JP6968377B1 - How to design a net launcher, a net launcher, and how to capture and dispose of space debris and suspicious aircraft. - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a miniaturized net injection device capable of ejecting a net so as to be evenly deployed and easily mounted on a space navigation body or an aircraft. SOLUTION: A device main body 10 having a net storage recess 30 opened in a net ejection direction, a net 60 housed in the net storage recess 30 for capturing an object to be captured, and a portion on the outer periphery of the net 60. A plurality of weights 40 attached directly to the net or via a string, and a plurality of weights 40 provided on the main body 10 of the apparatus are ejected by using a spring in a radial direction spreading at a predetermined angle from the net ejection direction. It has a plurality of weight injection mechanisms 20 and an actuator that operates a plurality of weight injection mechanisms 20 in response to an external signal, and the plurality of weight injection mechanisms 20 eject a plurality of weights 40 to cause the weights 40. The net 60 connected to the net 60 is ejected from the net accommodating recess 30 in the net ejection direction to be deployed. [Selection diagram] Fig. 1

Description

The present invention relates to a net injection device, a method for designing a net launch device, and a method for capturing and processing space debris and a suspicious flying object using the same.

In recent years, dust that orbits the earth in outer space, so-called space debris, causes serious damage if it collides with a spacecraft or a space station, so its removal has become an issue.
Drones are also being applied as inexpensive unmanned aerial vehicles, and may be used for illegal purposes in no-fly zones or as unmanned weapons for attacks. Capturing and invalidating suspicious aircraft, including such drones, has become an issue.

Robot arms, hapoons, and tether nets (nets) are being researched as methods for capturing space debris and suspicious flying objects. As a system, it has been patented in several documents (Patent Documents 1 to 5). In addition, space debris capture experiments are being conducted in Europe.

The net injection device for capturing the target object attaches several weights around the net stored in the storage box, ejects the weight / net from the storage box from a certain distance from the target object, and targets the net. It is intended to capture and restrain the target object by entwining it with the object. When the size of the net is sufficiently wider than the target object, it has the advantage that the target object can be easily captured and restrained.

In order to realize a net injection device, a net, a storage box / case for storing the net, a weight attached to the tip of a string attached to several places on the outer circumference of the net or several places on the outer circumference of the net, and a net A jet mechanism is needed to deploy the net by radiating forward.

As a method of generating a force for ejecting the net forward, a method using ammunition (Patent Document 1), a method using an injection gas (Patent Document 2), and a method using a spring (Patent Documents 4 and 5). Has been proposed. As a mechanism for deploying the net, the weight is diffused in the radial direction by a gunpowder different from the gunpowder for ejecting the weight forward (Patent Documents 1 and 2), or the projectile before the net ejection is rotated. The centrifugal force diffuses the weight in the radial direction (Patent Document 4), and the funnel-shaped guide is used to diffuse the weight (Patent Document 5). Further, as a means for fixing / releasing the weight, a method of energizing a solenoid coil to fix the weight is known.

Japanese Unexamined Patent Publication No. 2000-513089 Japanese Patent Laid-Open No. 2021-063616 International Publication No. WO 2018/016017 U.S. Pat. No. 10197365 Japanese Unexamined Patent Publication No. 2016-215874

Of the above existing net injection devices, the net injection device that uses high-pressure gas or explosives to inject and deploy the net is difficult to handle in space, and even when used on the ground, it is not easy to fill or replace, and it is not easy to refill. There is a problem that it is difficult to use. For this reason, in the devices of Patent Documents 4 and 5, a spring is used as a net injection means, but it is desirable to further improve the stability of the development of the net.
In addition, the conventional method that uses a solenoid coil to fix and release the weight requires constant energization, so it is difficult to mount it on a space navigation vehicle that does not turn on until it is disconnected from the rocket, and it is a drone for the purpose of capturing suspicious aircraft. There is also the problem that the capacity of the drone's battery will be consumed when it is installed in the vehicle.

Further, the existing net injection device has a problem of newly generating space debris when used in outer space because a lid-shaped object blocking the net injection port is simultaneously separated at the time of net injection. In order to prevent this problem, when the lid is connected to a part of the net for injection, there is a problem that the acting force is biased and the net does not spread evenly.

The size of space debris is considered to vary in size. The required net size and mesh spacing depend on the size of the target to be captured, and the storage space volume for net storage is the mesh spacing, the length of one side of the net, the thickness of the net line, and the net. Depends on storage efficiency. Furthermore, the moving distance required for the net to reach a fully deployed state to reliably capture the target object depends on the ejection angle of the weight, and the net storage space volume depends on the angle of the guide that determines the ejection angle of the weight. do. When used in space, it is desirable that the weight and volume are small, and it is necessary for the net to be fully deployed when the net collides with the target object for reliable capture of the target. .. Therefore, it is necessary to select appropriate specifications according to the capture target and create a lightweight and compact device, but there is a problem that it is not easy to determine appropriate device specifications because it is not a simple linear relationship. Has.

(Purpose of the invention)
The present invention has been made to solve the above-mentioned problems, and can be ejected so as to spread the net evenly by using a spring, can be used in space without generating new space debris, and is used for space navigation. To provide a miniaturized net injection device that can be easily mounted on a body or an aircraft and a design method for determining appropriate specifications of this net injection device, and a method for capturing and processing space debris and suspicious flying objects using this. The purpose is to provide.

Still other objects and advantages of the invention are in part obvious and in part will be apparent from the specification and drawings.

