WO2019035378A1 - Engin spatial et système d'élimination de débris - Google Patents

Engin spatial et système d'élimination de débris Download PDF

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Publication number
WO2019035378A1
WO2019035378A1 PCT/JP2018/029350 JP2018029350W WO2019035378A1 WO 2019035378 A1 WO2019035378 A1 WO 2019035378A1 JP 2018029350 W JP2018029350 W JP 2018029350W WO 2019035378 A1 WO2019035378 A1 WO 2019035378A1
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Prior art keywords
debris
jet
space
spacecraft
flight
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PCT/JP2018/029350
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English (en)
Japanese (ja)
Inventor
臼井　芳雄
Original Assignee
臼井　芳雄
株式会社臼井工業研究所
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Priority claimed from JP2018086226A external-priority patent/JP6557835B2/ja
Application filed by 臼井　芳雄, 株式会社臼井工業研究所 filed Critical 臼井　芳雄
Publication of WO2019035378A1 publication Critical patent/WO2019035378A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
    • B64C29/04—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded characterised by jet-reaction propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices

Definitions

  • the present invention relates to a spacecraft flying in space and a debris removal system having such spacecraft.
  • a projectile that lands vertically by injecting a jet toward the ground at landing is generally called a vertical landing rocket.
  • Vertical landing type rockets are attracting attention as a landing technology for extraterrestrial satellites and planets such as the moon because they can be reused.
  • Patent Document 1 as an example of a vertical landing type rocket, the engine provided at the base of the airframe has a thrust deflection nozzle, and the orientation of a plurality of engines can be individually adjusted by the gimbal device.
  • Vertical take-off and landing aircraft are described.
  • the vertical take-off and landing aircraft can change the injection direction of the jet generated by the engine in two directions, and maintain the attitude of the airframe by adjusting the jet direction of the other engine even when one engine fails. While being able to land vertically.
  • attitude control occurs not only when landing on the ground, but also when landing on an artificial celestial body such as a space station. Similar problems occur not only in the vertical landing type rocket, but also in various space vehicles such as a spacecraft refueling system in which the reverse thrust device reversely jets and brakes. For this reason, there is a need for a space vehicle landing technology capable of easy and reliable attitude control for various space activities such as future lunar exploration and return to space stations.
  • the spacecraft of the present invention includes an airframe main body, and an air brake structure provided on one side in the flight direction relative to the airframe main body and curved in a concave shape toward the airframe main body;
  • An injection nozzle provided in the airframe main body and injecting an air jet from the one side in the flight direction toward the air brake structure with respect to the gravity center position of the airframe main body; It is characterized in that by reversing along the concave-shaped air brake structure, a repulsive force of the jet flow is generated on the airframe main body toward the one side in the flight direction.
  • the air brake structure is continuously formed around the central convex portion protruding toward the main body of the airframe and around the central convex portion, and the airframe is And a concave portion curved in a concave shape toward the main body.
  • a heat-resistant injection guide may be disposed between the injection nozzle and the air brake structure and through which the jet stream passes.
  • a control injection nozzle may be provided which jets another jet in at least one direction different from the direction of the jet jetted from the jet nozzle.
  • a jet is jetted to an air brake structure such as a parachute provided on one side in the flight direction than the airframe main body, and the direction of the jet is reversed along the concave shape. You can get the reaction. For this reason, reverse injection can be performed on the landing surface by setting the one side in the flight direction behind (that is, above) the injection nozzle with respect to the landing surface. Therefore, the influence of the ground effect can be suppressed in decelerating the airframe main body. Further, at this time, the jet is jetted from the upper side to the air brake structure above the center of gravity of the airframe main body, that is, in the opposite direction to the airframe of the airframe main body.
  • an air brake structure such as a parachute provided on one side in the flight direction than the airframe main body
  • the airframe main body can be decelerated and landed in a dynamically stable state, and easy and reliable attitude control becomes possible. Further, by applying the present invention, it is possible not only to use it for landing technology, but also to use a space vehicle as space debris (space debris) collection and disposal device by flying the space with the above reaction force as a propulsive force. Can.
  • FIG. 11A is a schematic view for explaining a variation of the space vehicle of the fifth embodiment
  • FIG. 11B is a schematic view of the open / close lid in the space vehicle of the variation viewed from the side of the jet nozzle.
  • a spacecraft 100 of the present embodiment shown in FIG. 1 has an airframe main body 6, an air brake structure (parachute 1) and an injection nozzle 5.
  • the air brake structure (parachute 1) is provided on one side in the flight direction relative to the airframe main body 6, and is curved in a concave shape toward the airframe main body 6.
  • the air brake structure (parachute 1) when the air brake structure (parachute 1) is curved in a concave shape toward the airframe main body 6, at least a part of the air brake structure (parachute 1) has a concave shape as viewed from the airframe main body 6. That is, it means that the shape is recessed in the direction away from the airframe main body 6.
  • the one side is the rear in the flight direction, that is, the upper side with respect to the landing surface 200.
  • the spacecraft 100 is used as a landing gear.
  • the spacecraft of the present invention (spacecraft 104: see FIG. 10) may be used in a mode in which the air brake structure is disposed in front to fly in space .
  • the air brake structure is provided in front of the airframe main body 6 in the flight direction, that is, one side of the above corresponds to the front in the flight direction.
  • the injection nozzle 5 is provided in the airframe main body 6, and one side (rearward in the first embodiment) of the center of gravity G of the airframe main body 6 in the flight direction.
  • Jet J is injected toward the air brake structure (parachute 1).
  • the jet J is directed rearward in the flight direction to the airframe main body 6 by reversing the direction of the jet J being jetted along the concave air brake structure (parachute 1). Produces a reaction force F of
  • landing includes landing on a ground or platform built on the ground, such as the ground or the moon, as well as docking to an artificial celestial body such as a space station.
  • a ground or platform built on the ground such as the ground or the moon
  • docking to an artificial celestial body
  • the target to be landed is sometimes referred to as a "landing surface” hereinafter, such a “landing surface” is a flat surface, as well as an uneven surface having unevenness, and a structure such as a docking device of a space station. Meaning that also includes
  • the spacecraft 100 may have various structures, and may be separated after being launched on board a launcher such as a rocket or an artificial satellite, and may be dropped toward the landing surface, or may be taken off by its own aircraft It may be a take-off and landing aircraft.
  • the spacecraft 100 can be exemplified by a lunar lander or a space shuttle.
  • the airframe main body 6 is a main structural portion on which bus equipment and mission equipment are mounted, and is a main mass portion in the spacecraft 100.
  • a leg 62 may optionally be provided at the lower part of the machine body 6.
  • the lower side is the side on which the space station and the landing surface 200 such as the ground are present, as viewed from the spacecraft 100, and the upper side is the opposite side. Therefore, the upper and lower sides in the present specification do not necessarily coincide with the upper and lower sides of the earth's gravity direction.
  • the flight direction of the space vehicle 100 to be landed includes at least a downward component directed to the landing surface 200.
  • “rearward in the flight direction” means not only the direction opposite to the direction in which the spacecraft 100 flies in the direction of landing but also a direction including a component in the opposite direction to the flight direction.
  • the landing space vehicle 100 may descend straight down towards the landing surface 200 or may fly obliquely downward. Therefore, in the present embodiment, at least a part of the air brake structure is disposed above the body 6 when viewed from the landing surface 200 that the air brake structure is provided behind the body 6 in the flight direction. It says that it is done.
  • the shape of the airframe main body 6 may be a rectangular solid (cube) shape, a cylindrical shape, or any other shape.
  • One or more injection nozzles 5 are provided in the upper part of the machine body 6.
  • a rocket engine (not shown) and a propellant tank (not shown) for supplying a propellant to the rocket engine are provided inside the airframe main body 6.
  • the jet J generated by the rocket engine is injected upward from the injection nozzle 5.
  • the injection direction of the jet J from the injection nozzle 5 may be variable by a gimbal device (not shown).
  • the spacecraft 100 includes an injection control unit 30 that controls a jet J injected from the injection nozzle 5.
  • the injection control unit 30 is a unit that controls the reaction force of the jet J by adjusting the velocity and flow rate of the jet J, and can use, for example, a known combustion control unit that controls combustion conditions in the engine.
  • the injection control unit 30 may be means for increasing or decreasing the number of engines to be operated.
  • the injection control unit 30 can be realized, for example, by an actuator provided in the engine, a valve provided in piping for supplying a propellant, and a computer for controlling these operations.
  • the spacecraft 100 includes an altitude calculation unit 20, a prediction calculation unit 40, and an information acquisition unit 50, which will be described later.
  • the air brake structure is an atmospheric braking structure that decelerates the space vehicle 100 using aerodynamic force received from the atmosphere when the space vehicle 100 temporarily flies in the atmosphere.
  • the deployed parachute 1 receives air resistance and decelerates the spacecraft 100.
  • atmospheric braking does not have to act on the air brake structure.
  • the parachute 1 formed in the shape of an umbrella with a flexible material can be typically illustrated.
  • a rigid plate-like member such as a wing shape may be used as the air brake structure.
  • a flexible parachute 1 from the viewpoint of being able to be folded, accommodated in the machine body 6, and be lightweight.
  • the parachute 1 exemplified as the air brake structure of the present embodiment it is preferable that at least a part of the ball skin is made of carbon fiber or a composite heat resistant material.
