vehicles; During the aircraft's descent, the steps include: multiple unmanned aerial vehicles securing the multiple rope-like members they have captured to the recovery structure; The steps include: multiple unmanned aerial vehicles releasing the binding of the cable-like member; A recovery method comprising the steps of: after the thrust of the spacecraft has ceased, the recovery structure suspends and supports the spacecraft.

9. A recovery method performed by a recovery system for recovering a spacecraft that is descending while generating thrust upon landing, The aforementioned recovery system is Multiple cable-like members connected to the aircraft and extending outward from the aircraft when the aircraft descends, Multiple unmanned aerial vehicles that fly while each of the aforementioned cable-like members is captured, A recovery structure is provided at the landing site of the spacecraft, and the multiple cable-like members released from capture by the unmanned aerial vehicle are attached to it, thereby supporting the spacecraft in a suspended state. The system includes a capture detection sensor that detects whether or not the cable-like member has been captured by the unmanned aerial vehicle, During the aircraft's descent, the steps include: multiple unmanned aerial vehicles securing the multiple rope-like members they have captured to the recovery structure; The steps include: multiple unmanned aerial vehicles releasing the binding of the cable-like member; After the thrust of the spacecraft is stopped, the recovery structure performs the step of suspending and supporting the spacecraft. A recovery method in which a plurality of unmanned aerial vehicles detected as being captured by the capture detection sensor correct their positions so that the support load of the spacecraft on the recovery structure is balanced, and then lock the cable-like member to the recovery structure.

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