In order to solve the above problems, the net injection device of the present invention is used.
The main body of the device equipped with a net storage recess that opens in the net injection direction,
A net that is housed in the net storage recess and is used to capture the object to be captured.
With a plurality of weights attached directly to each part of the outer circumference of the net or via a string,
A plurality of weight ejection mechanisms provided on the main body of the apparatus and ejecting the plurality of weights in a radial direction spreading at a predetermined angle from the net ejection direction by using a spring.
An actuator that activates the plurality of weight injection mechanisms in response to an external signal,
Have,
By ejecting the plurality of weights, the plurality of weight ejection mechanisms are configured to eject the net connected to the weight from the net accommodating recess in the net ejection direction and deploy the net .
Each of the plurality of weights has a substantially columnar shape and has a substantially columnar shape.
Each of the plurality of weight ejection mechanisms has a substantially cylindrical guide having an ejection port at one end and holding the weight inside, and the weight is arranged on the other end side inside the guide in the direction of the ejection port. Including a spring for urging the weight and a stopper for freely locking the weight.
The actuator is provided so as to circulate while being inserted or engaged with all the stoppers, and a single fastening wire for fixing each stopper with the weight locked, and a cutting wire for cutting the fastening wire. Including the device, by operating the cutting device to cut the fastening line, the locking of each weight by each stopper is simultaneously released, and each weight is simultaneously released from each injection port by each spring. It is characterized by ejecting.
With this configuration, the weight is ejected in a radial direction or the like, so that the net can be reliably and evenly deployed. In addition, since a spring is used as the injection means of the weight, it does not require explosives or high-pressure gas and has an advantage that it is easier to handle even in a harsh place such as outer space.
In addition, because this configuration uses a stopper that locks the weight, it is not necessary to use the above-mentioned always-on solenoid coil as the actuator that releases the lock, and it can be mounted on aircraft such as spacecraft and drones. It will be easier.
Further, with this configuration, a plurality of weights can be ejected at the same time with a simple structure, and the net can be evenly deployed.

It is preferable that the net injection device further has a string for mooring the net after injection to the device main body.
With this configuration, the captured object can be secured in the net mooring device.

It is preferable that the spring can be inserted and arranged inside the guide from the other end side.
With this configuration, the spring can be inserted from the opposite direction of the weight ejection port with the weight fixed, so that the spring can be easily compressed / fixed and replaced.

Further having a lid covering the net storage recess, the lid is composed of the same number of separated small parts as the plurality of weights, and each small part is integrally fixed to each weight and integrally ejected. It may be configured as follows.
With this configuration, each small portion of the lid is connected to a weight or net so that the lid does not become new debris. Further, since each small portion is ejected integrally with the weight, the acting force is not biased and the net can be evenly deployed.

Alternatively, it may further have a lid covering the net accommodating recess, which is pivotally supported by the device body via a hinge portion and configured to open the net accommodating recess when the net is ejected. good.
With this configuration, the lid does not separate from the main body of the device, so that new debris does not occur.

The method for designing the net injection device of the present invention is a method for designing the net injection device.
A step of determining the shape of the net and the diameter d of the string forming the net,
_{The total length L all} of the string is calculated from the determined shape of the net, the cross-sectional area A of the string is calculated from the diameter d, and the total length L _all is multiplied by the cross-sectional area A to obtain the volume V _{str of the net.} And the step to calculate
It is a method including a step of setting the volume V of the net accommodating recess _{to a value obtained by dividing the volume V str of the net by a predetermined filling rate p.}
By this design method, the volume of the net accommodating recess can be set to a necessary and sufficient value, and the net injection device can be made as small as possible, so that it is suitable for use by attaching to a space navigation body or an aircraft. can.

The method for designing the net injection device of the present invention is a method for designing the net injection device.
Steps that assume the size of the object to be captured, and
A step of setting _{the distance R f} from the center of the net to the outer circumference of the net based on the assumed size of the object, and
The step of setting the distance D from the main body of the device to the object to be captured at the time of capture, and
It may include a step of setting the predetermined angle Θ to a value calculated by the equation Θ = tan ^-1 (D / R _f ) based on the set distance R _{f and the distance D.}
In the net injection device designed by this method, the net is sufficiently deployed just before reaching the catch target, so that the catch target can be easily caught.

In the method for processing space debris of the present invention, the above-mentioned net injection device is attached to a space navigator, the net is ejected from the net injection device toward the space debris, and the space debris is entangled with the space debris to capture the space debris. It is characterized by plunging the entire space debris into the atmosphere and removing it.

In another method for processing space debris of the present invention, the above-mentioned net injection device is attached to a space navigation body, and a net with a conductive tether is injected from the net injection device toward the space debris and entangled with the space debris. By releasing the space debris from the net injection device, the space debris is stalled by the Lorentz force applied to the conductive tether, and is naturally dropped into the atmosphere to be removed.

In the method for capturing a suspicious air vehicle of the present invention, the above-mentioned net injection device is attached to an aircraft, a net is ejected from the net injection device toward the suspicious air vehicle, and the net is entwined with the suspicious air vehicle to capture the suspicious air vehicle. It is characterized by that.

According to the present invention, since a plurality of weight ejection mechanisms for ejecting a plurality of weights attached to the net in a radial direction spreading at a predetermined angle from the net ejection direction by using a spring are provided, the handling is easy. It can be ejected so that the net is evenly spread. Further, in the embodiment of the present invention, by providing the weight injection mechanism with a stopper for locking the weight, the conventional constantly energized solenoid is not required, and it becomes easy to mount the weight on a space navigation body or an aircraft. Further, by integrating the lid covering the net storage recess with the weight or by constructing a structure that opens and closes by pivotally supporting the device main body, it is possible to prevent the occurrence of new space debris. Further, by a design method in which the volume of the net accommodating recess is determined from the volume of the net and a predetermined filling rate, it is possible to provide a net injection device that can be easily mounted on a space navigation body or an aircraft by reducing the size. As a result, the ability to capture space debris, suspicious flying objects, etc. can be improved.