  • the composite heat-resistant material is a material obtained by combining one or more heat-resistant materials with a base material.
  • the heat-resistant material examples include heat-resistant fiber materials such as organic fibers such as carbon fibers and aramid fibers; and inorganic compound amorphous fibers such as silicon carbide fibers.
  • the base material examples include synthetic resins and ceramics. That is, as an example of the composite heat resistant material, a carbon fiber composite material, a ceramic base composite material, a carbon fiber reinforced ceramic composite material and the like can be mentioned.
  • the composite heat resistant material has a heat resistance of 200 ° C. or more, preferably 500 ° C. or more. Having heat resistance means that mechanical physical properties do not change significantly at the temperature. And, high relative strength and heat resistance can be obtained by making the parachute 1 of carbon fiber or composite heat resistant material.
  • the parachute 1 deployed as shown in FIG. 1 is provided at the rear, ie, above, in the flight direction as viewed from the airframe main body 6.
  • the parachute 1 is attached to the machine body 6 by a plurality of support ropes 3. More specifically, at least a part of the parachute 1 (preferably the center of the bottom surface 1a of the parachute 1) is arranged on an extension of a straight line connecting the gravity center position G of the airframe main body 6 and the injection nozzle 5 1 is expanded.
  • the gravity center position G of the airframe main body 6 refers to the three-dimensional position of the gravity center of the airframe main body 6 in the space vehicle 100 to fly, and becomes the parachute 1 and the jet J developed from the airframe main body 6 to the outside. It is calculated excluding the mass of propellant already consumed.
  • the expression “parachute 1” means the expanded parachute 1 without exception.
  • the parachute 1 has an umbrella shape and bulges upward away from the airframe main body 6. That is, the bottom surface 1 a of the parachute 1 is curved in a concave shape toward the airframe main body 6.
  • the spacecraft 100 of the present invention jets a jet J from the jet nozzle 5 to the parachute 1 located above the center of gravity G of the airframe main body 6, and this jet J is directed along the curved bottom surface 1 a of the parachute 1 And flip it.
  • the parachute 1 can be opened like an umbrella even in an environment substantially free of the atmosphere, such as the moon.
  • the jet J injected upward from the injection nozzle 5 changes its direction along the bottom surface 1a of the concave-shaped parachute 1 to become a jet J1, and the jet J1 flows along the parachute 1 and the jet J2 from the periphery of the parachute 1. It is blown out.
  • the reaction force F of the jet J 2 has an upward component as shown by the arrow in FIG.
  • the spacecraft 100 is decelerated by the reaction force F.
  • the airframe main body 6 receives the injection reaction force in the reverse direction (that is, downward) of the jet J.
  • the parachute 1 that is, the spacecraft 100
  • the downward jet reaction force and the upward push-up force cancel each other.
  • the jets J and J1 are directed to the spacecraft 100 until the jet J is jetted from the jet nozzle 5 and reaches the parachute 1 and becomes the jet J1. Act as an internal force against.
  • the momentum lost when the jet J changes its direction along the bottom surface 1a of the parachute 1 and becomes the jet J1 is extremely small.
  • the jet J1 whose direction is reversed is blown out from the peripheral edge of the parachute 1 as a jet J2.
  • the direction of the jet J 2 is an oblique direction in which the radially outward component and the downward component of the parachute 1 are combined. That is, the reaction force F of the jet J 2 has an upward component, and when the reaction force F of the jet J 2 blown out from the peripheral edge of the parachute 1 is synthesized in the circumferential direction of the parachute 1, the reaction force F is upward.
  • the reaction force F of the injection is above the gravity center of the airframe main body 6 It is generated and further becomes an upward component opposite to the gravity center position G. Therefore, the reaction force F does not unstably increase the rotational moment about the center of gravity of the airframe main body 6.
  • the jet J2 is blown out from the rear (upper side) of the airframe main body 6, the altitude of the spacecraft 100 is lowered and the distance to the landing surface 200 can be largely secured even immediately before the landing. For this reason, the influence of the ground effect can also be suppressed. From the above, according to the space vehicle 100 of the present invention, it is possible to stably realize the landing operation such as the moon landing.
  • the spacecraft 100 of the present embodiment may include an altitude calculation unit 20 that calculates the altitude of the airframe main body 6.
  • the above-described injection control unit 30 controls the jet J that is injected from the injection nozzle 5 based on the altitude information indicating the altitude of the airframe main body 6 calculated by the altitude calculation unit 20.
  • the speed and flow rate of the jet J to be injected that is, the injection amount according to the altitude of the spacecraft 100, the descent speed of the spacecraft 100 before landing can be adjusted as desired.
  • the jet control unit 30 stops the jet J or gives priority to the descent of the spacecraft 100.
  • the injection amount may be suppressed to less than a predetermined amount.
  • the injection control unit 30 starts the injection of the jet J or makes the injection amount of the jet J a predetermined amount or more in order to give priority to the deceleration of the spacecraft 100. It is good to control. As a result, the descent speed of the space vehicle 100 at the time of landing can be extremely reduced, and the load on the airframe main body 6 and the legs 62 can be suppressed.
  • the acquisition principle of the altitude information by the altitude calculation unit 20 is not particularly limited, for example, an optical distance measuring sensor 22 which emits light to the landing surface 200 and receives reflected light can be used.
  • the altitude of the aircraft body 6 indicated by the altitude information may be any information that can be converted to altitude from the landing surface 200 to any part of the aircraft body 6 (for example, the bottom 6a or the center of gravity G of the aircraft body 6).
  • the above-mentioned convertible information may be information indicating the height of a portion such as the lower end of the leg 62 or the upper end of the parachute 1 disposed in a known positional relationship with the airframe main body 6.
  • the spacecraft 100 of the present embodiment may include the prediction calculation unit 40 and the information acquisition unit 50.
  • the prediction calculation unit 40 is an information processing unit that calculates the landing prediction point LP of the aircraft body 6 based on the altitude and the flight speed of the aircraft body 6, and the information acquisition unit 50 acquires surface information or availability information of the landing prediction point LP.
  • the prediction calculation unit 40 and the information acquisition unit 50 are realized by a computer mounted on the machine body 6.
  • the prediction calculation unit 40 acquires altitude information from the altitude calculation unit 20, and acquires information on the flight speed and the flight direction of the spacecraft 100 from a speedometer or an accelerometer (not shown).
  • the prediction calculation unit 40 calculates the position information (latitude and longitude) of the landing prediction point LP based on these pieces of information.
  • the surface information of the landing prediction point LP is information indicating the surface condition of the landing prediction point LP
  • the availability information is information indicating whether the space vehicle 100 can land on the landing prediction point LP. .
  • the surface information of the predicted landing point LP may be, for example, image information captured by the camera 52 mounted on the airframe main body 6, or information indicating the scattering degree of the reflected light received by the distance measurement sensor 22.
  • the information acquisition unit 50 may determine whether the landing expected point LP has a flat enough to land by image processing of the image information. When it is determined that the flatness of the predicted landing point LP is equal to or greater than a predetermined threshold value, the information acquiring unit 50 determines that the predicted landing point LP can be landed, and acquires the determination result as the availability information.
  • the availability information can adopt various aspects.
  • latitude and longitude range information indicating a possible landing area may be stored in advance in a storage device (not shown) of the spacecraft 100.
  • the information acquiring unit 50 collates the range information with the predicted landing point LP to determine whether the space vehicle 100 can land on the predicted landing point LP, and acquires the determination result as the availability information.
  • the ground station or host ship may be communicated with the antenna 54 mounted on the airframe main body 6. That is, the information acquisition unit 50 transmits information indicating the predicted landing point LP to the ground station or the mother ship from the antenna 54, and uses the signal as to whether or not the landing prediction point LP may be landed as the ground station or the main ship. May be received and acquired by the antenna 54.
  • the injection control unit 30 maintains the injection condition of the jet J as it is.
  • the injection control unit 30 changes the injection condition of the jet J, for example, increases the injection amount of the jet J .
  • the repulsive force F is increased and the lowering of the altitude of the airframe main body 6 is suppressed, so the airframe main body 6 flies longer in the horizontal direction and then lands. In other words, the predicted landing point LP shifts to the distance.
  • the forecasting operation unit 40 updates the landing forecasting point LP over time and calculates it, and the information acquisition unit 50 updates and acquires surface information or availability information of the landing forecasting point LP.
  • the injection control unit 30 maintains or reduces the injection amount of the jet J and applies the space flight object 100. Land at the predicted landing point LP.
  • the spacecraft 100 can be safely landed by avoiding the location when landing is difficult because the landing surface 200 is uneven.
  • the spacecraft 100 jets another jet (auxiliary jet) in at least one direction different from the direction of the jet J injected from the injection nozzle 5 (not shown in FIG. 1). See FIG. 5).
  • the control injection nozzle 17 is an auxiliary thruster provided at a position different from the injection nozzle 5 and is attached to the airframe main body 6 directly or indirectly via another attachment member (not shown). .
  • the control injection nozzle 17 jets a jet (auxiliary jet) at least in a direction (for example, a horizontal direction or an oblique direction) intersecting the vertical direction to control the position and orientation of the airframe main body 6.
  • the control injection nozzles 17 are arranged so that jets can be jetted individually in forward and reverse directions of two orthogonal directions in a horizontal plane orthogonal to the vertical direction, that is, in four directions orthogonal to the vertical direction. Is preferred. Thereby, it is possible to control the translational position of the spacecraft 100 and the direction around the center of gravity. Furthermore, the control injection nozzles 17 may be configured to be capable of individually injecting jets in six orthogonal directions including the vertical direction.
