CN107792402B - A kind of carrier rocket grade recovery system and method - Google Patents
A kind of carrier rocket grade recovery system and method Download PDFInfo
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- CN107792402B CN107792402B CN201710864909.5A CN201710864909A CN107792402B CN 107792402 B CN107792402 B CN 107792402B CN 201710864909 A CN201710864909 A CN 201710864909A CN 107792402 B CN107792402 B CN 107792402B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
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Abstract
The invention discloses a kind of carrier rocket grade recovery system and methods, wherein the system comprises: recycling cabinet, detection device, signal receiving/transmission device, multiple air bags, air charging system, mobile mechanism and ground control system；Recycling cabinet is the not closed concave body structure in top；Detection device, signal receiving/transmission device and air charging system are separately positioned on recycling cabinet；Multiple air bags are separately positioned on the bottom and side of the recycling cabinet；Air charging system is connect with the multiple air bag respectively；Mobile mechanism's setting is in the recycling bottom of box；Ground control system passes through signal receiving/transmission device and the carrier rocket grade recovery system telecommunication.The present invention completes the recycling of sub- grade based on active service carrier rocket while to the less change of carrier rocket grade.
Description
Technical field
The invention belongs to aerocraft system technical field more particularly to a kind of carrier rocket grade recovery systems and method.
Background technique
In order to reduce carrier rocket launch cost, recycling and reuse carrier rocket grade as various countries in aircraft system
Command the important technology route explored in development process in domain.SPACEX company, the U.S. has been successfully realized carrier rocket
Sea, the land of level-one recycles and reuses, it was demonstrated that recycling reuses the feasibility of technology path.
Currently, the way of recycling of the carrier rocket grade generallyd use are as follows: parachuting recycling is returned with the vertical of land bracket
Debit's case.Parachute and landing bracket are installed in carrier rocket grade, are increased the weight of carrier rocket grade, are reduced
The payload of carrier rocket grade, and rocket aerodynamic configuration is largely changed, increase risk in-flight.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of carrier rocket grade recovery system
And method completes the recycling of sub- grade based on active service carrier rocket while to the less change of carrier rocket grade.
In order to solve the above-mentioned technical problem, the invention discloses a kind of carrier rocket grade recovery systems, comprising: recycling bins
Body, detection device, signal receiving/transmission device, multiple air bags, air charging system, mobile mechanism and ground control system；
Recycling cabinet is the not closed concave body structure in top；
Detection device, signal receiving/transmission device and air charging system are separately positioned on recycling cabinet；
Multiple air bags are separately positioned on the bottom and side of the recycling cabinet；
Air charging system is connect with the multiple air bag respectively；
Mobile mechanism's setting is in the recycling bottom of box；
Ground control system passes through signal receiving/transmission device and the carrier rocket grade recovery system telecommunication.
In above-mentioned carrier rocket grade recovery system,
Detection device is visited in real time for the state to the carrier rocket grade recovery system and carrier rocket grade
It surveys, obtains detection information；
Signal receiving/transmission device, for the detection information to be sent to ground control system, and, receive ground control system
The control instruction that system returns；
Ground control system, the detection information sent for receiving the signal receiving/transmission device, carries out according to detection information
Drop point prediction, and generate control instruction；It is controlled by the control instruction and is filled described in the movement and/or control of the mobile mechanism
Device of air inflates the multiple air bag.
In above-mentioned carrier rocket grade recovery system, the detection information, comprising: recovery system detection information and rocket
Sub- class survey information；
Recovery system detection information, be used to indicate the carrier rocket grade recovery system and the carrier rocket grade it
Between relative position；
The sub- class survey information of rocket, is used to indicate the real-time status of the carrier rocket grade.
In above-mentioned carrier rocket grade recovery system, the sub- class survey information of rocket, comprising: the fire after primary igniting
The sub- class survey information of rocket after arrow class survey information, regnition and the sub- class survey information of rocket after lighting a fire three times；
Ground control system is used for:
The sub- class survey information of rocket after receiving primary igniting is obtained according to the sub- class survey information of rocket after primary igniting
Prediction drop point to after primary igniting, and the first motion control instruction is generated according to the prediction drop point after the primary igniting；It is logical
The movement that first motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to primary point
Prediction drop point after fire is mobile；
The sub- class survey information of rocket after receiving regnition is obtained according to the sub- class survey information of rocket after regnition
Prediction drop point after to regnition, and the second motion control instruction is generated according to the prediction drop point after the regnition；It is logical
The movement that second motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to secondary point
Prediction drop point after fire is mobile；
The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after lighting a fire three times, is obtained
Prediction drop point to after lighting a fire three times, and third motion control instruction is generated according to the prediction drop point after the igniting three times；It is logical
The movement that the third motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to point three times
Prediction drop point after fire is mobile.