For a more complete understanding of the invention, reference is made to the following description and accompanying drawings.
FIG. 2 is a cross-sectional view showing an example of a net injection device according to an embodiment of the present invention. The perspective view which shows the main body structure of the net injection apparatus of FIG. The schematic diagram which shows the weight injection mechanism of the net injection apparatus of FIG. The schematic which shows the spring fixing plate. Schematic diagram showing a weight stopper and a normal type weight. The figure which shows the path of the fixing wire for fixing and releasing a weight stopper. The figure which shows the rotation angle of a weight stopper. The figure which shows the operation of a weight injection mechanism. Schematic diagram showing a weight with a lid. The figure which shows the opening and closing lid of the normal type attached to the main body structure. It is explanatory drawing of the shape of the net, (a) shows a square net, (b) shows a spider web-like net. An explanatory diagram showing the relationship between the distance to the net and the target to be captured and the weight ejection angle when the deployment is completed. The explanatory view which shows the 1st method of processing space debris by the net injection apparatus of this invention. Explanatory drawing which shows the 2nd method of processing space debris by the net injection apparatus of this invention. An explanatory diagram showing a method of capturing a suspicious flying object by the net injection device of the present invention.

Hereinafter, the net injection device of the present invention will be described with reference to the drawings.

FIG. 1 is a cross-sectional view showing an example of a net injection device, and FIG. 2 is a perspective view of a main body structure for fixing a guide from above. The net injection device 10 includes a main body structure 11, a weight injection mechanism 20, a net storage case 30, a weight 40 (weight 40A with a lid), a tether connecting column 50 for net mooring, and a net 60. The main body structure 11 and the net storage case 30 are collectively referred to as a "device main body", and the inside of the net storage case is also referred to as a "net storage recess".

(Main body structure)
As shown in FIG. 2, the main body structure 11 has a net injection opening 11a, and is a regular n prism or a substantially cylindrical shape depending on the number of weights (n) when viewed from the net injection opening 11a side. .. However, if it is almost cylindrical, it has a side to which the opening / closing lid can be attached. The main body structure 11 has a side center support column 11b on the side surface. The main body structure 11 has an internal space, and a net storage case 30 (see FIG. 1) is installed in the center of the bottom surface. When the shape of the main body structure 11 is a regular n-sided prism, the weight injection mechanism 20 (see FIG. 1) is installed inside the square portion of the regular n-sided shape, and when the shape of the main body structure 11 is cylindrical, it is a circle. The weight injection mechanism 20 is installed inside the cylinder at an equal angle to the center.

In the upper inner peripheral portion of the main body structure 11, there is a jig-shaped portion 11d for fixing the upper part of the weight guide 21 (see FIG. 3) to the main body structure 11, and there is a hole 11e in the center, and the weight is projected. Also serves as an exit. Inside the hole 11e of the jig shape portion 11d, there is a key (not shown) for designating the direction of the weight guide 21, and at the upper part, a string 61 for fastening the weight 40 and the net 60 (see FIG. 11). There is a groove 11f at the top for guiding the weight guide 21.

The bottom surface portion of the main body structure 11 has a hole 11g for inserting the weight guide 21, and a recess (not shown) for attaching a plate for closing the hole is provided on the back side of the bottom surface of the main body structure 11.

The center line of the hole 11e of the jig-shaped portion 11d in the upper inner peripheral portion of the main body structure 11 and the hole 11g for inserting the weight guide 21 in the bottom portion is in the direction from the center of the bottom surface of the main body structure 11 toward the upper part. On the other hand, the inclination angle Θ is attached radially. This is because the weight 40 is ejected radially to expand the net 60.

(Weight injection mechanism)
As shown in FIG. 3, the weight injection mechanism 20 includes a weight guide 21, a compression spring 22, a spring fixing plate 23, a weight stopper 24, and a stopper pedestal 25, and a stopper fixing wire 26 as an actuating actuator (hereinafter referred to as a stopper fixing wire 26). It is used together with the fastening wire 26) and the fastening wire cutting device 27.

The weight guide 21 has a thin cylindrical shape with a thin plate thickness, and a window 21a for passing a part of the weight stopper 24 is provided on a part of the side surface thereof. Further, notches (not shown) are provided in the upper part and the lower part of the weight guide 21, so that the direction of the window 21a on the side surface of the weight guide 21 is determined in the outer peripheral direction inside the main body structure 11. It is fitted into a key portion (not shown) provided in the jig shape portion 11d (not shown) of the structure 11.

The compression spring 22 is inserted into the cylinder of the weight guide 21 from the opposite side of the weight injection port 21b with one side fixed to the spring fixing plate 23.

As shown in FIG. 4, the spring fixing plate 23 has a hole 23a for mounting the compression spring 22, and the compression spring 22 is attached to the spring fixing plate 23 by inserting a part of one side of the compression spring 22 into the hole. To fix.

The spring fixing plate 23 has a slope 23b having an inclination angle Θ on the side where the compression spring 22 is fixed, and the slope 23b is inclined outward with the spring fixing plate 23 fixed to the main body structure 11.

The spring fixing plate 23 has a key 23c to be fitted in a notch (not shown) provided at the bottom of the weight guide 21 and a bolt hole 23d for fixing to the main body structure 11, and the spring fixing plate 23 is the main body. It is bolted to the recessed portion 11h (see FIG. 1) on the back side of the bottom surface of the structure 11.

As shown in FIG. 5, the weight stopper 24 has a pivot portion 24a in a cam shape, and as shown in FIG. 3, the weight stopper 24 is rotatably supported by the stopper pedestal 25 at the pivot portion 24a. However, the shape of the weight stopper 24 is not limited to this, and the weight stopper 24 may have a rod-shaped portion and may be mounted on the stopper pedestal 25 so as to be movable in parallel.

A part of the weight stopper 24 passes through the window 21a of the weight guide 21 and is inserted into the weight guide 21, and holds the weight 40 placed on the upper part of the compression spring 22 compressed along the weight guide 21 at that position. Then, the repulsive energy of the compression spring 22 is stored.

The cam-shaped weight stopper 24 rotates at the pivot portion 24a, and can rotate a range of angles at which the compression spring 22 can be compressed and the compressed state can be released. In the case of the rod-shaped weight stopper (not shown), the compression spring 22 can be horizontally moved with respect to the stopper pedestal 25 within a range of positions where the compressed state can be maintained and released.

