• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a system (100) for recovering a spacecraft at sea comprising a frame (110) intended to be kept at distance from the water, a first flexible net (120) for capturing the spacecraft after its fall, the first net being stretched inside the frame, a damping system (130) connected to the first net and configured to cushion the fall of the spacecraft, and a second rigid net (140) fixed to the frame under the first net to guide and recover the spacecraft once captured in the first net, the second net having the shape of a funnel comprising an upper opening (141) and a lower opening (142) having a section smaller than that of the upper opening. The invention also relates to a method of recovering a spacecraft and to using the recovery system to recover a part of a space launcher. Figure for the abstract: Fig. 1.
    公开号:FR3088894A1
    申请号:FR1871786
    申请日:2018-11-23
    公开日:2020-05-29
    发明作者:Cédric CHEYROU；Guillaume Baron
    申请人:ArianeGroup SAS；
    IPC主号:
    专利说明:

    Description
    Title of the invention: System for recovering a spacecraft at sea, method of recovery and use associated therewith Technical field [0001] The present invention relates to the general field of space launch vehicles. In particular, the invention relates to a system for recovering a spacecraft at sea, in particular a reusable part of a space launcher.
    Prior Art [0002] In order to reduce the costs of space launch vehicles, a known method consists in reusing all or part of a launch vehicle after its first launch. An example is the Ealcon® launcher from SpaceX, the reusable first stage of which can land on a barge at sea after launch. However, a technique of this type has a number of drawbacks.
    In fact, launchers comprising reusable parts that can land are heavier because they must carry a larger amount of fuel, in particular to slow down the reusable stage before it lands. In addition, the reusable stage must be equipped with devices to ensure its stabilization and guidance during the descent phase, which also increases the mass and size of the launcher. Finally, a stable and rigid location is required to ensure the landing of the reusable floor, which can be difficult to obtain when recovery is to be done at sea.
    Also known from document US 2018/0178930 is a system for recovering a spacecraft on land or at sea which comprises a landing plate, a set of cables arranged above the landing plate defining an opening, and a spacecraft that has a hanging system that can catch cables when it falls into the opening. The system described is equipped with means making it possible to detect the fall of the spacecraft and to release the cables so that they can close the opening and be caught by the attachment system. Such a system requires increased precision of the means for detecting the fall of the spacecraft and of the means used to guide the latter to the correct location during its fall.
    There is therefore a need for a system which makes it possible to recover a spacecraft at sea and which does not have the aforementioned drawbacks.
    SUMMARY OF THE INVENTION The main aim of the present invention is therefore to overcome such drawbacks by proposing a system for recovering a spacecraft at sea comprising:
    - a frame intended to be kept away from water,
    - a first flexible net to capture the spacecraft after its fall, the first net being stretched inside the frame,
    - a damping system connected to the first net and configured to absorb the fall of the spacecraft, and
    - a second rigid net fixed to the frame under the first net to guide and recover the spacecraft once captured in the first net, the second net having the shape of a funnel comprising an upper opening and a lower opening having a lower section to that of the upper opening.
    It will be noted that the first net is said to be “flexible” with respect to the second net which is said to be “rigid”, that is to say that the first net is more flexible than the second net or, correlatively, that the second net is more rigid than the first net. The system according to the invention has the advantage of being simple and inexpensive to implement. It does not require a fixed platform to recover the spacecraft but only a frame which is kept away from water, which allows greater reliability for retrieving a spacecraft at sea. Thus, the use of such a system eliminates the risks associated with a spacecraft landing phase. It can also be easy to move at sea. It makes it possible to decouple the damping function of the craft during its fall (using the first net and the damping system), from the recovery function of the 'machine (using the second rigid net which makes it possible to guide the trapped machine in the first net and to recover it by the lower opening of the second net). The device to be recovered no longer needs to take on excess fuel and use engines to be recovered, for example only guide flaps and parachutes may be sufficient to reach the first net. Thus, the recovery system according to the invention eliminates the need to excessively increase the mass of the spacecraft. In addition, the system according to the invention does not need to be synchronized with the fall of the machine, that is to say that it is operational at all times.
    Of course, the system according to the invention is also compatible with a spacecraft equipped with re-ignitable engines which can slow it down and guide its fall to the first net.
    In an exemplary embodiment, the frame can be fixed to the upper ends of four vertical arms provided with floats. This example of embodiment allows the frame to be kept away from water. Of course, other means can be envisaged in order to be able to keep the frame away from the water, comprising more or less vertical arms or other architectures.
    In an exemplary embodiment, the system can be floating.
