JP2007182182A - Recovery method and recovery device for returning member returned at high speed - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a recovery method and a recovery device for a returning member returned at a high speed capable of recovering the returning member returned from space and the high sky at a high speed, guiding it to a target point after deceleration without giving impact to the returning member and performing non-manned soft landing with small impact. <P>SOLUTION: The recovery method has a first deceleration step for opening a high speed parachute 12 connected to one end of the returning member 1 returned to a ground at a high speed at the limited speed or lower and performing deceleration while suspending a longitudinal direction of the returning member in the vertical state relative to the ground; a second deceleration step for opening a paraglider type ram air parachute 14 connected to both ends of the returning member at the limited speed or lower and further performing deceleration while suspending the returning member in the vertical state; an attitude changing step for attitude-changing the longitudinal direction of the returning member from the vertical state to the horizontal state relative to the ground while suspending it by the ram air parachute 14; and a guide control step for automatically controlling or remote-controlling attitude control and direction control of the ram air parachute to guide it to the target point. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a recovery method and a recovery device for a return member that returns at high speed from space or high altitude.

  For example, Non-Patent Documents 1 to 4 are disclosed as means for collecting a feedback member that returns from space, and Patent Document 1 is disclosed as a related technique.

  Non-Patent Document 1 collects the payload part on which the experimental device is mounted. As shown in FIG. 6, after launching the rocket 51, conducting a microgravity experiment at an altitude of about 100 km or more, re-entering the atmosphere, The parachute 52 is opened at about 6 km, and the payload 53 is landed on the sea. The landing payload part floats on the sea while generating a search beacon signal, searches for this beacon signal, and collects it by an aircraft and a recovery ship.

  Non-Patent Document 2 collects a rocket booster. As shown in FIG. 7, the rocket booster 54 separated from the rocket is suspended in a vertical state with respect to the ground by a parachute 52 and decelerated and collected. It is. The numbers 1 to 10 in the figure indicate the operation order.

  Non-Patent Document 3 collects both the first stage (LAP) and the second stage (OV) constituting the rocket. As shown in FIG. 8, the LAP 56 (or OV) separated from the rocket is removed. The parachute 52 is suspended in a vertical state with respect to the ground and decelerated, and then the main harness is cut and the feedback member is rotated from the vertical to the horizontal state.

  Non-Patent Document 4 is for landing a crew return ship (CRV). As shown in FIG. 9, the crew return ship 58 (CRV) is suspended vertically with respect to the ground by a parachute 52. Then, the vehicle is decelerated, and then the CRV is rotated from the vertical to the horizontal state, the paraglider 59 is opened, and the aircraft flies horizontally to land.

  Patent Document 1 “A parachute for dropping an object equipped with an autopilot device” aims at correcting the direction during the parachute descent, adjusting the flight distance, and controlling the flare immediately before touching down. As shown in FIG. Control surface 61 having, state detection unit for detecting the state of the amount of dropped object 70, atmospheric specification detection unit for detecting atmospheric specifications, altitude detection unit for detecting ground altitude, guidance for generating an operation signal for operating the parachute 60 An actuator 64 that drives the control code 62 based on an operation signal output from the calculation unit and the guidance calculation unit is provided.

Toshiaki Sato, “Small Rockets for Space Experiments”, Space Transportation Symposium, Institute of Space Science, 1989, P.A. 36-41 JM ASTORG, "THE ARIANE 5 SOLID ROCKET BOOSTER RECOVERY: A TECHNICAL AND MANAGERIAL CHALLENGE", American Institute of Aeronautics and Astronautics, 13th AIAA Aerodynamic Decelerator Systems Technology Conference, 1995, p. 17-23 Anthony P. Taylor, "AN OVERVIEW OF THE LANDING SYSTEM FOR THE K-1 LAUNCH VEHICLE, PARACHUTES AND AIRBAGS", American Institute of Aeronautics and Astronautics, 14th AIAA Aerodynamic Decelerator Systems Technology Conference, 1997, p. 383-390 John Smith, “DEVELOPMENT OF THE NASA X-38 PARAFOIL LANDING SYSTEM, American Institute of Aeronautics and Astronomy, 15th CEAS / AIAA 205-217