In above-mentioned carrier rocket grade recovery system, the sub- class survey information of rocket, comprising: carrier rocket grade it is real-time
Position, real-time speed and real-time attitude.
In above-mentioned carrier rocket grade recovery system, the ground control system is used for:
Receive recovery system detection information；
The carrier rocket grade recovery system according to indicated by the recovery system detection information and delivery fire
Relative position between arrow grade, judges whether the carrier rocket grade touches the bottom of the recycling cabinet；
When determining that the carrier rocket grade touches the bottom of the recycling cabinet, ventilating control instruction is generated；
The air charging system is controlled by ventilating control instruction to inflate the multiple air bag.
In above-mentioned carrier rocket grade recovery system, the air charging system is adopted for being instructed according to the ventilating control
It is quickly filled mode or compressed gas airing form with explosive fast aeration is carried out to the multiple air bag, it is inflating expanded to pass through
The carrier rocket grade is fixed in multiple air bags afterwards.
In above-mentioned carrier rocket grade recovery system, the duration of run of the multiple air bag are as follows: 10 milliseconds.
In above-mentioned carrier rocket grade recovery system, further includes: multiple wake flame gas vents；
Multiple wake flame gas vents are separately positioned on the recycling bottom of box, for entering institute in the carrier rocket grade
When stating recycling cabinet, the air-flow of the wake flame generation of discharge carrier rocket grade.
Correspondingly, the invention also discloses a kind of carrier rocket grade recovery methods, comprising:
It is visited in real time by state of the detection device to the carrier rocket grade recovery system and carrier rocket grade
It surveys, obtains detection information；
The detection information is occurred to ground control system by signal receiving/transmission device；
Drop point prediction is carried out according to the detection information by ground control system, and generates control instruction；
The movement of the mobile mechanism is controlled by control instruction and/or control air charging system inflates multiple air bags, it is real
Now to the recycling of carrier rocket grade.
The invention has the following advantages that
The invention discloses a kind of carrier rocket grade recovery system, which be can be set
On ground, based on recycling cabinet, detection device, signal receiving/transmission device, multiple air bags, air charging system, mobile mechanism and ground control
System processed realizes the soft landing and fixation of carrier rocket grade, the recycling to carrier rocket grade is completed, with prior art phase
Than the present invention is not necessarily to install parachute and landing bracket in carrier rocket grade, alleviates rocket body weight, the Yi Jiyin of rocket
The change with aerodynamic configuration, and the influence of take off, enter and leave atmosphere and landing shock are lost for recycling bring transport power,
The recycling that carrier rocket grade is completed while not increasing carrier rocket grade weight, improves the reliability of recycling.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of carrier rocket grade recovery system in the embodiment of the present invention；
Fig. 2 is a kind of step flow chart of carrier rocket grade recovery method in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, public to the present invention below in conjunction with attached drawing
Embodiment is described in further detail.
Referring to Fig.1, a kind of structural schematic diagram of carrier rocket grade recovery system in the embodiment of the present invention is shown.At this
In embodiment, the carrier rocket grade recovery system may include: recycling cabinet 100, detection device 200, signal transmitting and receiving dress
Set 300, multiple air bags 400, air charging system 500, mobile mechanism 600 and ground control system 700.The recycling of carrier rocket grade
The ground installation that system is recycled as carrier rocket grade can be arranged in any appropriate location such as land, ship deck, with reality
Now to the recycling of carrier rocket grade.Wherein, the meaning of carrier rocket grade can be rocket core level-one either rocket core one
The association of grade and boosting.
Such as Fig. 1, recycling cabinet is the not closed concave body structure in top；Detection device, signal receiving/transmission device and inflation
Device is separately positioned on recycling cabinet；Multiple air bags are separately positioned on the bottom and side of the recycling cabinet；Air charging system
It is connect respectively with the multiple air bag；Mobile mechanism's setting is in the recycling bottom of box；Ground control system is filled by signal transmitting and receiving
It sets and the carrier rocket grade recovery system telecommunication.