    In an exemplary embodiment, the frame can be vertically movable. This arrangement allows you to lower the frame to recover the machine once captured.
    In an exemplary embodiment, the frame has a rectangular shape and comprises four horizontal arms, the first thread and the second thread being connected to the tops of said frame. As a variant, the frame may have other shapes, for example circular or polygonal.
    In the case of a frame having a rectangular shape, in an exemplary embodiment, the damping system may include two jacks fixed to two opposite horizontal arms of the frame, each jack being connected to two adjacent ends of the first net . This feature simplifies the design of the recovery system by pooling the cylinders. As a variant, there could be as many jacks as there are ends of the first net, housed for example in different horizontal arms or in different vertical arms.
    In an exemplary embodiment, the damping system may include hydraulic cylinders, pneumatic cylinders, or, instead of the cylinders, devices comprising an unwound and braked cable.
    In an exemplary embodiment, the damping system can be connected to the first net by cables. The first net can for example have a generally rectangular shape when it is laid flat and it is not under tension, and the damping system can be connected to the tops or corners of the first net.
    In an exemplary embodiment, the first net may be made of a polymeric material, for example nylon, giving it its flexibility.
    In an exemplary embodiment, the first net may have an opening closed by a seam in order to be able to recover the spacecraft more easily. The opening can be cross-shaped. The seam can be in chain stitch to further facilitate the recovery of the spacecraft.
    In an exemplary embodiment, the system may further comprise a device for lowering the first net inside the second net in order to recover the spacecraft through the lower opening of the second net.
    In an exemplary embodiment, the second thread may be made of a metallic material, giving it its rigidity.
    In an exemplary embodiment, the second net can be retractable inside the frame.
    In an exemplary embodiment, the second thread can be held in shape by a plurality of rigid rings of different diameters. The rings can be metallic. In addition, the system may include a device for retracting the second net comprising at least one motor and cables connected to said rings.
    The invention also proposes, according to another aspect, a method of recovering a spacecraft at sea implementing a system for recovering a spacecraft at sea such as that presented above, comprising at least the following steps:
    - the capture of the spacecraft by the first net, and
    - the recovery of the spacecraft through the lower opening of the second net.
    Finally, the invention relates to the use of a system for recovering a spacecraft at sea such as that presented above for recovering at least part of a space launcher after its launch.
    Brief description of the drawings Other characteristics and advantages of the present invention will emerge from the description given below, with reference to the accompanying drawings which illustrate an embodiment thereof devoid of any limiting character. In the figures:
    [Fig.l]
    Figure 1 shows a perspective view of a spacecraft recovery system according to an embodiment of the invention.
    [Fig.l A]
    Figure IA shows an example of a stitch to close an opening in the first thread.
    [Fig.2]
    Figure 2 shows a sectional view of the system of Figure 1.
    [Fig.3]
    FIG. 3 shows a step in a method for recovering a spacecraft at sea implementing the system illustrated in FIGS. 1 and 2.
    [Fig.4]
    FIG. 4 shows another step of a method for recovering a spacecraft at sea implementing the system illustrated in FIGS. 1 and 2.
    Description of the embodiments [0030] FIGS. 1 and 2 show views of a system for recovering a spacecraft at sea 100 according to an embodiment of the invention. The system 100 is intended to be used on an aquatic surface, in particular on a sea or an ocean. It comprises a frame 110 intended to be kept away from water, a first flexible net 120 for capturing the spacecraft after its fall, a damping system 130 configured to dampen the fall of the spacecraft, and a second rigid net 140 to guide and recover the spacecraft once captured in the first net 120.
    The frame 110 here comprises four horizontal arms 111 perpendicular to each other which give it a generally rectangular shape. In this example, the horizontal arms 111 are the same length and the frame 110 is square. Other shapes for the frame 110 could be envisaged, for example polygonal or circular. The frame 110 thus comprises vertices 112 to which are fixed vertical arms 113 provided, at their end opposite the frame 110, with floats
    113a. The system 100 can be configured so that the floats 133a are partially or completely submerged in order to protect the system 100 from swell when it is positioned at sea.
    The frame 110 can be vertically movable. For this purpose, the vertical arms 113 can be telescopic, that is to say have a variable length, so as to be able to control the distance separating the frame 110 from the water. Means, not shown, can make it possible to vary the length of such vertical arms 113. As a variant, the floats 113a can slide along the vertical arms 113 so as to be able to control the distance separating the frame 110 from the water. Still alternatively, each vertical arm 113 may comprise several sliding parts relative to each other and a device for sliding them relative to one another. Means such as an altimeter, a GPS system or a graduated ruler on the vertical arms 113 can make it possible to control the distance separating the frame 110 from the water level.