JP-A-5-319397

The recovery means of Non-Patent Document 1 requires a lot of time and equipment such as aircraft and ships to find a return member (payload part) floating on the sea, and a large-scale recovery system is indispensable. There is.
The collecting means of Non-Patent Document 2 also requires a lot of time and equipment such as an aircraft and a ship for finding the return member (payload part). In addition, since the vehicle is decelerated and collected in a state perpendicular to the ground, stability during gliding is poor, and it is difficult to control the direction of the parachute in this state. Furthermore, since the landing is from the lower end of the booster, there is a problem that the impact received by the return member is large.
The recovery means of Non-Patent Document 3 applies a certain amount of impact to the recovered material when the main harness is cut and the return member is rotated from the vertical to the horizontal state and when the impact is buffered by the air bag and landed. There is a fear.
Non-Patent Document 4 describes that a crew return ship (CRV) can be rotated from vertical to horizontal, opened paraglider, and can fly and land horizontally. Since the soft landing at the time depends on the maneuvering skill of the occupant, it is difficult to perform unattended remote control.
Patent Document 1 relates to an umbrella for dropping a quantity, and cannot be applied to a means for collecting a return member that returns from space at high speed, such as reentering the atmosphere from outside the atmosphere.

  The present invention has been developed to solve the above-described problems of the prior art. That is, an object of the present invention is to recover a return member that returns at high speed from space or high sky, and guides to a target point after deceleration without giving an impact to the return member, and performs soft landing with a small impact unattended. It is an object of the present invention to provide a return member recovery method and recovery device that can return at high speed.

According to the present invention, the high-speed parachute connected to the front end or the rear end of the return member that returns to the ground at high speed is opened at a speed lower than the limit speed, and the longitudinal direction of the return member is perpendicular to the ground. A first deceleration step that decelerates while hanging on
A second deceleration step of opening the paraglider-type ram air parachute connected to the front end and the rear end of the return member at a speed equal to or lower than the limit speed and further decelerating while hanging the return member in the vertical state;
A posture changing step of changing the posture of the return member from the vertical state to the horizontal state with respect to the ground while being suspended by the ram air parachute,
There is provided a method for recovering a feedback member that returns at high speed, characterized in that it includes a guidance control step for automatically or remotely controlling attitude control and direction control of a ram air parachute to guide to a target point.

Further, according to the present invention, it is connected to the front end portion or the rear end portion of the return member that returns to the ground at high speed, and can be opened at a speed lower than the limit speed, and the longitudinal direction of the return member is suspended in a state perpendicular to the ground. High-speed parachute that decelerates while
A paraglider type ram air parachute that is connected to the front end and the rear end of the return member, can be opened at a speed lower than the limit speed, and further decelerates while hanging the return member in the vertical state,
A posture changing device that changes the longitudinal direction of the return member from a vertical state to a horizontal state with respect to the ground while being suspended by the ram air parachute,
There is provided a recovery device for a return member that returns at high speed, comprising: a guidance control device that automatically or remotely controls attitude control and direction control of a ram air parachute to guide to a target point.