In the preferred embodiment of the present invention, structure master of the recycling cabinet as the carrier rocket grade recovery system
Body can be designed and be manufactured using high-strength material.Wherein, the shape for recycling cabinet can be any suitable shape, including but
It is not limited only to: square, cuboid and cylindrical body etc..For example, recycling cabinet can be cube structure, long * wide=10.7m*
10.7m, with a thickness of 0.7m.Detection device is specifically as follows detection radar.Mobile mechanism can be by engine, wheel and hydraulic pump
Deng composition.
In the preferred embodiment of the present invention, detection device can be used for the carrier rocket grade recovery system
Real-time detection is carried out with the state of carrier rocket grade, obtains detection information.Signal receiving/transmission device can be used for the detection
Information is sent to ground control system, and, receive the control instruction that ground control system returns.Ground control system, can be with
The detection information sent for receiving the signal receiving/transmission device carries out drop point prediction according to detection information, and generates control and refer to
It enables；The movement for controlling the mobile mechanism by the control instruction and/or the control air charging system are to the multiple air bag
Inflation.
Preferably, the detection information, includes but are not limited to: recovery system detection information and the sub- class survey letter of rocket
Breath.Wherein, recovery system detection information can serve to indicate that the carrier rocket grade recovery system and carrier rocket
Relative position between grade.The sub- class survey information of rocket, can serve to indicate that the real-time status of the carrier rocket grade, example
Such as, real-time speed, position, posture, the trajectory tilt angle, sideslip of carrier rocket grade can be carried in the sub- class survey information of rocket
Angle, opposite geographic coordinate system the motion informations such as posture, axial load factor, normal g-load.
In the preferred embodiment of the present invention, during recycling to carrier rocket grade, three can be carried out
The prediction of secondary drop point, this three times drop point predict corresponding carrier rocket grade igniting three times (primary igniting: carrier rocket grade with
After carrier rocket reaches highest point, carries out carrier rocket grade and once recycle igniting, prepare to reenter；Regnition: carrier rocket
After sub- grade enters atmosphere, the igniting of carrier rocket grade secondary recovery is carried out, to control the decrease speed of carrier rocket grade；Three
Secondary igniting: carrier rocket grade carries out carrier rocket grade and recycles three times after carrier rocket grade recovery system about 10km
Igniting).Wherein, it should be noted that the number of drop point prediction can select according to the actual situation, and the present embodiment does not limit this
System.
Preferably, corresponding with the prediction of drop point three times, detection device can be to the shape for carrier rocket grade of lighting a fire three times
State carries out real-time detection, the sub- class survey information of rocket after obtaining each igniting.That is, the sub- class survey information of rocket, it can
With include: the sub- class survey information of rocket after primary igniting, the sub- class survey information of rocket after regnition and three times light a fire after
The sub- class survey information of rocket.
Correspondingly, ground control system, specifically can be used for:
The sub- class survey information of rocket after receiving primary igniting is obtained according to the sub- class survey information of rocket after primary igniting
Prediction drop point to after primary igniting, and the first motion control instruction is generated according to the prediction drop point after the primary igniting；It is logical
The movement that first motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to primary point
Prediction drop point after fire is mobile；
The sub- class survey information of rocket after receiving regnition is obtained according to the sub- class survey information of rocket after regnition
Prediction drop point after to regnition, and the second motion control instruction is generated according to the prediction drop point after the regnition；It is logical
The movement that second motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to secondary point
Prediction drop point after fire is mobile；
The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after lighting a fire three times, is obtained
Prediction drop point to after lighting a fire three times, and third motion control instruction is generated according to the prediction drop point after the igniting three times；It is logical
The movement that the third motion control instruction controls the mobile mechanism is crossed, so that carrier rocket grade recovery system is to point three times
Prediction drop point after fire is mobile.
It in the preferred embodiment of the present invention, can be according to described after carrier rocket grade lights a fire terminate three times
It is opposite between the carrier rocket grade recovery system and the carrier rocket grade indicated by recovery system detection information
Position controls the expansion of air bag.
Preferably, ground control system specifically can be used for: receive recovery system detection information；It is according to the recycling
The relative position united indicated by detection information between the carrier rocket grade recovery system and the carrier rocket grade, sentences
Whether the carrier rocket grade of breaking touches the bottom of the recycling cabinet；When determining that the carrier rocket grade touches described return
When receiving the bottom of cabinet, ventilating control instruction is generated；The air charging system is controlled to described more by ventilating control instruction
A air bag inflation.