    The first flexible net 120 has a square shape when it is not taut and is laid flat. It is stretched inside the frame 110 by cables 121 fixed at its ends, here four in number. The first net 120 may be made of a polymeric material, for example nylon, to give it its flexibility. The first net 120 is intended to come into contact with the falling spacecraft. The first net 120 may, as a variant, have shapes different from that illustrated. In the example illustrated, the first thread 120 has at its center an opening 122 in the form of a cross which is, in the illustrated configuration, closed by a seam 123. The seam 123 can be a chain stitch seam (illustrated in FIG. 1A), making it possible to open the opening 122 by simply releasing one end of the wire 123a from the seam to recover the spacecraft.
    The damping system 130 here comprises two hydraulic cylinders fixed to two horizontal arms 111 opposite the frame 110. Each hydraulic cylinder is connected to two adjacent ends of the first net 120 by the cables 121 using pulleys 114 provided at the tops of the frame 110 at one end of the vertical arms 113. The cables 121 may be metallic. The damping system 130 can be of the type of damping systems used to brake an aircraft when it is landed on an aircraft carrier or in an emergency (stop line or stop barrier). In a variant not illustrated, the damping system may comprise four jacks, for example hydraulic jacks, each connected to the ends of the first net 120. It will be noted that in place of the hydraulic jacks, pneumatic jacks or devices comprising an unwound and braked cable.
    The second rigid net 140 has a funnel shape, that is to say it has an upper opening 141 and a lower opening 142, the lower opening 142 having a section smaller than that of the upper opening 141. In this example the openings 141 and 142 are circular, the diameter DI of the upper opening 141 being greater than the diameter D2 of the lower opening 142. The second thread 140 is fixed to the frame 110 so to be stretched inside of it below the first net 120. In this way, the first net 120 covers the upper opening 141 of the second net 140.
    The second rigid net 140 includes rigid metal rings 143 distributed over its height which allow it to keep its funnel shape. Part of the metal rings 143 has different diameters. In this example, two cables 144 are fixed on the one hand to the ring 143 closest to the water (on either side of the lower end 142 of the second net 140), and on the other hand to motors, present for example in a housing housing the hydraulic cylinders of the damping system 130. The activation of the motors connected to the cables 144 makes it possible to retract the second thread 140 inside the frame 110. The retraction of the second thread 140 can allow easier transport of the recovery system 100 or even more easily recover the spacecraft once it is caught in the first net 120.
    In the example illustrated, the frame 110 can be positioned at a height H1 of 100 meters from the water level. Each horizontal arm 111 of the frame 110 can have a length L of 100 meters or at least 50 meters. The upper opening 141 of the second net 140 may have a diameter DI of the order of 50 meters or at least 25 meters. The second net 140 can extend from the frame 110 over a height H2 of the order of 70 meters. The lower end of the second net 140 can thus be separated from the water level of about 30 meters. The lower opening 142 of the second net 140 may have a diameter D2 of the order of 5 meters or at least 5 meters. More generally, the diameter D2 of the lower opening 142 of the second net 140 will be adapted to the size of the spacecraft to be recovered.
    Figures 3 and 4 schematically illustrate the steps of a method of recovering a spacecraft at sea implementing the recovery system 100. Figure 3 shows, top left, a launcher 200 at the time of the separation of its first stage 210 and its second stage 220. The first stage 210 then begins its fall. It can be equipped with means (not shown) such as deployable flaps to guide its fall towards the recovery system 100 positioned at sea, and one or more parachutes 211 to slow it down. As a variant, the first stage 210 may be devoid of means for guiding and / or slowing down its fall. We can in particular equip the first stage 210 with means to guide and / or slow down its fall as a function of the mass thereof. The first stage 210 then comes into contact with the first net 120 of the system 100 which absorbs its fall using the damping system 130 and captures it. The second net 140 serves as a receptacle for the first stage 210 thus captured.
    In a second step, as illustrated in Figure 4, we can then recover the first stage 210 through the lower opening 142 of the second net 140, for example using a boat 200 positioned under said opening 142 The recovery of the first stage 210 can be done either by lowering the first net 120 in which the first stage 210 is present in the second net 140 and then unhooking the first net 120, or by lowering the entire frame 110 (in this case the frame 110 is vertically movable) to approach the first net in which the first stage 210 is present and then by unhooking the first net 120. When the first net 120 is provided with an opening 122 with a seam 123, the l opening 122 by rupture of the seam which kept it closed in order to recover the first stage 210. To facilitate the recovery operation of the first stage 210, the second net 140 can be at least partially retracted, as illustrated .