According to the method and apparatus of the present invention, the high-speed parachute connected to the leading end or the rear end of the return member is opened at a speed lower than the limit speed, and the longitudinal direction of the return member is set perpendicular to the ground. Since the vehicle is decelerated while being suspended, for example, a return member (for example, a rocket or a rocket member) that reaches 360 km / h (speed of 100 m / s) can be decelerated without impacting the return member to a low speed at which the ram air parachute can be opened.
In addition, the paraglider type ram air parachute is opened below its limit speed, and the return member is further decelerated while being suspended in the vertical state, so that the descent speed of the return member can be controlled and controlled by the ram air parachute. The speed can be reduced without impacting the return member up to the speed.
Further, with the attitude changing device, the attitude of the ram air parachute is controlled by the guidance control device after changing the attitude of the feedback member from the vertical state to the horizontal state with respect to the ground while the feedback member is suspended by the ram air parachute. Because it is guided to the target point by automatic control or remote control, direction control is possible with a paraglider type ram air parachute and the impact on the entire return member (for example, rocket or rocket member) when landing is reduced. Can do.

Further, by changing the posture of the return member from the vertical state to the horizontal state while the main parachute (ram air parachute) is opened, the main parachute is used as it is, and another parachute for that purpose is unnecessary. In reality, there is no place to store the parachute on the side of the rocket.
In addition, it is more stable and easier to control the direction when the rocket is placed in a horizontal state and is supported at four positions on the front, rear, left and right sides of the rocket.

According to a preferred embodiment of the present invention, in the posture changing step, flare control is performed on the ram air parachute to increase the buoyancy and weaken the impact when changing the posture.
By this method, it is possible to weaken the impact when the posture of the return member is changed from the vertical state to the horizontal state.

Further, the posture changing device connects the leading end portion or the rear end portion of the return member and the ram air parachute, and a vertical rope for suspending the longitudinal direction of the return member in a state perpendicular to the ground,
Connecting the leading end and the rear end of the return member and the ram air parachute, and a horizontal cable for suspending the longitudinal direction of the return member horizontally with respect to the ground;
A vertical cable separating device for separating the vertical cable from the ram air parachute,
The horizontal cable has a sufficient length so that tension is not applied to the horizontal cable when the return member is suspended vertically by the vertical cable.

  With this configuration, the vertical member is separated from the ram air parachute by the vertical cable separation device while the return member is suspended by the ram air parachute via the vertical cable, and the feedback member is suspended by the horizontal cable. The longitudinal direction can be changed from a vertical state to a horizontal state.

A separation device provided between the ram air parachute and the return member and detachable by command,
The detaching device includes a detachable device that can be switched between a connected state for transmitting a tension therebetween and a separated state for releasing the tension and separating the detachable device, and remotely releasing the detachable device from the connected state to a separated state. A disconnecting actuator for shifting by control.

  With this configuration, the detachable device is released from the connected state by the disconnecting actuator, and the detachable device is transferred to the separated state by remote control. Can be separated.

The attachment / detachment device includes a first pin member coupled to the ram air parachute via a suspension cable, a second pin member coupled to the return member via the suspension cable, a first pin member, and a second pin member. A detachable fitting for removably connecting the pin member;
The detachable bracket is connected to the second pin member, and the first pin member is separated from the direction perpendicular to the tension by the component force of the tension. And a lever mechanism that holds the first pin member in the connecting position with a small force.
The disconnecting actuator includes an extendable latch member that engages with a part of the lever mechanism and holds the lever mechanism in a coupling position, and an electromagnetic solenoid that retracts the latch member.

  With this configuration, the latch member is retracted by the electromagnetic solenoid, the latch with the part of the lever mechanism is released, and the first pin member is removed from the coupling metal in the direction perpendicular to the tension by the component force of the tension. The pin member and the second pin member are separated, and the high-speed parachute and / or the ram air parachute and the return member can be reliably separated from each other by a command.

  Therefore, if the return member deviates significantly from the landing target and cannot be guided to the target point and there is a concern about flying to a place where it cannot land, such as a residential area, the electromagnetic solenoid is actuated and the lever mechanism is moved to the tension component. It is possible to perform separation at a safe place by releasing with.

It is preferable that the guidance control device includes a wireless remote control device that can be wirelessly operated.
With this configuration, for example, in the case of an emergency such as a dangerous substance at the target point or a person entering, the wireless remote control device (manual) is switched to and manually guided by visual inspection. You can land in a safe place that can be avoided.