Preferably, air charging system specifically can be used for being instructed according to the ventilating control, quickly fill mode using explosive
Or compressed gas airing form carries out fast aeration to the multiple air bag, with by multiple air bags after inflating expanded to described
Carrier rocket grade is fixed.
Wherein, mode or compressed gas airing form quickly are filled using explosive, the duration of run that air bag may be implemented exists
10 milliseconds or so.The fixation to carrier rocket grade may be implemented in the setting of air bag, and carrier rocket grade is avoided to enter recycling
Topple over when cabinet.Further, since carrier rocket grade relative velocity when reaching ground endless may be all zero, air bag
Setting plays protective effect to carrier rocket grade, avoids carrier rocket grade and collides with recycling cabinet and cause to damage
Wound.
In the preferred embodiment of the present invention, such as Fig. 1, the carrier rocket grade recovery system, can also include: more
A wake flame gas vent 800.Wherein, multiple wake flame gas vents are separately positioned on the recycling bottom of box, in the delivery
When rocket grade enters the recycling cabinet, the air-flow of the wake flame generation of discharge carrier rocket grade.Wherein, wake flame gas vent
Radius can select according to the actual situation, for example, the radius of the wake flame gas vent can with but be not limited only to are as follows: 500mm.
In embodiments of the present invention, following points needs are illustrated:
First,
It is using launching inertial system as navigational coordinate system, and in carrier rocket grade in the emission process of carrier rocket
To use northeast day for navigational coordinate system in removal process, therefore, by the carrier rocket grade recovery system to delivery
In the removal process that rocket grade carries out, ground control system can be also used for establishing launching inertial system to northeast day coordinate system
Transformational relation.Preferably, the conversion of launching inertial system to northeast day coordinate system can be such that
O-XYZ indicates launching inertial system, OO-XEYNZRIndicate northeast day coordinate system.Wherein, OO-XEYNZRIt is defined as follows:
Using the prediction drop point of carrier rocket grade as coordinate origin OO, OOYNAxis is directed toward horizontal direct north, OOZRAxis is along local
Normal is positive upwards, OOXEAxis and OOYN、OOZRAxis forms right-handed system.Then, more than launching inertial system to the direction of northeast day coordinate system
String battle array are as follows:
K=sinB2cosωetcosAsinB1
L=cosB2cosωetcosAsinB1-cosB2sinωetsinA+sinB2cosAcosB1
M=-sinB2cosωetsinAsinB1-sinB2sinωetcosA+cosB2sinAcosB1
N=-cosB2cosωetsinAsinB1-cosB2sinωetcosA+sinB2sinAcosB1
Wherein, A indicates the azimuth of launching inertial system, B1Indicate the latitude of launching inertial system, B2Indicate northeast day coordinate system
Latitude, ωeIndicate that rotational-angular velocity of the earth, t indicate the flight time of carrier rocket grade.
Second,
Detection device carries out real-time detection in the state to the carrier rocket grade recovery system and carrier rocket grade
When, it can be also used for the transmitting adjustable infrared laser of beam direction, to realize the guidance to carrier rocket grade.Preferably,
The guidance process of carrier rocket grade can be such that
Carrier rocket grade uses premature beats strategy on the basis of tracking program corner instructs, and guidance is driven using improved
Beam-rider guidance method emits the adjustable infrared laser of beam direction by detection device, and carrier rocket grade is equipped with laser pick-off dress
It sets, is generated by proportional guidance and guidance command the guiding for following laser beam, complete the adjustment of relative position and the amendment of posture:
Wherein, N indicates normal g-load, k1Indicate proportional guidance coefficient, k2Indicate that end conswtraint conditional coefficient, v indicate fortune
The speed full dose of rocket grade is carried,It indicates carrier rocket grade and recycles the line-of-sight rate by line between cabinet, λ indicates delivery fire
The angle of sight between arrow grade and recycling cabinet, g0For a constant.
Third,
It is assumed that enabling (δ rx δry δrz) indicate current location and the carrier rocket grade of carrier rocket grade recovery system
Coordinate points of the difference in the coordinate system of northeast day between current location, tsIndicate the landing remaining time of carrier rocket grade,
Then, when being recycled by carrier rocket grade recovery system to carrier rocket grade, it is ensured that in tsIn -10s, (δ rx
δry δrz) it is zero.