The weight stopper 24 is inserted into the weight guide 21 through the window 21a of the weight guide 21, and has a surface 24b in contact with the weight 40 when the position of the weight 40 is held in the compressed state of the compression spring 22. The normal direction of the surface 24b is parallel to the central axis of the cylinder of the weight guide 21. In the case of a rod-shaped weight stopper (not shown) that moves in parallel, the portion that passes through the window 21a of the weight guide 21 and is inserted into the weight guide 21 has a rod shape.

The stopper pedestal 25 is provided with a pivot holding portion 25a that enables the rotation of the weight stopper 24. In the case of a rod-shaped weight stopper (not shown), a slide portion that enables parallel movement is provided on the stopper pedestal 25. The axis of rotation of the pivot holding portion 25a is perpendicular to the central axis of the cylinder of the weight guide 21, and the main body structure is perpendicular to the line from the center of the main body structure 11 of the regular n-square prism to the apex or has a cylindrical shape. It is perpendicular to the line from the center of the circle of the body 11 to the outside. The moving direction of the rod-shaped weight stopper (not shown) that moves horizontally is parallel to the line from the center of the main body structure 11 of the regular n-side prism to the apex or from the center of the circle of the main body structure 11 having a cylindrical shape. It is parallel to the outward line.

The stopper pedestal 25 is bolted to the bottom surface of the main body structure 11 at a position adjacent to the outside of the weight guide 21.

The weight stopper 24 has an angle and position for holding the position of the weight 40 in the compressed state of the compression spring 22, and is fixed by one fastening wire 26.

The weight stopper 24 has a hole 24c for passing the fastening wire 26. The weight stopper 24 may, as an alternative, have a horseshoe-shaped portion for hooking the fastening wire 26.

As shown in FIG. 6, the fastening line 26 has a length such that all the weight stoppers 24 can compress the compression spring 22 and hold the weight 40 in a fixed position, and the net injection mechanism 20 and the side central support column 11b of the main body structure 11 have a length. It is laid by a route that goes through the outside of the building alternately.

For the fastening line 26, for example, nylon fishing line having a thickness of about 1 mm is used. The fastening wire 26 passes through the fastening wire cutting device 27 installed on the side central support column 11b of the main body structure 11 and is laid along the three fastening wire guides 28a to 28c, and both ends of the fastening wire 26 are the fastening wires. It is fixed at the part of the guide 28b. The fastening wire guides 28a to 28c have a gentle recess that does not hinder the downward movement of the fastening wire 26 when the stopper 24 is released, and the fastening wire 26 is positioned in this recess when the stopper 24 is fixed.

A nichrome coil is built in the fastening wire cutting device 27, and heat is generated by passing a direct current, and the fastening wire 26 is blown by the generated heat. The fastening wire cutting device 27 is not limited to the one in which the fastening wire 26 is blown, and may be, for example, the one in which the fastening wire 26 is cut by using a solenoid or a motor-driven blade.

When the fastening wire 26 is blown by the fastening wire cutting device 27, the rotational fixing around the pivot portion 24a of all the cam-shaped weight stoppers 24 is released. As a result, as shown in FIGS. 7 and 8, each weight stopper 24 rotates 90 degrees around the pivot portion 24a as shown in FIG. 7 due to the pressing force of the compression spring 22 via the weight 40, and the compression spring. Release 22 compressions. In the case of the rod-shaped weight stopper (not shown), the horizontal movement fixing is released by the fusing of the fastening wire 26, and the rod-shaped weight stopper slides to release the compression of the compression spring 22.

As shown in FIG. 8C, the compression spring 22 whose compressed state is released pushes the weight 40 along the weight guide 21, and ejects the weight 40 from the weight ejection port 21b of the weight guide 21.

(Net storage case)
As shown in FIG. 1, the net storage case 30 has a regular n-square frustum or a truncated cone shape, the narrow taper side is the bottom surface, the wide taper side is the net injection port 30a side, and the inside is a cup-shaped shape. There is a space inside to store the net 60. When the net storage case 30 in the shape of a regular n-sided pyramid is viewed in a cross section cut along a plane including the angle at the symmetrical position and the axis of symmetry, the angle formed by the side surfaces is 2Θ, which is the shape of a truncated cone. The apex angle of the side surface of the net storage case is 2Θ.

The net storage case 30 is in a state of facing upward toward the net injection port 30a, and in the case of the net storage case 30 having the shape of a regular n-sided cone, the bottom surface is such that the corner of the bottom surface is adjacent to the weight guide 21 of the injection mechanism 20. It is bolted to the center of the bottom surface of the main body structure 11 on the side, and in the case of the net storage case 30 in the shape of a frustum, it is bolted to the center of the bottom surface of the main body structure 11 on the bottom surface side.

(Choice of lid)
When the area of the net 60 is not wide, the size of the main body structure 11 is small, and the area of the net injection port 30a of the net storage case 30 is small (for example ^{, when the net 60 is 100 cm 2} or less), the net 60 is towed and deployed. The weight 40 is provided with a lid that serves to close the net ejection port 30a of the net storage case 30, and is referred to as a weight 40A with a lid (see FIG. 9).

On the other hand, when the area of the net is wide, the main body structure 11 is large, and the area of the net injection port 30a of the net storage case 30 is large (for example ^{, in the case of 100 cm 2} or more), the structure of the weight 40A with a lid is set. Instead, a lid for closing the net ejection port 30a of the net storage case 30 is separately provided. Hereinafter, it will be referred to as an opening / closing lid 45 (see FIG. 10). Further, the weight without a lid is also referred to as a weight without a lid 40B.

(Weight with lid)
As shown in FIG. 9, the weight 40A with a lid is composed of a weight body 41 and a lid 42. The weight body 41 has a cylindrical shape having a diameter that allows a gap that can be moved inside the weight guide 21 to enter the inside of the cylinder of the weight guide 21, and a string 61 for fastening the weight body 41 and the net 60 (FIG. 11). A hole 41a for connecting the weight (see) and a groove 41b for holding the position of the weight 40A by the weight stopper 24 at the position where the compression spring 22 is compressed are provided on the side surface. Further, the upper surface of the weight body 41 of the weight 40A with a lid is a slope with an inclination angle Θ for attaching the lid, and has a bolt hole (not shown) for attaching the lid 42.