  As described above, the return member recovery method and recovery device according to the present invention that returns at high speed can recover the return member that returns at high speed from the space or high sky, and after the deceleration without impacting the return member. It has excellent effects such as guiding to the target point and performing unmanned soft landing with low impact.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is an overall configuration diagram of a feedback member provided with a recovery device of the present invention. In this figure, the return member 1 is an elongated cylindrical rocket that returns to the ground at high speed, and has a front end 1a and a rear end 1b.

  The recovery device 10 of the present invention includes a high-speed parachute 12, a ram air parachute 14, an attitude change device 16, a guidance control device 18, and a separation device 20.

  The high-speed parachute 12 is connected to the front end portion or rear end portion (rear end portion 1b in this example) of the return member 1 (rocket), and can be opened at a speed lower than the limit speed. (The axial direction connecting the part 1a and the rear end part 1b) is suspended while being suspended vertically to the ground. The high-speed parachute 12 includes, for example, a pilot chute and a drag chute, and is preferably opened in this order and gradually decelerated to mitigate the impact. In addition, this invention is not limited to this structure, You may comprise with a single parachute or 3 or more parachutes.

  The ram air parachute 14 is a paraglider type, is connected to the front end portion 1a and the rear end portion 1b of the return member 1, can be opened at a speed lower than the limit speed, and further decelerates while the return member 1 is suspended in a vertical state. It is like that. The ram air parachute 14 includes a control code (control cord) that performs posture control and direction control during gliding, and an actuator thereof.

  The posture changing device 16 has a function of changing the longitudinal direction of the return member 1 from a vertical state to a horizontal state with respect to the ground while being suspended by the ram air parachute 14.

FIG. 2 is an operation explanatory diagram illustrating a process of changing from the vertical state to the horizontal state in FIG.
The posture changing device 16 includes a vertical cable 17a, a horizontal cable 17b, and a vertical cable separator 17c.
The vertical cord 17a connects the front end portion or the rear end portion (rear end portion 1b in this example) of the return member 1 and the ram air parachute 14 so that the longitudinal direction of the return member 1 is suspended vertically to the ground. It has become.
The horizontal cord 17b connects the front end 1a and the rear end 1b of the return member 1 and the ram air parachute 14, and suspends the longitudinal direction of the return member 1 in a horizontal state with respect to the ground. The horizontal cable 17b has a sufficient length so that no tension acts on the horizontal cable when the return member 1 is suspended in the vertical state by the vertical cable 17a, and is in a loose state.

It is preferable that the rocket (return member 1) be in a horizontal state and supported by the horizontal rope 17b at four positions on the front, rear, left and right sides, thereby stabilizing the posture and facilitating direction control. Also, the impact on the entire rocket when landing can be reduced.
The vertical cable separating device 17c has a function of separating the vertical cable 17a from the rear end 1b of the machine body while being suspended in a vertical state. The vertical cable separating device 17c is, for example, a known cutting device.
With this configuration, while the return member 1 is suspended by the ram air parachute 14 via the vertical cable 17a (FIG. 1), the vertical cable 17a is separated (for example, separated) from the rear end 1b of the aircraft by the vertical cable separator 17c, and the horizontal cable is separated. The longitudinal direction of the feedback member 1 can be changed from the vertical state (FIG. 1) to the horizontal state (FIG. 2C) by hanging the feedback member 1 through 17b (FIG. 2B).

In FIG. 1, the guidance control device 18 is housed in the tip nose cone of the return member 1 (rocket), and automatically or remotely controls the attitude control and direction control of the ram air parachute 14 to guide to the target point. Have The posture control and direction control of the ram air parachute 14 are performed via the control cord and the actuator described above. This actuator may be, for example, a reel device for a control code.
The guidance control device 18 includes a wireless remote control device (not shown) that can be remotely operated wirelessly. In an emergency, the guidance control device 18 is switched to a wireless remote control device (manual) and manually guided visually to detect dangerous objects or people. You can land on a safe place that can be avoided.