  • the propulsion principle in the control injection nozzle 17 is not particularly limited, and may be the same as or different from the injection nozzle 5 which is a main thruster.
  • the control injection nozzle 17 is a chemical engine like the injection nozzle 5
  • the propellant supplied to the control injection nozzle 17 is shared with the propellant supplied to the injection nozzle 5 and a propellant tank (shown in FIG. May be supplied from Further, weight reduction may be achieved by using an ion engine or a hole thruster as the control injection nozzle 17.
  • the direction and the magnitude of the thrust of the jet (auxiliary jet) injected from the control injection nozzle 17 are controlled by the injection control unit 30 or another control unit interlocked with the injection control unit 30. That is, the control injection nozzle 17 and the control unit that drives and controls this constitute a device that determines the target landing point of the spacecraft 100.
  • the injection nozzle 5 When the spacecraft 100 lands, the injection nozzle 5 may be stopped and only the control injection nozzle 17 may be driven, or the control injection nozzle 17 may be driven in combination with the injection nozzle 5.
  • the control accuracy of the reaction force of the jet (auxiliary jet) jetted from the control injection nozzle 17 is higher than the control accuracy of the reaction force of the jet J of the injection nozzle 5 controlled by the injection control unit 30.
  • the airframe main body 6 is accurately made to the target landing point of the spacecraft 100 (for example, the landing prediction point LP calculated by the prediction calculation unit 40).
  • the control injection nozzle 17 jets a jet (auxiliary jet) from the control injection nozzle 17 in the horizontal direction, etc. It is good to drive As a result, the airframe main body 6 can move quickly from the non-landing possible landing point LP to avoid this.
  • FIG. 2 is a schematic view for explaining a space vehicle 101 according to a second embodiment of the present invention.
  • the air brake structure (parachute 1) is continuously formed around the central convex portion 2 projecting toward the airframe main body 6, and the airframe main body 2 to form an airframe main body It differs from the first embodiment in that it includes a concave portion 2 a that curves in a concave shape toward 6.
  • the central convex portion 2 of the parachute 1 protrudes in a “pointer hat” shape toward the injection nozzle 5. That is, the tip (lower end) of the central convex portion 2 and the vicinity thereof are convex downward, and the concave portion 2 a is convex upward.
  • the central convex portion 2 has an inflection point transitioning downward from the convex shape to the convex shape around the tip.
  • the injection pressure by the jet J makes a U-turn from the central convex portion 2 in the shape of a pointed hat to the bottom portion 7 of the parachute 1 and becomes a jet J1 flowing along the concave portion 2a.
  • the central convex portion 2 is connected to the support rope 3 of the parachute 1 by a convex portion support rope 4.
  • a plurality of convex portion support ropes 4 are circumferentially connected in the vicinity of the tip (lower end) of the central convex portion 2, and each convex portion support rope 4 radially extends to the middle portion of the plurality of support ropes 3 Each is linked.
  • the convex portion support rope 4 is branched from the middle portion of the support rope 3 and supports the central convex portion 2 with a predetermined tension.
  • the jet J is jetted from the jet nozzle 5 toward the parachute 1 so as to collide with the central convex portion 2.
  • the jet stream J is split radially at the central convex portion 2 before decelerating. Invert at the bottom 7. For this reason, it prevents that the jet J becomes a vortex and stagnates and attenuates inside the parachute 1, and the jet J2 is blown out from the periphery of the parachute 1 while maintaining a large momentum to obtain a high reaction force F be able to.
  • the jet J split at the central convex portion 2 is reversed in direction at the bottom portion 7 without being disturbed and along the concave portion 2 a Flow.
  • the reaction force F of the jet of the jet J is generated above the center-of-gravity position G of the airframe main body 6. Therefore, the falling of the airframe main body 6 can be decelerated and the landing surface 200 can be safely landed without increasing the rotational moment about the center of gravity of the airframe main body 6 unstably.
  • Landing surface 200 may be landed on bottom surface 6 a of body 6 without providing legs 62 on body 6.
  • the body 62 may be provided with the legs 62.
  • FIG. 3 is a schematic view for explaining a state in which the spacecraft 101 of the second embodiment is docked to the space station 202.
  • the parachute 1 illustrates an end face cut in a plane passing through the center of the central convex portion 2.
  • FIG. 3 shows a state in which the spacecraft 101 lands on the docking unit 204 of the space station 202, not on the ground such as the moon. That is, the docking unit 204 of the space station 202 corresponds to the landing surface 200.
  • a connecting portion (not shown) is provided on the bottom surface 6 a of the machine body 6.
  • control injection nozzle 17 for finely adjusting the position and the orientation of the airframe main body 6 is provided on the side surface 6b of the airframe main body 6.
  • the control injection nozzle 17 is an auxiliary thruster for controlling the position and orientation of the airframe main body 6 with six degrees of freedom.
  • the control injection nozzles 17 are provided on at least one pair of opposing side surfaces 6b. In the spacecraft 101 just before landing, the spacecraft 101 can be hovered by injecting a jet J with a sufficient injection amount from the injection nozzle 5 and generating a reaction force F that balances with the weight of the spacecraft 101. .
  • control injection nozzle 17 is operated to align the position and orientation of the airframe main body 6 with the docking portion 204 of the space station 202.
  • the spacecraft 101 descends by its own weight and lands on the docking unit 204.
  • FIG. 4 and FIG. 5 are views schematically showing the spacecraft 102 of the third embodiment of the present invention. Some of the ropes such as the support rope 3 and the convex portion support rope 4 are not shown.
  • the spacecraft 102 of the present embodiment is different from the spacecraft 101 of the second embodiment (see FIG. 2) in that the spacecraft 102 has the injection guide 9.
  • the injection guide 9 is a heat-resistant member disposed between the injection nozzle 5 and the air brake structure (parachute 1) and through which the jet J passes.
  • the space projectile 101 according to the second embodiment shown in FIG. 2 has a large distance from the jet nozzle 5 to the central convex portion 2 in the form of a “hatched hat”, so the jet J ejected from the jet nozzle 5 is central convex It is a part of the jet J that diffuses before reaching 2 and reaches the central convex portion 2. Further, the jet J is diffused, so that the jet J1 after being inverted at the bottom portion 7 becomes low speed, and a large reaction force F can not necessarily be obtained.
  • the jet guide J is provided to allow the jet J to pass, and the diffusion of the jet J is suppressed and focused on the central convex portion 2 of the parachute 1 in a converged state. be able to.
  • the jet J is concentrated on the central convex portion 2, and a high flow velocity and a large reaction force F of the jet J2 can be obtained.
  • the injection guide 9 preferably has heat resistance so as to pass the high temperature jet J generated by combustion or a chemical reaction. Therefore, the injection guide 9 is made of a heat resistant material such as carbon fiber or a composite heat resistant material.
  • the injection guide 9 may be provided to the parachute 1 which does not have the central convex portion 2 like the spacecraft 100 of the first embodiment shown in FIG. In that case, diffusion is suppressed by passing the jet guide J injected from the injection nozzle 5 through the injection guide 9, and the jet J is sprayed to a central portion of the bottom surface 1 a of the parachute 1. As a result, the jet J is reliably U-turned to generate the jet J1 and the jet J2, and a large reaction force F can be obtained.
  • the injection guide 9 has a hollow tubular shape.
  • the opening shape of the injection guide 9 is preferably circular, but is not limited thereto.
  • the opening diameter of the injection guide 9 is preferably larger than the opening diameter of the injection nozzle 5 so that substantially the entire amount of the jet J injected from the injection nozzle 5 is guided by the injection guide 9. However, since the jet stream J diffuses inside the injection guide 9 if the opening diameter of the injection guide 9 is too large, the opening diameter of the injection guide 9 is substantially equal to the opening diameter of the injection nozzle 5. Less than twice the opening diameter of is preferable.
  • the injection guide 9 is disposed concentrically with the injection nozzle 5. Further, as shown in FIG. 5, the upper end of the injection nozzle 5 is preferably located inside the injection guide 9. With this arrangement, the jet J is prevented from leaking from the lower end of the injection guide 9, substantially all of the jet J is blown from the upper end toward the parachute 1 through the injection guide 9, and the parachute 1 Make a U-turn.
  • the opening shape of the injection guide 9 of the present embodiment is circular, and the injection guide 9 is a cylindrical shape having a linear axis.
  • the opening cross-sectional area of the injection guide 9 is uniform over the longitudinal direction as shown in FIG.
  • the lower end portion of the jet guide 9 is connected to the upper portion of the machine body 6 by a plurality of lower support ropes 13.
  • the upper end portion of the injection guide 9 is located below the tip (lower end) of the central projection 2 and is connected to the central projection 2 of the parachute 1 by a plurality of upper support ropes 14.
  • the injection guide 9 is suspended between the central projection 2 and the machine body 6, and the straight line connecting the tip of the central projection 2 and the axis of the injection nozzle 5 is the axis of the injection guide 9. Be supported in a manner consistent with your heart. And by supporting the injection guide 9 with each of the plurality of lower support ropes 13 and the upper support rope 14, rotation of the injection guide 9 around the axis is suppressed.
  • the shape of the injection guide 9 is not limited to that shown in FIG. Hereinafter, a modification of the injection guide will be described with reference to the cross-sectional views of FIG. 6 and FIG.