The lid 42 of the weight 40A with a lid has a fan-shaped or isosceles triangular portion in order to cover the net ejection port 30a of the net storage case 30, and has a fan-shaped central angle and an isosceles triangle apex angle α [rad. ] Is given by the following equation according to the number (n) of the weight 40A.

When the net storage case 30 has a truncated cone shape, the fan-shaped radius of the lid 42 of the weight 40A with a lid is equal to the radius of the net injection port 30a of the circular net storage case 30 so that the net injection port 30a can be closed. Or, it should be a little large. Further, on the outside of the fan-shaped portion of the lid 42, there is a rectangular portion 42a for connecting to the weight body 41.

When the net storage case 30 has a regular n-sided pyramid shape, the length of the bottom of the isosceles triangle portion of the lid 42 of the weight 40A with a lid is set to the upper surface side of the net storage case 30 so that the net injection port 30a can be closed. It is assumed that the length is equal to or slightly larger than the length of one side of the regular n-sided polygon. Further, on the bottom side of the isosceles triangular portion of the lid 42, there is a rectangular portion 42a for connecting to the weight body 41.

The lid 42 of the weight 40A with a lid is a thin plate, and the plate thickness thereof is about 1 mm to 2 mm. The lid 42 is provided with a hole (not shown) that can be bolted to the weight 40A. A counter mass 43 is attached to the lid 42 of the weight 40A with a lid on the upper surface and the outside of the lid 42 so that the position of the center of gravity of the weight 40A with a lid coincides with the central axis of the cylinder of the weight body 41.
(Weight without lid)

As shown in FIG. 5B, the lidless weight 40B includes a cylindrical portion 40a having a diameter that creates a slight gap when inserted into the cylinder of the weight guide 21, and a bichamfered portion 40b above the cylindrical portion 40a. A slitting groove 40c is provided from the upper end surface in parallel with the chamfered surface of the two chamfered portion 40b, and the position of the weight 40B in the weight guide 21 is fixed by entering the weight stopper 24 into the slitting groove 40c. NS. Further, the bichamfered portion 40b has a hole 40d for fastening a string 61 (see FIG. 11) moored to the net 60.

(Opening and closing lid)
As shown in FIG. 10, the opening / closing lid 45 has a thin plate shape. When the outer shape of the main body structure 11 is an n-square pillar, the opening / closing lid 45 has a regular n-sided shape, and when the outer shape of the main body structure 11 is a cylindrical shape, it has a substantially circular shape for opening and closing. Has a part of the side for attaching the hinge 46 of the above.

The opening / closing lid 45 is connected to the main body structure 11 by a hinge 46, and a rotary spring 47 is attached to the hinge 46 so that the opening / closing lid 45 can rotate 180 degrees. When the opening / closing lid 45 is closed and the net ejection port 30a is covered, the rotary spring 47 is in the direction of being compressed.

The opening / closing lid 45 is provided with a hole 45a for fastening the lid fixing fastening wire 48. The opening / closing lid 45 is fixed by the lid fixing fastening wire 48 in a state where the opening / closing lid 45 is closed and covers the net ejection port 30a. Nylon fishing line with a thickness of about 1 mm is used for the fastening wire 48 for fixing the lid. The closure fixing wire 48 passes through the lid fixing fastening wire cutting device 49 installed inside the side center support column 11b of the main body structure 11.

A nichrome coil is built in the lid fixing fastening wire cutting device 49, and heat is generated by passing a direct current, and the heat generated by the heat causes the lid fixing fastening wire 48 to be blown to rotate the rotary spring 47. The opening / closing lid 45 is opened by force.
(Tether connection support for net mooring)

As shown in FIG. 1, the net mooring tether connection support column 50 has the shape of a thin hollow cylinder, has a thread on the lower side, and is fixed to the main body structure 11. The upper outer side is provided with a hexagonal shape so that it can be rotated with a wrench when it is fixed to the main body structure 11. The net mooring string 51 is fastened to the bottom surface of the main body structure 11 through the hollow portion of the net mooring tether connecting column 50.

(network)
As the material of the net 60, for example, Kevlar (registered trademark) is used. The net 60 has a square grid shape (hereinafter, also simply referred to as “square”) or a regular n-sided spider web shape (hereinafter, also simply referred to as “spider web shape”). The mesh spacing (δ) is about half the length of the minimum side of the target to be captured. Tie the knot of the mesh with a double joint so that it will not come loose. N strings 61 are connected radially to the outer periphery of the net 60 at an equal angle when viewed from the center of the net 60, and the string 61 is passed through the hole 41a of the weight 40A with a lid or the hole 40d of the weight 40B without a lid. It is connected to the net 60. The length of the string 61 is about one or two mesh spacings.

(How to determine the size of the net)
Hereinafter, the square net 60 shown in FIG. 11A will be used for description. Assuming that the mesh spacing is δ and the number of spacing is k, the length L of one side of the mesh 60 is given by the following.

The number of strings for forming the net 60 is (k + 1) for the vertical string and (k + 1) for the horizontal string, and a total of 2 (k + 1) strings are required. _{Therefore, the total L all} of the lengths of the strings for forming the net is given by the following equation, ignoring the length required for the knot.

Assuming that the diameter of the string of the net 60 is d, the cross-sectional area A of the string is given by the following equation.

_{Therefore, the volume V str} of the string forming the square net 60 is given by the following equation.

On the other hand, the volume of the space for accommodating the net 60 of the net storage case 30 is referred to as V (hereinafter referred to as the accommodating volume). If the accommodating volume V _{is the same as the volume V str} of the string, it is impossible to completely fill the accommodating space with the net 60, and the frictional force between the nets or between the net and the side surface of the storage case acts. In consideration of the above, in order to eject the weight 40 and pull the net from the net storage case 30 to deploy it, it is better to store the net in the net storage case 30 with a space. _{Here, the ratio of the volume V str} of the string to the accommodation volume V is defined as the filling rate p.