  Further, the guidance control device 18 may include an aircraft instrument necessary for glide, such as an inertial aircraft device, a GPS device, a ground altimeter, a data communication device, and the like.

The separation device 20 is provided between the ram air parachute 14 and the return member 1 and has a function that can be separated by a command.
FIG. 3 is a block diagram showing an example of the disconnecting device 20, FIG. 3A shows a connected state, FIG. 3C shows a separated state, and FIG. 3B shows a transition state thereof.
The detaching device 20 includes a detachable device 22 that can be switched between a connected state in which the tension T is transmitted between the ram air parachute 14 and the return member 1 and a separated state in which the tension T is released and the tension T is separated. And a separation actuator 24 for releasing the tension from the connected state to the separated state by remote control.

In FIG. 3, the attachment / detachment device 22 includes a first pin member 22 a connected to the ram air parachute 14 via the suspension cable 2, and a second pin member 22 b connected to the return member 1 via the suspension cable 3. The first and second pin members 22a and 22b are detachably connected to the first and second pin members 22a and 22b.
The detachable fitting 23 is connected to the second pin member 22b, and the first pin member 22a is separated from the direction perpendicular to the tension by the component force of the tension T, and resists the component force. The “principle” includes a lever mechanism 23b that holds the first pin member 22a in the coupling position with a relatively small force. In this example, the lever mechanism 23b is composed of three levers 23b-1, 23b-2, 23b-3 whose ends are rotatably attached to the connecting fitting 23a with pins. The first pin member 22a or the inner lever end is contacted, and a relatively small force (for example, 0.5 × 0.2 × 0.2 = 0.02) using the lever principle is used. The first pin member 22a is held in the connecting position with a force of 1/50.
In this example, the disconnecting actuator 24 is latched to a part of the lever mechanism 23b (the end of the lever 23b-3) and holds it in the connecting position, and the retractable latch member 24a retracts the latch member 24a. It consists of an electromagnetic solenoid 24b.

With this configuration, as shown in FIG. 3B, the latch member 24a is retracted by the electromagnetic solenoid 24b, and the latch member 24a is unlocked from a part of the lever mechanism (the end portion of the lever 23b-3). Release the levers in sequence.
As a result, the first pin member 22a is removed from the coupling fitting 23a in the direction perpendicular to the tension by the component force of the tension T, and the first pin member 22a and the second pin member 22b are separated, as shown in FIG. The ram air parachute 14 and the return member 1 can be reliably separated from each other by a command.

  FIG.4 and FIG.5 is a schematic diagram of the parachute opening sequence which shows the collection | recovery method of this invention. The recovery method of the present invention includes a first deceleration step, a second deceleration step, an attitude change step, and a guidance control step.

FIG. 4 is a schematic diagram of the first deceleration step. In the first deceleration step, a high-speed parachute 12 (in this example, a pilot chute 12a and a drag chute 12b) connected to the front end or rear end (rear end 1b in this example) of the feedback member 1 that returns to the ground at high speed. Is opened at a speed lower than the limit speed, and the longitudinal direction of the return member 1 is decelerated while being suspended vertically to the ground.
That is, in FIG. 4, when the return member 1 that returns to the ground at high speed becomes equal to or lower than the limit speed (for example, 100 m / s) of the drag chute 12b (A), the pilot chute provided at the tail (rear end) The operating mechanism is operated (B), and the pilot chute 12a is opened (C).
Next, the drag chute 12b is pulled out by the pilot chute 12a (D,
E) Open the drag chute 12b (F).
Next, the pilot chute 12a is separated and decelerated to the limit speed (for example, 60 m / s) of the ram air parachute 14 by the drag chute 12b (G).