In conclusion carrier rocket grade recovery system of the present invention can be set on the ground, it is based on recycling bins
Body, detection device, signal receiving/transmission device, multiple air bags, air charging system, mobile mechanism and ground control system realize delivery fire
The recycling to carrier rocket grade is completed in the soft landing and fixation of arrow grade, and compared with prior art, the present invention is without delivering
Parachute and landing bracket are installed in rocket grade, alleviate the rocket body weight and because recycling bring transport power damage of rocket
It becomes estranged the change of aerodynamic configuration, and the influence of take off, enter and leave atmosphere and landing shock, is not increasing carrier rocket grade
The recycling that carrier rocket grade is completed while weight improves the reliability of recycling.
Secondly, the setting of air bag realizes the fixation to carrier rocket grade, carrier rocket grade is avoided to enter recycling
Topple over when cabinet, reduce recovery difficult, not needing the substantially vertical stable landing of carrier rocket grade can be realized recycling.
And the setting of air bag plays protective effect to carrier rocket grade, avoids carrier rocket grade and touches with recycling cabinet
It hits and causes to damage.In addition, air bag is reusable, reduce costs.
Again, it may be implemented based on carrier rocket grade recovery system of the present invention to the automatic of carrier rocket grade
Recycling participates in recovery operation without personnel on site, avoids casualties risk, highly-safe.
In addition, can be widely used in land and ocean etc. many for carrier rocket grade recovery system of the present invention
Environment, application prospect are extensive.
Based on the above embodiment, the invention also discloses a kind of carrier rocket grade recovery method, this method is based on described
Carrier rocket grade recovery system is realized.Referring to Fig. 2, a kind of carrier rocket grade recovery method in the embodiment of the present invention is shown
Step flow chart.In the present embodiment, the carrier rocket grade recovery method, comprising:
Step 201, by detection device to the state of the carrier rocket grade recovery system and carrier rocket grade into
Row real-time detection, obtains detection information.
Step 202, the detection information is occurred to ground control system by signal receiving/transmission device.
Step 203, drop point prediction is carried out according to the detection information by ground control system, and generates control instruction.
Step 204, the movement for controlling the mobile mechanism by control instruction and/or control air charging system are to multiple air bags
The recycling to carrier rocket grade is realized in inflation.
For embodiment of the method, since it is corresponding with system embodiment, so be described relatively simple, correlation
Place referring to system embodiment part explanation.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (9)
1. a kind of carrier rocket grade recovery system characterized by comprising recycling cabinet, detection device, signal transmitting and receiving dress
It sets, multiple air bags, air charging system, mobile mechanism and ground control system；
Recycling cabinet is the not closed concave body structure in top；
Detection device, signal receiving/transmission device and air charging system are separately positioned on recycling cabinet；
Multiple air bags are separately positioned on the bottom and side of the recycling cabinet；
Air charging system is connect with the multiple air bag respectively；
Mobile mechanism's setting is in the recycling bottom of box；
Ground control system passes through signal receiving/transmission device and the carrier rocket grade recovery system telecommunication；
Wherein,
Detection device carries out real-time detection for the state to the carrier rocket grade recovery system and carrier rocket grade,
Obtain detection information；
Signal receiving/transmission device, for the detection information to be sent to ground control system, and, it receives ground control system and returns
The control instruction returned；
Ground control system, the detection information sent for receiving the signal receiving/transmission device carry out drop point according to detection information
Prediction, and generate control instruction；Movement and/or the control inflation dress of the mobile mechanism are controlled by the control instruction
It sets and the multiple air bag is inflated.
2. carrier rocket grade recovery system according to claim 1, which is characterized in that the detection information, comprising: return
Receipts system detection information and the sub- class survey information of rocket；
Recovery system detection information is used to indicate between the carrier rocket grade recovery system and the carrier rocket grade
Relative position；
The sub- class survey information of rocket, is used to indicate the real-time status of the carrier rocket grade.