  • FIG. 6 is a cross-sectional view of a first modified example of the space projectile 102 of the third embodiment.
  • the legs 62 are not shown.
  • the injection guide 10 of the first modified example at least the end (upper end) on the side closer to the air brake structure (parachute 1) gradually expands in diameter toward the air brake structure (parachute 1) It differs from the form of FIG. 5 in point. Further, as shown in FIG. 6, the height position of the upper end of the injection guide 10 is equivalent to the tip (lower end) of the central convex portion 2.
  • the diameter of the upper end of the injection guide 10 By expanding the diameter of the upper end of the injection guide 10 in this way, even if the upper end of the injection guide 10 is brought close to the lower end of the central convex portion 2 and both are arranged at the same height, the flow passage area of the jet J It can be secured enough. As a result, the upper end of the injection guide 10 can be brought close to the parachute 1, and the diffusion of the jet J can be further suppressed.
  • the diameter of the upper end of the injection guide 10 increases the flow velocity of the jet J and thus the speed of the jet J 2 after reversal. Can be increased.
  • the opening diameter of the injection guide 10 of the first modification shown in FIG. 6 gradually increases over the entire length from the lower end to the upper end. That is, the injection guide 10 has a shape that spreads in a trumpet shape (skirt shape) over the entire length. Thereby, the jet stream J can be gradually widened toward the upper end of the injection guide 10 while the diffusion of the jet stream J is suppressed.
  • the opening diameter may be constant from the lower end to the middle portion of the injection guide 10, and the opening diameter may be expanded with only a partial length from the middle portion to the upper end.
  • the upper end of the upper support rope 14 for suspending the injection guide 10 may be attached to a position higher than the vicinity of the lower end of the central convex portion 2 in the parachute 1.
  • FIG. 7 is a cross-sectional view of a second modification of the space vehicle 102 of the third embodiment.
  • the injection guide 11 of the second modification at least the end (upper end) on the side closer to the air brake structure (parachute 1) gradually reduces in diameter toward the air brake structure (parachute 1) .
  • the jet guide 11 is narrowed at the upper end portion toward the central convex portion 2, the jet stream J blown out from the jet guide 11 can be more concentrated toward the central convex portion 2.
  • FIG. 8 is a cross-sectional view for explaining the space vehicle 103 of the fourth embodiment of the present invention.
  • the air brake structure is a parachute 1 as in the first to third embodiments.
  • the injection guide 12 of the present embodiment includes a lower cylindrical portion 12 a and a second parachute 12 b disposed above the lower cylindrical portion 12 a and arranged inside the parachute 1.
  • the jet J which has been jetted from the jet nozzle 5 and has passed through the lower cylindrical portion 12a flows through the gap V between the parachute 1 and the second parachute 12b, so that the flow direction is reversed.
  • the injection guide 12 is provided with the second parachute 12 b to suppress the diffusion of the jet J introduced into the injection guide 12 inside the parachute 1, and the jet J 2 is It can be blown out from the surroundings. Thus, a large reaction force F can be obtained.
  • the second parachute 12 b (inner parachute) is made of a heat resistant material such as carbon fiber or a composite heat resistant material.
  • the width dimension of the gap V between the parachute 1 and the second parachute 12 b is uniform throughout the parachute 1 in the example shown in FIG. 8.
  • the second parachute 12b is attached to the machine body 6 by a support rope 13a.
  • the second parachute 12 b (inner parachute) and the upper end of the lower cylindrical portion 12 a are continuously formed without a gap.
  • the jet J that has passed through the lower cylindrical portion 12a is introduced into the gap V without being substantially decelerated, and a jet J2 having a high flow velocity can be obtained.
  • FIG. 9 is a schematic view for explaining a state in which the space vehicle 104 according to the fifth embodiment of the present invention flies in space to collect space debris (space debris D).
  • the traveling direction DR of the space vehicle 104 flying is the upper side of the figure.
  • FIG. 10 is a schematic view for explaining the state of launching space debris (space debris D) from the spacecraft 104 of the fifth embodiment.
  • the spacecraft 104 of the fifth embodiment can be used as a landing gear to the landing surface 200 as the spacecraft 100 to 103 of the first to fourth embodiments described above.
  • the spacecraft 104 is a space debris collection device that flies in space as shown in FIG. 9 to collect space debris D, and as shown in FIG. 10, space debris toward the earth surface (landing surface 200). It is used as a space waste disposal device to launch and drop D.
  • the air brake structure (parachute 1) in the space vehicle 104 of this embodiment has a central convex portion projecting toward the airframe main body 6 as in the second embodiment (see FIG. 2). And a concave portion 2a continuously formed around the central convex portion 2 and curved in a concave shape toward the airframe main body 6.
  • the spacecraft 104 jets the jet J upward from the jet nozzle 5 and splits the jet J radially at the central convex portion 2 as described in the second and third embodiments (FIGS. 2 to 7).
  • the jet force J1 flowing along the lower surface of the concave portion 2a is inverted at the bottom portion 7 and blown back from the peripheral edge of the parachute 1 as a jet jet J2 to obtain a reaction force F. Due to this reaction force F, the spacecraft 104 can obtain thrust in the traveling direction DR in space.
  • the peripheral portion of the parachute 1 is connected to the machine body 6 by a plurality of support ropes 3. Since the reaction force F biases the parachute 1 forward and pulls the support rope 3 in the pulling direction, substantially only tension is loaded on the support rope 3. For this reason, even if it is the flexible and flexible support rope 3, there is no fear of buckling etc., and the fuselage body 6 can be pulled and advanced.
  • the air brake structure (parachute 1) of the present embodiment has a bowl shape which opens toward the far side on one side (upper side) with the central convex portion 2 as the bottom. If the air brake structure is in a bowl shape, the air brake structure has a concave shape when the space flight object 104 is viewed from the front (upper side in FIG. 9) of the jet direction of the jet J. It refers to a shape in which the width dimension of at least a part of the shape widens continuously or stepwise toward the injection direction (forward) of the jet J.
  • the central convex portion 2 is in the form of a straight cylinder having an axial direction with the jet direction of the jet J as the axial direction and a cylindrical shape of uniform diameter, and the concave portion 2a continuously formed on the upper end of the central convex portion 2 It has a frusto-conical shape that increases in diameter as it moves away from the
  • the space flight object 104 advanced by the reaction force F can take in the space debris D floating in the space in front of the parachute 1 into the central convex portion 2.
  • space debris D in the space swept by the wide opening area of the concave portion 2a is collected along the concave portion 2a by the parachute 1 having a bowl shape expanding in the forward direction of the flight direction, It can be taken into the inside of the convex portion 2.
  • the central convex portion 2 includes a debris accommodating portion 70 that accommodates space debris D taken from one side (upper side) along the concave portion 2 a.
  • the debris accommodating portion 70 is a region for collecting the space debris D taken into the central convex portion 2, and the side (lower side: lower end) opposite to the inflow side (upper side) of the space debris D in the central convex portion 2 Is closed and configured.
  • the central convex portion 2 of the parachute 1 is continuously formed in a hollow shape continuous with the deepest central portion of the bowl-shaped concave portion 2a, and the deepest portion (lower end in FIG. 9) of the central convex portion 2 is closed. There is.
  • space debris D relatively approaching from the front of the parachute 1 toward the spacecraft 104 moves along the bowl-shaped concave portion 2a to the inside of the parachute 1, and the debris accommodation portion through the central convex portion 2 It is collected inside 70.
  • the mounting portion 72 is connected to the support rope 3 or the airframe main body 6 by a plurality of convex portion support ropes 4 arranged radially. For this reason, even if the space debris D is taken into the debris containing portion 70 and collides with the open / close lid 71, it is possible to suppress the wobbling of the central convex portion 2 and the debris containing portion 70.
  • the debris storage unit 70 has an openable lid 71 that can be opened and closed.
  • the open / close lid 71 faces the injection nozzle 5 and is disposed forward of the injection direction of the jet stream J when viewed from the injection nozzle 5.
  • At least a part of the open / close lid 71 has a spherical shape that bulges in the depth direction of the debris containing portion 70.
  • the depth direction of the debris containing portion 70 is the taking-in direction of the space debris D, in other words, the direction from the parachute 1 to the machine body 6.
  • the open / close lid 71 of the present embodiment has a pair of partial spherical curved surface shapes.
  • the open / close lid 71 is a combination of a pair of quarter spheres.
  • An annular mounting portion 72 for reinforcement is attached to the tip (lower end) of the central convex portion 2.
  • the mounting portion 72 is made of a material having higher rigidity than the central convex portion 2, and the mounting portion 72 is mounted around the lower end of the central convex portion 2.
  • the open / close lid 71 is rotatably attached to the attachment portion 72 via a hinge mechanism 73. As shown in FIG. 9, the pair of open / close lids 71 are put together to form a hemispherical dome shape and close the lower end of the cylindrical central convex portion 2.
  • the interior of the dome-shaped lid 71 serves as a debris accommodation space.
  • the pair of open / close lids 71 each have a flange-like abutment portion 74.
  • the abutting portion 74 is a flange surface formed on the meridian line when the pair of open / close lids 71 are combined to form a hemispherical dome shape.