  The deceleration in FIG. 4 is preferably performed while the longitudinal direction of the feedback member 1 is suspended in a state perpendicular to the ground. However, this vertical state does not have to be strictly perpendicular to the ground, and may be inclined with respect to the ground depending on the falling direction of the return member 1 returning to the ground at high speed, the wind speed, and the like.

FIG. 5 is a schematic diagram of the second deceleration step, the posture changing step, and the guidance control step.
In the second deceleration step, the paraglider-type ram air parachute 14 connected to the front end portion and the rear end portion of the feedback member 1 is opened at a speed lower than the limit speed, and the feedback member 1 is suspended in a vertical state with respect to the ground. Further slow down (H, I, J).

  In the posture change step, the posture of the return member 1 is changed from the vertical state (J) to the horizontal state (K) with respect to the ground while being suspended by the ram air parachute 14. That is, when the main parachute (ram air parachute 14) decelerates and reaches a predetermined speed or altitude, the cord maintaining the rocket in a vertical state is cut (separated), and the rocket is suspended in four horizontal positions. . In this posture changing step, it is preferable to flare control the ram air parachute 14 to increase the buoyancy and weaken the impact when changing the posture.

Next, in the guidance control step, attitude control and direction control of the ram air parachute 14 are automatically or remotely controlled to guide to the target point (K, L).
A target point is input in advance to a flight computer mounted on the rocket, and a parachute control reel mechanism is operated by the flight computer so as to fly toward the target point while recognizing its own position by a GPS antenna.
In addition, by pulling the two control cables at the altitude just before landing, flare is applied and the rocket is softly landed.

With the method and apparatus described above, the parachute is used to decelerate the rocket in two or three stages in a vertical state, and the last main parachute uses a paraglider-type ram air parachute 14, so that deceleration and direction control are possible. Become.
In addition, by changing the suspended state of the rocket from vertical to horizontal and adjusting the two control cables in this state, it is possible to guide, land and recover to the target point.
Furthermore, by changing the relative positional relationship with the rocket while the main parachute is opened, the main parachute is used as it is, and another parachute for that purpose is unnecessary. As a matter of fact, there is no place to store the parachute on the side of the rocket.
Further, by cutting (separating) the vertical cable with the vertical cable separating device 17c described above, the rocket can be easily changed from the vertical state to the horizontal state.
Furthermore, since the separation mechanism 20 is configured by levering the levers of the three levers, it can be prevented from landing on a densely populated area of the house, can be dropped to a safe place, and can be fixed. Can be made small and low capacity.
In addition, it is equipped with a wireless remote control device that can be switched to manual in the case of an emergency, so if there is a dangerous object at the target point or a person enters, it is manually guided visually. , You can land in a safe place where you can avoid dangerous goods and people.

  In addition, this invention is not limited to embodiment mentioned above, Of course, it can change variously in the range which does not deviate from the summary of this invention.

FIG. 1 is an overall configuration diagram of a feedback member provided with a recovery device of the present invention. FIG. 2 is an operation explanatory diagram illustrating a process of changing from a vertical state to a horizontal state in FIG. 1. It is a block diagram which shows an example of the separation apparatus. It is a schematic diagram of the 1st deceleration step of this invention. It is a schematic diagram of the 2nd deceleration step of this invention, an attitude | position change step, and a guidance control step. It is a schematic diagram of the collection | recovery means of a nonpatent literature 1. 6 is a schematic diagram of a collecting means of Non-Patent Document 2. FIG. It is a schematic diagram of the collection | recovery means of a nonpatent literature 3. It is a schematic diagram of the landing means of Non-Patent Document 4. It is a schematic diagram of the parachute of patent documents 1.