3. carrier rocket grade recovery system according to claim 2, which is characterized in that the sub- class survey letter of rocket
Breath, comprising: the sub- class survey information of rocket after primary igniting, the sub- class survey information of rocket after regnition and after lighting a fire three times
The sub- class survey information of rocket；
Ground control system is used for:
The sub- class survey information of rocket after receiving primary igniting obtains one according to the sub- class survey information of rocket after primary igniting
Prediction drop point after secondary igniting, and the first motion control instruction is generated according to the prediction drop point after the primary igniting；Pass through institute
The movement that the first motion control instruction controls the mobile mechanism is stated, so that carrier rocket grade recovery system is to after once lighting a fire
Prediction drop point it is mobile；
The sub- class survey information of rocket after receiving regnition obtains two according to the sub- class survey information of rocket after regnition
Prediction drop point after secondary igniting, and the second motion control instruction is generated according to the prediction drop point after the regnition；Pass through institute
The movement that the second motion control instruction controls the mobile mechanism is stated, so that carrier rocket grade recovery system is to after regnition
Prediction drop point it is mobile；
The sub- class survey information of rocket after lighting a fire three times is received, according to the sub- class survey information of rocket after lighting a fire three times, obtains three
Prediction drop point after secondary igniting, and third motion control instruction is generated according to the prediction drop point after the igniting three times；Pass through institute
The movement that third motion control instruction controls the mobile mechanism is stated, so that carrier rocket grade recovery system to after lighting a fire three times
Prediction drop point it is mobile.
4. carrier rocket grade recovery system according to claim 2, which is characterized in that the sub- class survey information of rocket, packet
It includes: real time position, real-time speed and the real-time attitude of carrier rocket grade.
5. carrier rocket grade recovery system according to claim 2, which is characterized in that the ground control system is used
In:
Receive recovery system detection information；
The carrier rocket grade recovery system according to indicated by the recovery system detection information and carrier rocket
Relative position between grade, judges whether the carrier rocket grade touches the bottom of the recycling cabinet；
When determining that the carrier rocket grade touches the bottom of the recycling cabinet, ventilating control instruction is generated；
The air charging system is controlled by ventilating control instruction to inflate the multiple air bag.
6. carrier rocket grade recovery system according to claim 5, which is characterized in that the air charging system is used for root
It instructs according to the ventilating control, the multiple air bag is carried out fastly using explosive mode or the compressed gas airing form of quickly filling
Speed inflation, the carrier rocket grade to be fixed by multiple air bags after inflating expanded.
7. carrier rocket grade recovery system according to claim 6, which is characterized in that when the expansion of the multiple air bag
Between are as follows: 10 milliseconds.
8. carrier rocket grade recovery system according to claim 1, which is characterized in that further include: multiple wake flame exhausts
Hole；
Multiple wake flame gas vents are separately positioned on the recycling bottom of box, for entering described return in the carrier rocket grade
When receiving cabinet, the air-flow of the wake flame generation of discharge carrier rocket grade.
9. a kind of carrier rocket grade recovery method characterized by comprising
Real-time detection is carried out by state of the detection device to carrier rocket grade recovery system and carrier rocket grade, is visited
Measurement information；
The detection information is occurred to ground control system by signal receiving/transmission device；
Drop point prediction is carried out according to the detection information by ground control system, and generates control instruction；
The movement of mobile mechanism is controlled by control instruction and/or control air charging system inflates multiple air bags, is realized to delivery
The recycling of rocket grade.
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| CN201710864909.5A CN107792402B (en) | 2017-09-22 | 2017-09-22 | A kind of carrier rocket grade recovery system and method |
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| CN201710864909.5A CN107792402B (en) | 2017-09-22 | 2017-09-22 | A kind of carrier rocket grade recovery system and method |
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| CN109436384B (en) * | 2018-12-04 | 2023-07-18 | 燕山大学 | Manipulator for rocket recovery |
| CN109720608B (en) * | 2018-12-04 | 2023-08-18 | 燕山大学 | Vehicle-mounted movable hydraulic buffer landing platform for rocket recovery |
| CN109987257B (en) * | 2018-12-27 | 2021-02-19 | 蓝箭航天空间科技股份有限公司 | Rocket recovery system |
| CN109665123A (en) * | 2018-12-28 | 2019-04-23 | 蓝箭航天技术有限公司 | Recyclable device for space launch vehicle |
| CN111994309B (en) * | 2019-04-19 | 2022-03-04 | 蓝箭航天空间科技股份有限公司 | Auxiliary recovery system for carrier rocket recovery |
| CN110160407B (en) * | 2019-05-24 | 2021-09-07 | 上海宇航***工程研究所 | Carrier rocket sublevel landing area range control system |
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