  • the open / close lid 71 has a hemispherical shape which is directly opposed to the injection nozzle 5 and bulges. As a result, the jet J is injected from the front to the open / close lid 71 to split it. As shown in FIG. 10, the pair of open / close lids 71 are opened by being respectively pivoted outward about the hinge mechanism 73, and the tip (upper end in FIG. 10) of the central convex portion 2 is opened.
  • the mechanism for opening the open / close lid 71 is not particularly limited.
  • the hinge mechanism 73 may urge an elastic force to the open / close lid 71 in the direction in which the open / close lid 71 is opened by a spring or the like. Further, as shown in FIG. 9, with the pair of open / close lids 71 closed, the butting portions 74 are releasably locked by a lock mechanism (not shown).
  • the open / close lid 71 can be opened outward as shown in FIG. 10 by operating the lock mechanism with a pyrotechnic product or an electromagnet to release the lock.
  • the open / close lid 71 can be maintained in the open state by the elastic force of the hinge mechanism 73.
  • the opening / closing operation of the opening / closing lid 71 is not limited to being performed by the hinge mechanism 73 as in the present embodiment.
  • the open / close lid 71 may be opened and closed by a shutter mechanism (not shown).
  • the space flight object 104 which collected the space debris D in the debris accommodation unit 70 flies toward the earth with the reaction force F obtained by injecting the jet J from the injection nozzle 5 with the open / close lid 71 closed.
  • the spacecraft 104 flies the parachute 1 toward the ground surface (landing surface 200) to a predetermined height above the earth (gravity zone), as shown in FIG.
  • the open / close lid 71 is opened, and the jet J is injected from the injection nozzle 5 so that the jet stream J is blown into the inside of the central convex portion 2 between the opened pair of open / close lids 71.
  • the space debris D collected at the site is pushed directly toward the ground surface.
  • the jet force J is not split at the debris containing portion 70 and blown into the central convex portion 2 so that no reaction force F (see FIG. 9) is generated, and the jet reaction force of the jet stream J is directed upward in FIG. Act on.
  • part or all of the gravity of the earth acting on the spacecraft 104 is canceled, and the spacecraft 104 maintains a predetermined height.
  • the space debris D is ejected from the central convex portion 2 in the direction of the earth by the force of the jet J, and then enters the atmosphere (re-entry) and is burned and removed.
  • the space vehicle 104 of the present embodiment even the relatively small space debris D which is difficult to capture with a robot arm or the like can be collected in the debris storage unit 70.
  • the space debris D flying in space by its spacecraft D's own orbit as the spacecraft 104 flies further toward the earth with the repulsive force F as a propulsion force. Get off the track and decelerate. Therefore, as described above, the space debris D can be re-entered into the atmosphere and burned.
  • the space debris D is collected by the space flight object 104 and then the space debris D is launched toward the earth, but the operation of the space flight object 104 is not limited to this. That is, the space flight object 104 may reenter itself into the atmosphere and burn the space debris D together with the space flight object 104 while collecting the space debris D in the debris storage unit 70.
  • jets J are jetted from the jet nozzle 5 with the legs 62 of the airframe main body 6 directed to the side of the landing surface 200 to obtain the reaction force F downward. May be used as a landing gear for decelerating the spacecraft 104. When the spacecraft body 6 of the spacecraft 104 lands on the landing surface 200, the space debris D and the spacecraft 104 can be recovered to the ground.
  • the specific structure of the open / close lid 71 is not limited to the present embodiment, and a movable lid that can close at least the rear side of the central convex portion 2 that is the debris containing portion 70 can be widely used.
  • the shape of the open / close lid 71 may be flat instead of dome.
  • the opening-closing lid 71 which closes only the lower end side (rear side) of the center convex part 2 (the debris accommodating part 70) was illustrated in this embodiment, it is not restricted to this.
  • the opening and closing lid may be provided so as to be openable and closable on the front side and the rear side of the debris storage unit 70, respectively. In this case, as shown in FIG.
  • the spacecraft 104 may turn as necessary toward the surface of the earth and fly, with both the front and rear open / close lids closed.
  • the jet J may be injected from the injection nozzle 5 in a state where both the front and rear open / close lids are open.
  • the spacecraft of the present invention is used as a landing gear for landing on artificial earth objects such as the earth surface, the earth surface such as the earth's surface, space stations etc. It can be used as a collection and disposal device for space debris to be removed.
  • FIG. 11A is a schematic view for explaining a variation of the spacecraft 104 of the fifth embodiment.
  • FIG. 11B is a schematic view of the open / close lid 71 of the space vehicle 104 of the modification viewed from the side of the injection nozzle 5.
  • FIG. 12 is a schematic view illustrating a state where the space debris D is launched from the spacecraft 104 according to the modification of the fifth embodiment.
  • At least a part of the open / close lid 71 in the present modification has a spherical shape which bulges in the depth direction of the debris containing portion 70 as shown in FIG. 11A.
  • the depth direction of the debris containing portion 70 is the capturing direction of the space debris D, which is downward in FIG. 11A.
  • the present modification is different from the fifth embodiment shown in FIGS. 9 and 10 in that the shape of the open / close lid 71 and the buffer body 75 are provided on the inner surface of the open / close lid 71. That is, the open / close lid 71 of the space vehicle 104 according to the fifth embodiment is a combination of a pair of quarter spheres, and as shown in FIG. The diameter of the hemisphere is equal to the diameter of the central protrusion 2. On the other hand, as shown in FIGS.
  • the open / close lid 71 of the space vehicle 104 of the present modification is configured by combining three lid members of the same shape, and the open / close lid 71 It differs from the fifth embodiment in that it bulges to a diameter larger than the outer diameter of the central convex portion 2 in the closed state.
  • the open / close lid 71 has a spherical shape which bulges outward in the radial direction of the debris containing portion 70 in addition to the depth direction of the debris containing portion 70.
  • the term "spherical” as used herein includes a partial spherical surface and a substantially spherical surface.
  • a part of the outer surface and the inner surface of the open / close lid 71 bulges out and protrudes to the outer side in the radial direction than the outline of the central convex portion 2 tightened by a broken line.
  • the space debris D is taken in into the debris accommodating part 70 from one side (upper direction) along the concave part 2a.
  • the open / close lid 71 of this modification rolls the taken-in space debris D along the inner surface of the open / close lid 71, and the collision with the other taken-in space debris D and the frictional force with the debris containing portion 70
  • the space debris D can be decelerated and collected. That is, in the case of the hemispherical opening and closing lid 71 as in the fifth embodiment, there is a risk that the space debris D taken into the debris containing portion 70 makes a U-turn with the opening and closing lid 71 and is separated forward from the debris containing portion 70 again. is there.
  • the spherical inner surface of the open / close lid 71 expands beyond the outline of the central convex portion 2 to the outside in the radial direction, so that it is taken into the debris accommodating portion 70
  • the space debris D rolls along the inner surface of the open / close lid 71 and decelerates as it rolls inside the debris storage unit 70. For this reason, the possibility that the space debris D separates from the debris storage unit 70 again is reduced.
  • the debris containing portion 70 is preferably a heat resistant debris containing portion made of a heat resistant material such as carbon fiber or a composite heat resistant material. It is preferable that the opening / closing lid 71 to which the jet J is particularly jetted out of the debris containing portion 70 has heat resistance higher than the heating temperature heated by the jet J.
  • a material of the opening / closing lid 71 a metal material, a carbon fiber, or a composite heat-resistant material can be exemplified.
  • a buffer body 75 made of a softer material than the open / close lid 71 is provided on the inner surface of the open / close lid 71.
  • the specific material of the buffer 75 and the open / close lid 71 is not particularly limited, for example, as a material of the buffer 75, a rubber material, a porous resin material, and a gel can be exemplified.
  • a material of the buffer 75 a rubber material, a porous resin material, and a gel.
  • the thickness dimension of the buffer 75 may be larger than the thickness of the open / close lid 71. Thereby, the repulsive force when the space debris D collides with the open / close lid 71 can be sufficiently reduced.
  • the buffer 75 is a member having a thickness sufficient to reduce the collision impact of the space debris D, and is coated and formed sufficiently thinner than the thickness of the open / close lid 71 such as a heat insulating coating or insulating coating. Except for the coated layer.
  • FIG. 11A and 11B illustrate an embodiment in which the open / close lid 71 is configured by three lid members disposed around the ring-shaped attachment portion 72 and connected by the hinge mechanism 73, respectively. I can not.
  • the lid member constituting the open / close lid 71 may be four or more, or two or less.
  • the arrangement, the number, and the shape of the hinge mechanism 73 are also arbitrary, and the open / close lid 71 may be opened and closed by a mechanism other than the hinge mechanism 73.
  • the space debris D is pushed toward the ground surface by injecting the jet J from the injection nozzle 5 with the open / close lid 71 open. It is preferable that the open / close lid 71 be expanded sufficiently widely in a state in which the open / close lid 71 is expanded. Specifically, the entire opening of the mounting portion 72 and the central convex portion 2 is an open / close lid as viewed from the injection nozzle 5 It is preferable to completely expose from 71.
  • the circular openings of the mounting portion 72 and the central convex portion 2 are arranged along a vector extending from the center of the opening toward the injection nozzle 5 (that is, a vector opposite to the injection direction of the jet J from the injection nozzle 5). It is preferable that the entire open / close lid 71 be disposed outside the projected cylindrical virtual space. As a result, when the jet J ejected from the injection nozzle 5 is blown into the ring-shaped attachment portion 72 and the central convex portion 2 to push out the space debris D, the jet J interferes with the open / close lid 71 and decelerates It is possible to prevent it from
  • FIG. 13 is a schematic plan view of a debris removal system 300 having a space vehicle 104 provided with the debris storage unit 70 described above as the fifth embodiment of the present invention or the modification thereof.