Explanation of symbols

1 Return member, 1a front end, 1b rear end, 2 suspension cable, 3 suspension cable,
10 collection device, 12 high-speed parachute,
12a pilot shoot, 12b drogue shoot,
14 ram air parachute, 16 posture change device,
17a vertical cable, 17b horizontal cable, 17c vertical cable separator,
18 guidance control device, 20 separation device, 22 detachment device,
22a 1st pin member, 22b 2nd pin member, 23 detachable metal fittings,
23a connecting bracket, 23b lever mechanism,
23b-1, 23b-2, 23b-3 lever,
24 Actuator for separation,
24a Latch member, 24b Electromagnetic solenoid

Claims (7)

The parachute for high speed connected to the front end or rear end of the return member that returns to the ground at high speed is opened below the limit speed, and the speed is reduced while the longitudinal direction of the return member is suspended perpendicular to the ground. A first deceleration step;
A second deceleration step of opening the paraglider-type ram air parachute connected to the front end and the rear end of the return member at a speed equal to or lower than the limit speed and further decelerating while hanging the return member in the vertical state;
A posture changing step of changing the posture of the return member from the vertical state to the horizontal state with respect to the ground while being suspended by the ram air parachute,
And a guidance control step for automatically or remotely controlling the attitude control and direction control of the ram air parachute to guide to a target point.   The return member recovery method according to claim 1, wherein in the posture changing step, flare control of the ram air parachute is performed to increase buoyancy and weaken an impact when the posture is changed. A high-speed parachute that is connected to the front end or rear end of a return member that returns to the ground at high speed, and can be opened at a speed lower than the limit speed, and decelerates while the longitudinal direction of the return member is suspended vertically to the ground. When,
A paraglider type ram air parachute that is connected to the front end and the rear end of the return member, can be opened at a speed lower than the limit speed, and further decelerates while hanging the return member in the vertical state,
A posture changing device that changes the longitudinal direction of the return member from a vertical state to a horizontal state with respect to the ground while being suspended by the ram air parachute,
A recovery device for returning a feedback member at high speed, comprising: a guidance control device for automatically or remotely controlling attitude control and direction control of a ram air parachute to guide to a target point. The posture changing device connects the leading end or rear end of the return member and the ram air parachute, and a vertical cable for suspending the longitudinal direction of the return member in a state perpendicular to the ground;
Connecting the leading end and the rear end of the return member and the ram air parachute, and a horizontal cable for suspending the longitudinal direction of the return member horizontally with respect to the ground;
A vertical cable separating device for separating the vertical cable from the ram air parachute,
The horizontal cable has a sufficient length so that tension does not act on the horizontal cable when the return member is suspended vertically by the vertical cable,
While the return member is suspended from the ram air parachute by the ram air parachute, the vertical cable is separated from the ram air parachute by the vertical cable separation device, and the return member is suspended from the vertical cable, so that the longitudinal direction of the return member is vertical. 4. The return member recovery apparatus according to claim 3, wherein the recovery member is changed from a state to a horizontal state. A separation device provided between the ram air parachute and the return member and detachable by command,
The detaching device includes a detachable device that can be switched between a connected state for transmitting a tension therebetween and a separated state for releasing the tension and separating the detachable device, and remotely releasing the detachable device from the connected state to a separated state. The return member recovery device according to claim 3, further comprising a separation actuator for shifting by control. The attachment / detachment device includes a first pin member coupled to the ram air parachute via a suspension cable, a second pin member coupled to the feedback member via the suspension cable, a first pin member, and a second pin member. And a detachable fitting for removably connecting the
The detachable bracket is connected to the second pin member, and the first pin member is separated from the direction perpendicular to the tension by the component force of the tension. And a lever mechanism that holds the first pin member in the connecting position with a small force.
2. The disconnecting actuator includes: an extendable latch member that engages with a part of the lever mechanism and holds the lever mechanism in a coupling position; and an electromagnetic solenoid that retracts the latch member. 5. The recovery device for a return member according to 5. The said guidance control apparatus is provided with the radio | wireless remote control apparatus which can be remotely operated by radio | wireless, The collection | recovery apparatus of the return member of Claim 3 characterized by the above-mentioned.

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