Now, for convenience, it is defined as follows

When the net 60 is stored in the net storage case 30 at a filling rate p, the following equation holds.

収容体積Ｖが十分に大きい場合、式(10)は大よそ次式のように近似できる。

Given the storage volume V of the net storage case 30, the filling ratio p, the diameter of the net string d, and the mesh spacing δ, the length L of one side of the square net is a quadratic of equation (9). It is given by solving the equation as follows. The formula giving a negative value is excluded because it is inappropriate as the length L of one side forming the net.

When the accommodating volume V is sufficiently large, Eq. (10) can be approximated as the following equation.

Next, the case of a spider web-like net will be described using the characters shown in FIG. 11 (b). The spider web-shaped net has a regular n-sided shape, with a string 62 connecting the apex and the center point O of the net, a vertical string 63 connecting the midpoint M of the apex and the center point of the net, a horizontal string 64 connecting the vertices, and so on. It is formed from a horizontal cord 65 for forming a shape in which the outer peripheral regular n-sided shape is similarly reduced. Now, the isosceles right triangle part of 1 / n of the net is called the (1 / n) net part.

また、縦紐６３の長さＬ”_{（１／ｎ）}は次式で与えられる。

縦紐６３を均等にｋ分割した個所に横紐６５を結ぶとする。このとき、横紐６５同士の間隔δは、次の式となる。

Let L be the length of the string 62. The apex angle of the isosceles triangle is α, as in Eq. (1). At this time, the length L'of the string 64 is given by the following equation.

Further, the length L " _{(1 / n)} of the vertical string 63 is given by the following equation.

It is assumed that the horizontal string 65 is tied at a position where the vertical string 63 is evenly divided into k. At this time, the distance δ between the horizontal cords 65 is as follows.

で与えられる。（1／ｎ）網部分には１本の横紐６４と（ｋ−1）本の横紐６５があり、長さの合計は次式で与えられる。

_{The length L'j} of the jth horizontal string 65 from the center point of the net is due to the similarity relationship.

Given in. The (1 / n) net portion has one horizontal cord 64 and (k-1) horizontal cord 65, and the total length is given by the following equation.

The entire net 60 is a collection of n (1 / n) net portions. _{Therefore, the total length L all} of the strings forming the spider web-shaped net 60 is given by the following equation.

Since the cross-sectional area A of the string is given by Eq. (4), the volume V _str of the spider web-like net is given by the following equation.

従って、正ｎ角形の蜘蛛の巣状の網６０を直径ｄで作成し、収容体積Ｖの網収納ケース３０に充填率ｐで収容しようとした場合、（1／ｎ）網部分の紐６２の長さＬは次式で決定される。

Similar to the case of a square net, when the net 60 is stored in the storage volume V of the net storage case 30 at a filling factor p, the following equation holds.

Therefore, when a regular n-sided spider web-shaped net 60 is created with a diameter d and an attempt is made to store it in a net storage case 30 having a storage volume V at a filling rate p, the string 62 of the (1 / n) net portion The length L is determined by the following equation.

(Calculation method of storage volume of net storage case)
A method of calculating the storage volume V of the net storage case 30 will be described.

また、底面の面積Ｓは

で与えられる。
網収納ケース３０は錘ガイド２１に沿って、傾斜角Θのテーパーが付いているので、網射出口側の面積Ｓ’は

で与えられる。 First, the case of a regular n-angle frustum will be described. Let h be the depth of the storage portion of the net storage case 30, and let r be the length of one side of a regular n-sided polygon on the bottom surface of the storage portion. At this time, the distance r'between the apex of the regular n-sided polygon on the bottom surface and the center point of the bottom surface is

In addition, the area S of the bottom surface is

Given in.
Since the net storage case 30 has a taper with an inclination angle Θ along the weight guide 21, the area S'on the net ejection port side is

Given in.

Considering the geometrical relationship, the storage volume V of the net storage case 30 is given by the following equation.

網収納ケース３０は錘ガイド２１に沿って、傾斜角Θのテーパーが付いているので、網射出口側の面積Ｓ’_ｃｉｒは次式となる。

網収納ケース３０が円錐台形状の場合、収容体積Ｖは次式で与えられる。

Next, the case of the truncated cone-shaped net storage case 30 will be described. _Assuming that the radius of the bottom surface of the storage portion of the net storage case 30 is r cil, the area S _cil of the bottom surface is given by the following equation.

Since the net storage case 30 has a taper with an inclination angle Θ along the weight guide 21, the area _S'cil on the net ejection port side is given by the following equation.

When the net storage case 30 has a truncated cone shape, the storage volume V is given by the following equation.

展開が完了した網６０の外周と網中心との距離Ｒ_ｆは、網６０が正方形の場合、Ｒ_ｆ＝（√2／2）Ｌであり、蜘蛛の巣状の網６０の場合、紐６１の長さをＬと同じ、つまり、Ｒ_ｆ＝Ｌと考えることができる。従って、捕獲対象物体までの適正な距離Ｄ_ｏｐｔはおよそ次のように設定できる。
正方形の網６０の場合

ただし、Ｌは正方形の一辺の長さである。
蜘蛛の巣状の網６０の場合

ただし、Ｌは正ｎ角形の蜘蛛の巣状の網６０の対角頂点間の距離の半分の長さである。 (Appropriate distance to the object to be captured)
FIG. 12 is an explanatory diagram showing the relationship between the net at the completion of deployment, the distance to the capture target, and the weight ejection angle, and shows the case where (a) is a square net and (b) is a spider web-shaped net.
When the width of the net 60 and the injection angle Θ of the weight 41 are determined, it is desirable that the net 60 is sufficiently deployed immediately before the object to be captured is captured by the net. For that purpose, an appropriate distance to the object to be captured is required. Here, a method of determining an appropriate distance to the object to be captured will be described.
Let D be the distance to the object to be captured. Assuming that the weight 40 connected to the net 60 by the string 61 is ejected at the ejection angle Θ, moves while maintaining the ejection angle Θ, and the net 60 is deployed, the net 60 being deployed at a position separated by a distance D. The distance R between the outer circumference (position of the weight 40) and the center of the net can be evaluated by the following equation.