  • This figure is a view of the debris removal system 300 viewed from the front of the traveling direction DR (see FIG. 14) of the spacecraft 104.
  • FIG. 14 is a side view of the debris removal system 300 of the present embodiment as viewed from the side of the traveling direction DR of the spacecraft 104. As shown in FIG.
  • the debris removal system 300 is more efficient than collecting space debris D with the space vehicle 104 alone by changing the flight trajectory of the space debris D using the orbiting flight object 320 that forms a line with the space vehicle 104. Space debris D is removed.
  • the debris removal system 300 may be composed of only space vehicles 104 and orbiting vehicles 320 flying in space, or may be configured including a terrestrial system on the earth.
  • the debris removal system 300 includes the spacecraft 104 and one or a plurality of orbiting aircraft 320 (320a, 320b) that form a line with the spacecraft 104 in front of the traveling direction DR of the spacecraft 104. And is configured.
  • the orbiting flying object 320 flies along the traveling direction DR of the space flying object 104 while turning and flying around the central axis about the traveling direction DR of the space flying object 104 as a central axis.
  • the orbiting flying object 320 includes a debris trajectory correction nozzle 330 which jets the jet J3 toward the flying space debris D to change the flying trajectory of the space debris D. That the space debris D flies to the orbiting flight object 320 means that the space debris D approaches the orbiting flight object 320 relatively.
  • the orbiting projectile 320 has a housing 321, an advancing nozzle 332 (see FIG. 13) for obtaining an acceleration for flying along the traveling direction DR of the spacecraft 104, and an angular velocity for pivoting around the central axis AX. And an orbiting nozzle 334 for obtaining the electric field.
  • the jet J4 is injected from the forward nozzle 332 in the opposite direction (downward in FIG. 14) to the forward direction DR, and the orbiting flying object 320 obtains a velocity component parallel to the forward direction DR.
  • the jet J5 is injected from the turning nozzle 334 in a tangential direction of an arc centered on the central axis AX, and the turning flying object 320 obtains a velocity component to turn around the central axis AX.
  • FIG. 13 exemplifies turning of the orbiting flight object 320 counterclockwise around the central axis AX.
  • a jet J5 is made tangentially to the circle having a clockwise component with respect to a circle (not shown) centered on the central axis AX (the position of the debris storage portion 70 of the space vehicle 104 in FIG. Is injected.
  • the turning direction of the turning projectile 320 may be opposite to the above.
  • a plurality of orbiting flying objects 320 are arranged in a plurality of stages in a ring shape to fly in a row.
  • the plurality of orbiting projectiles 320 constituting each stage pivot in the same direction.
  • the orbiting projectiles 320 constituting different stages may pivot in the same direction around the central axis AX, or may pivot in the opposite direction.
  • the propulsion principles of the forward nozzle 332, the swirl nozzle 334, and the debris trajectory correction nozzle 330 are not particularly limited, and may be common or different.
  • the propellants used for the jet J 4 jetted from the forward nozzle 332, the jet J 5 jetted from the swirl nozzle 334, and the jet J 3 jetted from the debris trajectory correction nozzle 330 may be shared.
  • the debris trajectory correction nozzle 330, the cancel nozzle 331, the forward nozzle 332, the reverse nozzle 333, the swivel nozzle 334, and the deceleration nozzle 335 are mounted on the housing 321.
  • the casing 321 is mounted with an injection control unit that controls the injection timing and injection amount of the jet flow injected from each of the nozzles, and various control devices (not shown) for posture control.
  • the orbiting projectile 320 has a receding nozzle 333 located on the opposite side of the advancing nozzle 332 with respect to the housing 321.
  • illustration of the backward nozzle 333 appearing on the upper surface of the housing 321 is omitted.
  • the backward nozzle 333 jets a jet in a direction opposite to the jet J 4 jetted from the forward nozzle 332.
  • the orbiting projectile 320 has a decelerating nozzle 335 installed on the opposite side of the orbiting nozzle 334 with respect to the housing 321.
  • the decelerating nozzle 335 jets a jet in a direction opposite to the jet J5 jetted from the swirling nozzle 334.
  • the angular velocity around the central axis AX obtained by the jet J5 injected from the swirling nozzle 334 is excessive, the angular velocity can be reduced and finely adjusted by injecting a jet (not shown) from the deceleration nozzle 335 .
  • the debris trajectory correction nozzle 330 jets a jet J3 toward the space debris D to change the flight trajectory of the space debris D.
  • the orbiting projectile 320 has a canceling nozzle 331 installed on the opposite side of the debris trajectory correcting nozzle 330 with respect to the housing 321.
  • the canceling nozzle 331 jets a jet (not shown) at the same velocity and flow rate as the jet J3 in the opposite direction to the jet J3 at the same timing as jetting the jet J3 from the debris trajectory correction nozzle 330.
  • the reaction of the momentum of the jet J3 ejected from the debris trajectory correction nozzle 330 can cancel the deviation of the orbiting flight object 320 from the flight trajectory.
  • the debris storage unit 70 of the space vehicle 104 is injected by injecting the jet J3 from the debris trajectory correction nozzle 330 toward the space debris D to change the flying trajectory of the space debris D.
  • space debris D located outside the swept volume of the spacecraft 104 can be moved to the inside of the swept volume.
  • the direction of the jet J3 ejected from the debris trajectory correction nozzle 330 toward the space debris D is not limited to the above.
  • the jet J3 may be injected from the debris trajectory correction nozzle 330 toward the space debris D located between the orbiting flight object 320 and the earth.
  • the space debris D can be dropped toward the earth and burned in the atmosphere to remove the space debris D.
  • the space debris D is decelerated by applying the reverse acceleration of the flight direction to the space debris D flying on the orbit such as the geostationary orbit by the jet J3, and gradually from the orbit to the earth It will fall. Thereby, the space debris D can be burned and removed in the atmosphere.
  • the debris removal system 300 further comprises a trajectory correction computing unit 340.
  • the trajectory correction operation unit 340 determines at least one of the injection timing and the injection amount of the jet J3 ejected from the debris trajectory correction nozzle 330 based on the debris condition of the flying space debris D. More specifically, the debris condition at least includes the position of the flying space debris D, the flying direction and the flying speed.
  • the trajectory correction computing unit 340 passes through the air brake structure (parachute 1) of the space vehicle 104 at the time of flight arrival of the space debris D after the flight trajectory has been changed by the injection of the jet J 3 and the flight position and flight time of the space debris D The injection timing or injection amount of the jet J3 is determined to coincide with the position.
  • the injection amount of the jet J3 is the flow velocity of the jet J3 or the flow rate of the jet J3 per unit time. That is, the orbiting flying object 320 jets the space debris D so that the space debris D just reaches the space area and time zone through which the air brake structure (parachute 1) of the spacecraft 104 flying behind it passes. J3 is injected.
  • the trajectory correction operation unit 340 is realized by a computer.
  • the orbit correction computing unit 340 may be provided in the spacecraft 104, may be provided in the orbiting vehicle 320, may be provided in a terrestrial system on the earth, or may be provided separately from these. May be FIG. 14 illustrates the case where the trajectory correction arithmetic unit 340 is mounted inside the airframe main body 6 of the spacecraft 104.
  • the debris removal system 300 optically or electromagnetically measures the position, the flying direction, and the flying velocity of the space debris D flying in front of the orbiting flight object 320 using an observation device (not shown).
  • an observation device may be provided on the ground system, or may be provided on the spacecraft 104 or the orbiting vehicle 320.
  • the observation device may further measure the size of the space debris D.
  • the trajectory correction operation unit 340 estimates the mass of the space debris D from the size of the space debris D and the average density value of the space debris D. Furthermore, when the jet J3 is ejected from the debris trajectory correction nozzle 330 to the space debris D, the trajectory correction operation unit 340 estimates an average projected area in which the space debris D receives a biasing force.
  • the orbit correction operation unit 340 Estimate the impulse that the debris D will receive.
  • the trajectory correction operation unit 340 calculates the trajectory of the space debris D after the flight trajectory has been changed by receiving the impulse based on the estimated value of the mass of the space debris D, the position, the flying direction and the flying velocity.
  • the trajectory correction operation unit 340 sets the trajectory of the space debris D to the space region through which the parachute 1 of the space vehicle 104 passes, with at least one of the injection timing and the injection amount of the jet J3 as a variable.
  • the solution of the variable is determined so as to pass slightly ahead of the flying object 104 and be collected by the debris storage unit 70.
  • the above orbit specified by the determined variable is called a "collection orbit”.
  • the trajectory correction operation unit 340 is configured to continuously or intermittently inject jets J3 from the debris trajectory correction nozzle 330.
  • the injection timing (timing) is a variable.
  • the trajectory correction computing unit 340 is wirelessly connected to the injection control unit of the turning projectile 320.
  • the trajectory correction operation unit 340 transmits a command signal to the injection control unit of the debris trajectory correction nozzle 330 so that the jet J3 is ejected from the debris trajectory correction nozzle 330 at the determined injection timing and injection amount.
  • the jet J3 is ejected from the debris trajectory correction nozzle 330 in the determined orbiting vehicle 320 at a predetermined timing and injection amount.