    The invention has been described in connection with the recovery of a spacecraft such as the first stage of a launcher. Note that the invention can be applied to any type of spacecraft, and more generally to any object falling from a high altitude. The invention is particularly suitable for the recovery of objects of slender shape, in particular of cylindrical shape.
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    Claims [Claim 1] System (100) for recovering a spacecraft (210) at sea comprising:- a frame (110) intended to be kept away from water,- a first flexible net (120) for capturing the spacecraft after its fall, the first net being stretched inside the frame,- a damping system (130) connected to the first net and configured to absorb the fall of the spacecraft, and- a second rigid net (140) fixed to the frame under the first net to guide and recover the spacecraft once captured in the first net, the second net having the shape of a funnel comprising an upper opening (141) and a lower opening (142) having a section smaller than that of the upper opening. [Claim 2] The system of claim 1, wherein the frame (110) is attached to the upper ends of four vertical arms (113) provided with floats (113a). [Claim 3] The system of claim 1 or 2, wherein the frame (110) is movable vertically. [Claim 4] System according to any one of Claims 1 to 3, in which the frame (110) has a rectangular shape and comprises four horizontal arms (111), the first net (120) and the second net (140) being connected to the vertices ( 112) of said frame. [Claim 5] The system of claim 4, wherein the damping system (130) comprises two cylinders attached to two horizontal arms (111) opposite the frame (110), each cylinder being connected to two adjacent ends of the first net (120). [Claim 6] A system according to any of claims 1 to 5, wherein the damping system (130) is connected to the first net (120) by cables (121). [Claim 7] A system according to any of claims 1 to 6, wherein the first net (120) is made of a polymeric material. [Claim 8] The system of any of claims 1 to 7, wherein the first net (120) has an opening (122) closed by a seam (123). [Claim 9] System according to any one of claims 1 to 8, comprising a device for lowering the first net inside the second net in order to recover the spacecraft through the lower opening of the second
    net. [Claim 10] The system of any of claims 1 to 9, wherein the second net (140) is made of a metallic material. [Claim 11] A system according to any of claims 1 to 10, wherein the second net (140) is retractable within the frame (110). [Claim 12] The system of any of claims 1 to 11, wherein the second thread is held in shape by a plurality of rigid rings (143) of different diameters. [Claim 13] Method for recovering a spacecraft at sea using a system according to any one of Claims 1 to 12, comprising at least the following steps:- the capture of the spacecraft by the first net (120), and- the recovery of the spacecraft by the lower opening of the second net (140). [Claim 14] Use of a system for recovering a spacecraft at sea according to any one of claims 1 to 12 to recover at least part (210) of a space launcher (200) after its launch.
    1/4
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3088894B1|2020-12-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2807429A|1953-11-30|1957-09-24|Lockheed Aircraft Corp|Apparatus for facilitating the taking off and landing of vertical rising aircraft|
    US6299107B1|1998-12-04|2001-10-09|Honeybee Robotics, Ltd.|Spacecraft capture and docking system|
    WO2007086055A1|2006-01-25|2007-08-02|Israel Aerospace Industries Ltd.|Aircraft landing method, system and device|
    RU2345925C1|2007-09-17|2009-02-10|Сергей Евгеньевич Варламов|Sea platform for launching rockets and method of preparation of rocket for launching|
    US8498756B1|2011-08-18|2013-07-30|The United States of America as Represented by the Adminstrator of the National Aeronautics & Space Administration |Movable ground based recovery system for reuseable space flight hardware|
    US20180178930A1|2016-12-28|2018-06-28|Blue Origin, Llc|Vertical landing systems for space vehicles and associated methods|
    CN107539501A|2017-09-03|2018-01-05|佛山红辉科技有限公司|A kind of band camera enhancement rocket recovery device|CN112572713A|2020-12-15|2021-03-30|海之韵科技有限公司|A buffering fixed establishment that is used for unmanned aerial vehicle descending on unmanned ship|
    CN113086094A|2021-04-21|2021-07-09|鹏城实验室|Unmanned underwater vehicle recovery system and recovery method|
    法律状态:
    2019-11-21| PLFP| Fee payment|Year of fee payment: 2 |
    2020-05-29| PLSC| Publication of the preliminary search report|Effective date: 20200529 |
    2020-11-20| PLFP| Fee payment|Year of fee payment: 3 |
    2021-11-22| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1871786A|FR3088894B1|2018-11-23|2018-11-23|System for recovering a spacecraft at sea, recovery method and use associated with it|FR1871786A| FR3088894B1|2018-11-23|2018-11-23|System for recovering a spacecraft at sea, recovery method and use associated with it|
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