_{The distance R f} between the outer circumference of the unfolded net 60 and the center _{of the net is R f} = (√2 / 2) L when the net 60 is square, and the string 61 when the net 60 is a spider web. Can be considered to have the same length as L, that is, R _{f = L. Therefore, the appropriate distance Dopt} to the object to be captured can be set as follows.
In the case of square net 60

However, L is the length of one side of the square.
In the case of spider web-shaped net 60

However, L is half the length of the distance between the diagonal vertices of the regular n-sided spider web-shaped net 60.

蜘蛛の巣状の網６０の場合

(Appropriate injection angle)
When the distance D to the object to be captured and the representative length L of the net 60 are determined, the appropriate injection angle Θ _opt can be determined as follows by considering the equations (28), (29), and (30).
In the case of square net 60

In the case of spider web-shaped net 60

The proposed structure can release the compressive force of a plurality of compression springs 22 at the same time, improve the accuracy of the injection direction of the weight 40 and the net, and can be easily reused by using the spring, which contributes to cost reduction. do.

If the size of the net 60 is sufficiently large compared to the size of the target to be captured, problems will not occur in the capture, but the appropriate size of the net 60, the distance between the meshes, the angle of ejection of the weight, and the size of the target to be captured. , Depends on the distance D to the capture target. Further, the volume of the net storage case 30 and the optimum area of the net ejection port 30a depend on the size of the net 60, the mesh spacing δ, and the diameter d of the net string.

Therefore, in the present invention, the size of the target to be captured, the distance D, and the volume requirement imposed on the net storage case 30, the width of the net 60, the mesh spacing δ, the diameter d of the net string, and the ejection angle of the weight. It includes a method for determining the optimum specifications of an element based on the relationship of Θ, and a system for embodying the arrangement of parts having the determined specifications. All of them are illustrated in the detailed disclosure below, and the scope of the invention is set forth in the claims.

(First processing method of space debris)
In the first processing method of space debris of the present invention, the above-mentioned net injection device 10 is mounted on a space navigation body, a net is ejected from the net injection device 10 toward space debris, and the net is entangled with the space debris to form the space. This is a method of capturing debris and plunging the space debris into the atmosphere to remove it.
FIG. 13 is a diagram conceptually showing this method. First, the space navigation body 100 equipped with the main net injection device 10 is launched and brought close to the target space debris 110 by control from the ground or the like. By operating the actuator (not shown) of the main net injection device 10 in response to the signal from the space navigation body 100 or the signal from the ground while sufficiently close to the space debris 110, each weight 40 is ejected. The net 60 is ejected and deployed (FIG. 13 (a)). When the net 60 reaches the space debris 110, it is entangled with the space debris 110 and captures it (FIG. 13 (b)). Since the captured space debris 110 is connected to the space navigation body 100 via the main net injection device 10 by the net mooring string 51, the space debris 110 and the space debris 100 are made to enter the atmosphere of the earth E (FIG. 13). (C)) The space debris 110 can be incinerated.
The method of capturing space debris with a space navigator and plunging it into the atmosphere together with the space navigator to remove it has been demonstrated in the Move DEBRIS project by the European Union. Can be expected to be applied.

(Second method of processing space debris)
In the second processing method of space debris of the present invention, the above-mentioned net injection device 10 is mounted on a space navigation body, and the net 60 with a conductive tether is ejected from the net injection device toward the space debris, and the space is concerned. This is a method in which the space debris is entangled with the debris and released from the net injection device 10 to stall the space debris by the Lorentz force applied to the conductive tether, and the space debris is naturally dropped into the atmosphere to be removed.
FIG. 14 is a diagram conceptually showing this method. First, a conductive tether 120 is attached to the net 60 of the main net injection device 10 instead of the net mooring string 51, and the other end of the conductive tether 120 is connected to the net via any means that can be connected and disconnected. It is connected to the injection device 10. Next, the space navigation body 100 equipped with the net injection device 10 is launched and brought close to the target space debris 110 by control from the ground or the like. By operating the actuator (not shown) of the main net injection device 10 in response to the signal from the space navigation body 100 or the signal from the ground while sufficiently close to the space debris 110, each weight 40 is ejected. The net 60 is ejected and deployed (FIG. 14 (a)). When the net 60 reaches the space debris 110, it is entangled with the space debris 110 and captured, whereby the conductive tether 120 is attached to the space debris 110 (FIG. 14 (b)). By separating the conductive tether 120 from the net injection device 10, the space debris 110 is discharged with the conductive tether 120 attached (FIG. 14 (c)). At this time, since Lorentz force is applied to the conductive tether 120 due to the influence of the geomagnetism, the space debris 110 equipped with this force gradually stalls and naturally falls into the atmosphere of the earth E, and is incinerated and disappears.
A space debris processing method using this conductive tether is currently under development by the Japan Aerospace Exploration Agency and others, but the net injection device of the present invention can be expected to be applied to this method.

(How to capture a suspicious flying object)
In the method for capturing a suspicious flying object of the present invention, the above-mentioned net injection device 10 is mounted on an aircraft, a net is ejected from the net injection device toward the suspicious flying object, and the net is entwined with the suspicious flying object to carry out the suspicious flight. It is a method of capturing the body.
FIG. 15 is a diagram conceptually showing this method. First, the aircraft 200 equipped with the main net injection device 10 is brought close to the target suspicious aircraft 210. The aircraft 200 may be a manned aircraft such as a helicopter, but an unmanned aerial vehicle (UAV) such as a large drone is preferable from the viewpoint of safety. In a state sufficiently close to the suspicious flying object 210, the actuator (not shown) of the main net injection device 10 is operated in response to a signal from the aircraft 200 or a signal from the ground, and each weight 40 is ejected to eject the net. 60 is ejected and deployed (FIG. 15 (a)). When the net 60 reaches the suspicious flying object 210, it gets entangled with the suspicious flying object 210 and captures it (FIG. 15 (b)). Since the captured suspicious aircraft is connected to the aircraft 200 via the net injection device 10 by the net mooring string 51, it can be moved to a safe place and processed.