  • the debris removal system 300 includes one or more orbiting projectiles 320. Although one orbiting flight object 320 may be caused to orbit forward of the space flight object 104 to jet the jet J 3 to the space debris D, it is preferable to orbit the plurality of orbiting flight objects 320. As a result, even if the flying speed of the space debris D is high, the space debris D may pass the debris removal system 300 without passing near the swing flying object 320 in relation to the swing cycle of the swing flying object 320 The probability can be reduced.
  • the debris removal system 300 of the present embodiment has a plurality of orbiting flying objects 320 that orbit and fly around the central axis AX.
  • the trajectory correction computing unit 340 determines, among the plurality of machines, the orbiting flying object 320 that jets the jet J3 from the debris trajectory correction nozzle 330 based on the various debris conditions. That is, the trajectory correction computing unit 340 jets the jet J 3 at the moment when the flying space debris D passes the circular region drawn by the circular turning trajectory of the turning flying object 320 and which is closest to the space debris D. Is determined as the turning projectile 320 to be jetted.
  • the trajectory correction computing unit 340 may determine to jet jets J3 from the orbiting flight members 320 of a plurality of machines (for example, a plurality of machines adjacent to each other) for one space debris D.
  • FIGS. 13 and 14 illustrate a debris removal system 300 having a total of 12 orbiting vehicles 320.
  • FIG. However, the number of orbiting aircraft 320 is not limited to this.
  • a plurality of orbiting flying objects 320 are arranged in a plurality of stages in a ring shape in a forward direction of the traveling direction DR of the spacecraft 104 to form a row flight.
  • six orbiting flying objects 320 a are distributed at equal intervals from one another on the first stage annular turning orbit near the space flying object 104.
  • six orbiting flying bodies 320b are distributed at equal intervals to each other on the second stage annular orbit located forward of the first stage in the traveling direction DR.
  • the flying orbit of the space debris D is changed onto the passing area of the space flight object 104 only by the jet J3 which the second stage swirling body 320b distant from the space flight object 104 injects to the space debris D.
  • the space debris D can be more reliably assured by the fact that the orbiting flight object 320b not only jets the jet stream J3 but also the orbiting flight body 320a following the rear of the orbiting flight body 320b further jets the jet stream J3.
  • Flight trajectory of the spacecraft can be changed onto the passage area of the spacecraft 104.
  • the number of orbiting projectiles 320 constituting each stage may be equal to or different from one another.
  • a plurality of orbiting flying objects 320 are arranged in a plurality of stages in a ring shape to fly in a row, but instead of the plurality of orbiting flying objects 320 being the traveling direction DR of the space flight object 104 It may be arranged in a spiral in front of the column to fly in a row.
  • the spiral axis on which the orbiting flying object 320 is disposed coincides with the central axis AX, and each aircraft of the orbiting flying object 320 is disposed on a three-dimensional helix and pivots in the same direction around the central axis AX.
  • the distances in the direction along the central axis AX between the plurality of orbiting flying objects 320 and the space flying object 104 are different from each other. Therefore, the possibility that one of the orbiting flying objects 320 approaches the flying space debris D and jets the jet J 3 to change the flying trajectory of the space debris D toward the space flying object 104 is enhanced.
  • a plurality of turning projectiles 320 are connected to each other by a cable 350.
  • the casings 321 of the aircraft adjacent to each other are connected by the cable 350 in the six orbiting flying objects 320a of the six aircraft that draw the orbit of the first stage.
  • the casings 321 of the aircraft bodies adjacent to each other are also connected by another cable 350 in the six orbiting flying objects 320b that draw the orbit of the second stage.
  • the plurality of swing projectiles 320 rotating in the same direction by the injection reaction force of the jet stream J5 have circular orbits.
  • each aircraft of the orbiting projectile 320 has equal velocity components with respect to the traveling direction DR by, for example, injecting the jet J 4 from the forward nozzle 332 at the same speed.
  • the spacecraft 104 reverses the jet J1 injected from the injection nozzle 5 with the parachute 1 as described above in the fifth embodiment, and blows it backward from the periphery of the parachute 1 as the jet J2 so that the speed in the traveling direction DR Fly with the ingredients.
  • the orbiting flying object 320 and the space flying object 104 in each stage can translate at the same speed along the traveling direction DR (central axis AX) without breaking the squadron.
  • the number of units of the turning projectiles 320 in each stage connected by the cables 350 is not limited, by being three or more, three or more cables 350 draw a polygon. Specifically, as shown in FIG. 13, there may be six, five or four, three or seven or more. As a result, the cable 350 is stretched on the side of the polygon, and the cable 350 is not disposed at the center of the polygon. For this reason, the space debris D flying toward the spacecraft 104 from the distance toward the spacecraft 104 does not interfere with the cable 350, and the space debris D can be used as a debris storage portion of the spacecraft 104. 70 does not prevent collection.
  • the length of the cable 350 is not particularly limited, but can be, for example, several kilometers to several tens of kilometers. As shown in FIG. 13, when six orbiting flying objects 320 are arranged on the apex of a regular hexagon to draw a circular orbit, the diameter of the orbit is twice the length of the cable 350, that is, several tens of kilometers It can be in the order of On the other hand, the diameter of the parachute 1 of the spacecraft 104 can be about several tens of meters to 100 meters. Therefore, the space debris D is moved toward the spacecraft 104 by the debris removal system 300 of the present embodiment, as compared with the case where the spacecraft 104 flies alone and collects the space debris D with the parachute 1. When this is collected, the area where the space debris D can be removed can be as large as 1000 times in diameter ratio and 1 million times in area ratio.
  • the turning radius of the first turning projectile 320a constituting the first step is the second turning projectile constituting the second step of turning and flying ahead of the space projectile 104 relative to the first turning projectile 320a. It is smaller than the turning radius of 320b.
  • the space in which the debris removal system 300 is disposed is reduced in diameter from the orbit of the second stage of the orbiting flying object 320b toward the orbit of the first stage of the orbiting flying object 320a.
  • the diameter decreases toward the parachute 1 of the spacecraft 104.
  • the space in which the debris removal system 300 is disposed has a bowl shape that decreases in diameter from the front to the rear in the traveling direction DR.
  • the flight trajectory of the space debris D flying toward the debris removal system 300 is changed (first stage change) in the direction toward the central axis AX by the second swing flight object 320b that draws a large swing trajectory, First, it is moved to the inside of the small orbit of the first orbiting flight object 320a. Next, the flying orbit of the space debris D is further changed with high accuracy to a position above the passing area of the parachute 1 of the space flying object 104 by the subsequent first orbiting flight object 320a that draws a small orbit. Can change the stage).
  • the debris can be collected efficiently by the debris storage unit 70 of the spacecraft 104.
  • the debris removal system of the present embodiment may be configured with only the orbiting vehicle without being combined with the space vehicle.
  • a debris removal system has a plurality of orbiting flying vehicles in a row, and the above-mentioned flying vehicles fly along the central axis while flying around the predetermined central axis, and the space debris which flies It can be configured as a debris removal system including a debris trajectory correction nozzle that jets a jet to change the flying trajectory of space debris. Space debris may be dropped toward the surface by jets ejected from the debris trajectory correction nozzle. As a result, even if space debris is not collected by space vehicles, it can be removed by re-entering the atmosphere debris and burning it.
  • FIG. 15 is a schematic plan view of a debris removal system 310 according to a modification. This figure is a view of the debris removal system 310 viewed from the front of the traveling direction of the spacecraft 104.
  • FIG. 16 is a side view of the debris removal system 310 viewed from the side of the traveling direction DR of the spacecraft 104. As shown in FIG.
  • the debris removal system 310 is configured to include the spacecraft 104, and the spacecraft 104 and a plurality of orbiting flight vehicles 320 that form a line in front of the traveling direction DR of the spacecraft 104.
  • a plurality of turning projectiles 320 respectively fly around the central axis AX extending through the spacecraft 104 and along the traveling direction DR.
  • the debris removal system 310 of the present embodiment differs from the debris removal system 300 of the sixth embodiment in that a plurality of orbiting projectiles 320 are connected to the spacecraft 104 by a cable 352, respectively.
  • the cable 352 connects the casing 321 of the orbiting flight object 320 to, for example, the outer peripheral edge of the parachute 1 of the space flight object 104.
  • a plurality of turning projectiles 320 draw a turning trajectory around the central axis AX of the space projectile 104 by injecting the jet J 5 from the turning nozzle 334.
  • the space flying object 104 is pulled forward by the cable 352 and makes an advancing flight in the traveling direction DR while rotating about the central axis AX. Since the orbiting projectiles 320 are evenly distributed around the central axis AX, the forces by which the orbiting projectiles 320 of each aircraft pull the space projectile 104 via the cables 352 cancel each other.
  • Collection operation of the space debris D by the debris removal system 310 is the same as that of the sixth embodiment.
  • the length of the cable 352 can be, for example, several kilometers to several tens of kilometers.
  • the jets J4 are injected from the forward nozzle 332 in the direction opposite to the traveling direction DR to obtain equal velocity components advancing along the traveling direction DR.
  • the orbiting vehicle 320 and the space vehicle 104 fly in a formation while maintaining a predetermined distance in the traveling direction DR.
  • the orbiting projectile unit 320 closest to the orbit is determined by the trajectory correction computing unit 340, and the jet J3 is ejected from the debris trajectory correction nozzle 330.
  • the flying orbit of the space debris D is changed to a collecting orbit.
  • the space debris D can be collected by the debris storage unit 70 of the spacecraft 104.
  • the debris trajectory correction nozzle 330 fixedly installed in the housing 321 is directed to the central axis AX with respect to the space debris D.
  • the debris trajectory correction nozzle 330 may be movably attached to the housing 321 so that the injection direction of the jet J 3 can be changed.
  • the jet J3 is jetted from the debris trajectory correction nozzle 330 so as to have not only the inward directional component of the orbit but also a directional component opposite to the traveling direction DR (that is, the direction toward the spacecraft 104). It is also good. Thereby, the space debris D flying in various orbits can be more reliably changed to the collection orbits.
  • the present invention is not limited to the above-described embodiment, and also includes various modifications, improvements and the like as long as the object of the present invention is achieved.
  • a foldable parachute 1 may be mounted at the rear of a spacecraft having both wings like an aircraft, and the parachute 1 may be deployable on an extension of a jet J injected rearward from the rocket engine of the spacecraft.
  • the various components of the spacecraft 100 to 104 of the present invention do not have to be independent entities individually, but a plurality of components are formed as one member, one component is a plurality of members , A certain component is a part of another component, a part of a certain component overlaps with a part of another component, and the like.
  • a machine body an air brake structure provided behind the machine body in the flight direction and curving in a concave shape toward the machine body, and a body body provided in the machine body than the center of gravity of the machine body
  • an injection nozzle for injecting a jet stream toward the air brake structure from the rear in the flight direction, and the direction of the jet stream jetted is reversed along the concave air brake structure.
  • a landing gear characterized in that a repulsive force of the jet is generated on a body of the vehicle rearward in the flight direction.
  • the air brake structure is a parachute made at least in part of carbon fiber.
  • the air brake structure includes a central convex portion projecting toward the main body, and a concave portion continuously formed around the central convex portion and curved in a concave shape toward the main body.
  • the landing gear as described in said (1) or (2) provided with.
  • the landing gear as described in said (4) whose opening cross-sectional area of the said injection guide is uniform over the longitudinal direction.
  • the landing gear according to (4) wherein at least an end of the injection guide on the side closer to the air brake structure gradually expands toward the air brake structure.
  • the landing gear according to (4) wherein at least an end of the injection guide on the side closer to the air brake structure gradually reduces in diameter toward the air brake structure.
  • the air brake structure is a parachute, and the injection guide is disposed at a lower side cylindrical portion and a second parachute arranged above the lower side cylindrical portion and arranged inside the parachute. And the jet flow passing through the lower cylindrical portion flows through the gap between the parachute and the second parachute, and the direction of the jet is reversed in any one of the above (4) to (7).
  • the landing gear as described in. (9)
  • the landing gear according to (8), wherein the second parachute and the lower cylindrical portion are continuously formed without a gap.
  • a height calculation unit that calculates the height of the machine body, and a jet control unit that controls the jet jetted from the jet nozzle based on the height information indicating the height calculated by the height calculation unit; And a control injection nozzle for injecting another jet in at least one direction different from the direction of the jet injected from the injection nozzle, the landing according to any one of the above (1) to (9) apparatus.
  • (11) It is possible to land on the surface information indicating the surface condition of the landing forecast point or the landing forecast point, which calculates the landing forecast point of the airframe body based on the altitude and the flight speed of the airframe body, And an injection control unit for controlling the jet jetted from the injection nozzle based on the surface information acquired by the information acquisition unit or the availability information.
  • the landing gear as described in any one of said (1) to (10) provided with these.
  • a space flight object characterized by causing repulsion of the jet flow toward the one side in the flight direction on the main body of the spacecraft.
  • the air brake structure is a parachute made at least in part of a carbon fiber or a composite heat resistant material.
  • the air brake structure includes a central convex portion projecting toward the machine body, and a concave portion continuously formed around the central convex portion and curving in a concave shape toward the machine body.
  • the debris storage unit has an openable and closable lid, and the lid is disposed opposite to the jet nozzle and disposed forward in the jet direction of the jet stream as viewed from the jet nozzle.
  • Spacecraft described in. (27) The space vehicle according to the above (26), wherein at least a part of the open / close lid has a spherical shape which bulges in the depth direction of the debris containing portion.
  • At least a part of the open / close lid is further spherical shaped so as to further bulge outward in the radial direction of the debris containing portion, and in a state where the open / close lid is closed
  • the air brake structure is a parachute, and the injection guide is disposed at a lower side cylinder portion and a second parachute arranged above the lower side cylinder portion and arranged inside the parachute.
  • a prediction computing unit that calculates a landing forecast point of the airframe body based on the altitude and flight speed of the airframe body, surface information indicating the surface condition of the air forecasting point, or landing possible at the landing forecast point
  • an injection control unit for controlling the jet jetted from the injection nozzle based on the surface information acquired by the information acquisition unit or the availability information.
  • the debris removal system provided with the nozzle for debris trajectory correction
  • the trajectory correction operation unit is further provided, wherein the trajectory correction operation unit determines the space after the change of the flight trajectory based on a debris condition including the position, flight direction, and flight velocity of the flying space debris.
  • the injection timing or injection amount of the jet injected from the debris trajectory correction nozzle so that the arrival position and arrival time of debris coincide with the passing position of the air brake structure of the space vehicle at the arrival time.
  • the debris removal system as described in said (39) which determines at least one.
  • the debris removal system having a plurality of the orbiting flying objects of the plurality of machines that fly around the central axis, wherein the trajectory correction computing unit is configured to select the plurality of the plurality of machines among the plurality based on the debris condition.
  • the debris removal system according to the above (40), wherein the orbiting projectile for injecting the jet from the debris trajectory correction nozzle is determined.
  • a debris removal system having a plurality of the orbiting flying objects of the plurality of aircraft which orbit around the central axis, wherein the orbiting flying objects of the plurality of aircraft are mutually connected by a cable (38) 41.
  • the debris removal system according to any one of 41).
  • a debris removal system having a plurality of the orbiting flying objects of the plurality of aircraft that orbit around the central axis, wherein the plurality of orbiting aircrafts are respectively connected to the space vehicle by a cable 38)
  • the debris removal system according to any one of (41) to (41).
  • a debris removal system having a plurality of the orbiting flying objects of the plurality of planes which fly around the central axis, wherein the plurality of orbiting flying bodies are spirally formed forward of the traveling direction of the space vehicle. Or the debris removal system as described in any one of said (38) to (43) arrange
  • the turning radius of the first turning vehicle is smaller than the turning radius of the second turning vehicle that makes a turn more forward of the space flight vehicle than the first turning vehicle.
  • the debris removal system according to the above (44) characterized by the above. (46)
  • a rotating flight vehicle having a plurality of formations, the jet flying toward the space debris flying and flying along the central axis while flying around the predetermined central axis.
  • the debris removal system provided with the nozzle for debris trajectory correction

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un engin spatial (100) comprenant une cellule principale (6), un parachute (1), qui est une structure de frein aérodynamique, et une tuyère d'éjection (5). La structure de frein aérodynamique est disposée plus loin sur un côté dans une direction de déplacement par rapport à la cellule principale et elle est incurvée selon une forme concave faisant face à la cellule principale. La tuyère d'éjection est disposée dans la cellule principale et éjecte un flux d'éjection (J) vers la structure de frein aérodynamique depuis plus loin sur un côté dans la direction de déplacement par rapport à une position du centre de gravité (G) de la cellule principale. L'engin spatial est caractérisé en ce que, en inversant la direction du flux d'éjection éjecté le long de la structure de frein aérodynamique de forme concave, une force de réaction (F) du flux d'éjection est générée pour agir sur la cellule principale vers un côté dans la direction de déplacement.
PCT/JP2018/029350 2017-08-17 2018-08-06 Engin spatial et système d'élimination de débris WO2019035378A1 (fr)

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JP2017184145 2017-08-17
JP2017-184145 2017-08-17
JP2017-194669 2017-08-25
JP2017194669 2017-08-25
JP2017-206524 2017-10-25
JP2017206524 2017-10-25
JP2018086226A JP6557835B2 (ja) 2017-08-17 2018-04-27 宇宙飛翔体およびデブリ除去システム
JP2018-086226 2018-04-27

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CN111846246A (zh) * 2020-07-08 2020-10-30 中北大学 一种便携的单人反喷式软着陆安全保护装置及其使用方法
CN112678207A (zh) * 2021-01-12 2021-04-20 中国工程物理研究院总体工程研究所 小型飞行器的再入调姿装置
CN112697075A (zh) * 2020-12-03 2021-04-23 中国科学院光电技术研究所 一种交会对接激光雷达合作目标的投影面积分析方法
EP3950513A1 (fr) * 2020-08-04 2022-02-09 Ale Co., Ltd. Engin spatial, procédé de génération d'étoiles filantes artificielle et procédé de fourniture de service

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EP3950513A1 (fr) * 2020-08-04 2022-02-09 Ale Co., Ltd. Engin spatial, procédé de génération d'étoiles filantes artificielle et procédé de fourniture de service
CN112697075A (zh) * 2020-12-03 2021-04-23 中国科学院光电技术研究所 一种交会对接激光雷达合作目标的投影面积分析方法
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CN112678207A (zh) * 2021-01-12 2021-04-20 中国工程物理研究院总体工程研究所 小型飞行器的再入调姿装置

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