The present embodiment is not limited to the above-described embodiment. A person skilled in the art can make various additions and changes within the scope of the present disclosure.
For example, in the above method for capturing a suspicious flying object, the net 60 is moored to the net injection device 10 main body with a net mooring string 51 to capture the suspicious flying object, but the net 60 is not moored to the net injection device 10 main body. It may be ejected and entangled with a suspicious flying object to make it inoperable and incapacitated.
Further, in the above embodiment, as an actuator for releasing the locking of the weight by the stopper in order to operate the weight injection mechanism, one fastening wire for fixing all the stoppers and a cutting device for cutting the fastening wire. However, the present invention is not limited to this, and other actuators such as solenoids and motors that are not always energized may be used.
Further, in each of the above embodiments, a square example and a regular n-sided polygonal spider web-like example are shown as the shape of the net, but the present invention is not limited to this, and the rectangular shape and the side lengths are not the same. A net having various shapes such as an n-sided polygon, a substantially circular shape, and a substantially elliptical shape may be used.

10 Net injection device 11 Main body structure 11a Net injection opening 11b Side center support 11d Jig shape part 11e Hole 11f Groove 11g Hole 20 Weight injection mechanism 21 Weight guide 21a Window 21b Weight injection port 22 Compression spring 23 Spring fixing plate 23a Hole 23b Slope 23c Key 23d Bolt hole 24 Weight stopper 24a Pilot part 24b Surface 24c Hole 25 Stopper pedestal 25a Pilot holding part 26 Stopper fixing fastening line (fastening line)
27 Fastening wire cutting device 28a to 28c Fastening wire guide 30 Net storage case 30a Net injection port 40 Weight 40a Cylindrical part 40b Double chamfered part 40c Slit groove 40d Hole 40A Covered weight 40B Coverless weight 41 Weight body 41a Hole 41b Groove 42 Closure 42a Rectangular part 43 Counter mass 45 Opening / closing lid 45a Hole 46 Hinge 47 Rotating spring 48 Closure fixing fastening line 49 Lid fixing fastening wire Cutting device 50 Net mooring tether connection support 51 Net mooring string 60 Net 61 string 62 String 63 Vertical cord 64 Horizontal cord 65 Horizontal cord 100 Space navigation body 110 Space debris 112 Conductive tether 200 Aircraft 210 Suspicious air vehicle E Earth

Claims (10)

The main body of the device equipped with a net storage recess that opens in the net injection direction,
A net that is housed in the net storage recess and is used to capture the object to be captured.
With a plurality of weights attached directly to each part of the outer circumference of the net or via a string,
A plurality of weight ejection mechanisms provided on the main body of the apparatus and ejecting the plurality of weights in a radial direction spreading at a predetermined angle from the net ejection direction by using a spring.
An actuator that activates the plurality of weight injection mechanisms in response to an external signal,
Have,
By ejecting the plurality of weights, the plurality of weight ejection mechanisms are configured to eject the net connected to the weight from the net accommodating recess in the net ejection direction and deploy the net .
Each of the plurality of weights has a substantially columnar shape and has a substantially columnar shape.
Each of the plurality of weight ejection mechanisms has a substantially cylindrical guide having an ejection port at one end and holding the weight inside, and the weight is arranged on the other end side inside the guide in the direction of the ejection port. Including a spring for urging the weight and a stopper for freely locking the weight.
The actuator is provided so as to circulate while being inserted or engaged with all the stoppers, and a single fastening wire for fixing each stopper with the weight locked, and a cutting wire for cutting the fastening wire. Including the device, by operating the cutting device to cut the fastening line, the locking of each weight by each stopper is simultaneously released, and each weight is simultaneously released from each injection port by each spring. A net injection device characterized by ejecting. The net injection device according to claim 1, further comprising a string for mooring the net after injection to the device main body. The net injection device according to claim 1 , wherein the spring can be inserted and arranged inside the guide from the other end side. Further having a lid covering the net storage recess, the lid is composed of the same number of separated small parts as the plurality of weights, and each small part is integrally fixed to each weight and integrally ejected. The net injection device according to claim 1, which is configured as follows. 1. The net injection device described in. The method for designing a net injection device according to claim 1.
A step of determining the shape of the net and the diameter d of the string forming the net,
_{The total length L all} of the string is calculated from the determined shape of the net, the cross-sectional area A of the string is calculated from the diameter d, and the total length L _all is multiplied by the cross-sectional area A to obtain the volume V _{str of the net.} And the step to calculate
A method for designing a net injection device, comprising a step of setting the volume V of the net accommodating recess _{to a value obtained by dividing the volume V str of the net by a predetermined filling rate p.} The method for designing a net injection device according to claim 1.
Steps that assume the size of the object to be captured, and
A step of setting _{the distance R f} from the center of the net to the outer circumference of the net based on the assumed size of the object, and
The step of setting the distance D from the main body of the device to the object to be captured at the time of capture, and
A method for designing a net injection device, comprising a step of setting the predetermined angle Θ to a value calculated by the equation Θ = tan ^-1 (D / R _f ) based on the set distance R _{f and the distance D.} The net injection device of claim 1 is mounted on a space navigator, a net is ejected from the net injection device toward space debris, the space debris is entangled with the space debris, the space debris is captured, and the space debris is entered into the atmosphere. How to remove space debris by letting it be removed. The net injection device according to claim 1 is mounted on a space navigation object, and a net with a conductive tether is ejected from the net injection device toward space debris, entwined with the space debris, and released from the net injection device. A method for removing space debris, in which the space debris is stalled by the Lorentz force applied to the conductive tether, and the space debris is rushed into the atmosphere to be removed. A method for capturing a suspicious flying object, in which the net injection device of claim 1 is mounted on an aircraft, the net is ejected from the net emitting device toward the suspicious flying object, and the net is entwined with the suspicious flying object to capture the suspicious flying object. ..

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