JP7613017B2 - Rocket launching device and rocket launching method - Google Patents

Description

The present invention relates to a rocket launching device and a rocket launching method for launching rockets from the sky.

When launching a rocket from the ground into space, fuel accounts for the majority of the payload, so fuel costs are a major factor in increasing the cost of transporting materials into space. In addition, there is a possibility that part of the rocket may separate or that part or all of the rocket may fall into the sea or on land due to flight trouble, so in order to ensure safety on sea or land, it is necessary to coordinate with stakeholders such as fishermen and landowners and launch the rocket at limited times and locations, and making these adjustments takes a lot of time and costs.

Therefore, methods of launching rockets in the air have been developed to reduce fuel costs while avoiding the use of boosters as much as possible. For example, the technology described in Patent Document 1 discloses a technology in which a rocket is mounted on the underside of an aircraft, and ignited after it is separated from the aircraft in the air.

JP 2018-90160 A

However, the technology described in Patent Document 1 allows only one rocket to be launched into the air. Therefore, to launch multiple rockets into space, an aircraft needs to fly from the ground to the sky multiple times, which increases costs.

The present invention was made in consideration of the above circumstances, and aims to make it possible to launch multiple rockets at low cost.

To solve the above problems, the rocket launcher is equipped with a floatable float and a connecting device that is connected to the float and has a rocket support part that can support and release multiple rockets.

A rocket launching method is also provided in which a buoyant float is raised from the ground into the sky, multiple rockets are carried into the sky to the float connected to the float by a connecting device, and then the multiple rockets are launched from the connecting device.

As described above, since a connecting device having a rocket support part capable of supporting and releasing multiple rockets is connected to a balloon, multiple rockets can be transported into the sky and launched from the sky. This makes it possible to reduce the cost of launching multiple rockets into space.

The connecting device is suspended from the buoyant body and has an attitude control device that controls rotation around the vertical axis, and the launch direction of the rocket in a plane perpendicular to the vertical axis is controlled by the rotation of the attitude control device.

Based on the above, the attitude control device's attitude control allows the rocket's launch direction to be set in the desired direction.

In addition, by launching each of the multiple rockets one at a time, the launching rocket is not interfered with by the movement of the other rockets.

According to an embodiment of the present invention, a single launch of a levitation body from the ground into the sky allows multiple rockets to be launched in the sky. This makes it possible to reduce the cost of launching multiple rockets into space.

FIG. 1 is a side view of a rocket launcher 1. This is a top view of the rocket launcher 1 as seen from the AA plane in Figure 1. FIG. 1 is a block diagram of a rocket launcher 1. 1 is a process diagram for launching a rocket 50. FIG. FIG. 1 is a side view of a rocket launcher 1A carrying two rockets 50. FIG. 1 is a top view of a rocket launcher 1A carrying two rockets 50. FIG. 1 is a side view of a rocket launcher 1B carrying four rockets 50. FIG. 1 is a top view of a rocket launcher 1B carrying four rockets 50. FIG. 1 is a side view of a rocket launcher 1C carrying four rockets 50. FIG. 1 is a top view of a rocket launcher 1C carrying four rockets 50. FIG. 1 is a side view of a rocket launcher 1D carrying four rockets 50. FIG. 1 is a top view of a rocket launcher 1D carrying four rockets 50. This is a side view of a rocket launcher 1E in which an attitude control device 30 is suspended from each balloon 10. This is a side view of the rocket launcher 1E shown in a direction perpendicular to the viewing direction of Figure 13. FIG. 1 is a side view of a rocket launcher 1F carrying two rockets 50. FIG. 1 is a top view of a rocket launcher 1F carrying two rockets 50. 1 is a drawing of a rocket launcher 1G carrying one rocket 50.

Below, an embodiment of the present invention will be described with reference to the drawings. However, the embodiment described below has various limitations that are technically preferable for implementing the present invention, but the scope of the present invention is not limited to the following embodiment and illustrated examples.

<<1. Configuration of the launch device>>
Fig. 1 is a side view of the rocket launcher 1, and Fig. 2 is a top view of the launcher 1 as viewed from the A-A plane in Fig. 1. Fig. 3 is a block diagram of the rocket launcher 1. The rocket launcher 1 includes a balloon 10, a coupling device 20, a plurality of rockets 50, a control unit 60, a position detection unit 71, an altitude detection unit 72, an attitude detection unit 73, a temperature detection unit 74, a wind speed detection unit 75, a wind direction detection unit 76, an output detection unit 77, and a wireless communication device 78. The coupling device 20 has a hanging body 21, an attitude control device 30, and a plurality of rocket holders (rocket support units) 40, and the plurality of rockets 50 are coupled to the balloon 10 by the coupling device 20.

The balloon 10 is a floating body that can rise into the sky, and is a hot air balloon, a gas balloon, or a hybrid balloon of heat and gas. A hanging body 21 such as a wire is connected to the bottom of the balloon 10, and the hanging body 21 is suspended from the balloon 10. The attitude control device 30 is connected to the bottom end of the hanging body 21, so that the attitude control device 30 is suspended from the balloon 10 by the hanging body 21.

The attitude control device 30 comprises a housing 31 having an upper surface connected to the lower end of the hanging body 21, a gimbal provided inside the housing 31, and a flywheel supported by the gimbal. The flywheel has a spindle motor and rotates by the power of the spindle motor. The gimbal has a drive device and tilts the rotation axis of the spinning flywheel with one, two or three degrees of freedom using the power of the drive device. The attitude control of the attitude control device 30 is performed by the gyro effect of the flywheel. In other words, the attitude of the attitude control device 30 is controlled by controlling the moment of one, two or three axes of the gimbal and the rotation speed of the flywheel. The attitude control of the attitude control device 30 means that the attitude control device 30 rotates around one, two or three axes due to the gyro effect of the flywheel, thereby adjusting the direction and attitude of the attitude control device 30, or that the direction and attitude of the attitude control device 30 are maintained constant due to the gyro effect of the flywheel even if the attitude control device 30 receives an external force. Here, when the gimbal tilts the rotation axis of the flywheel with one degree of freedom, the yawing moment of the attitude control device 30 around the first axis (vertical axis) up and down is controlled, and this causes the attitude control device 30 to rotate (i.e. yawing) around the first axis or to resist a yawing force from the outside. When the gimbal tilts the rotation axis of the flywheel with two degrees of freedom, in addition to the yawing moment, the pitching moment of the attitude control device 30 around the second axis perpendicular to the first axis is controlled. When the gimbal tilts the rotation axis of the flywheel with three degrees of freedom, in addition to the yawing moment and pitching moment, the rolling moment of the attitude control device 30 around a third axis perpendicular to the first and second axes is controlled.

A plurality of rocket holders 40 are provided on the side of the attitude control device 30. Specifically, the housing 31 of the attitude control device 30 is shaped like a rectangular parallelepiped (a rectangular parallelepiped includes a cube), and a rocket holder 40 is provided on each of the three sides of the housing 31. Each rocket holder 40 holds a rocket 50, and in the example shown in FIG. 2, a total of three rockets 50 are mounted on the side of the attitude control device 30. The rocket holder 40 holds the rocket 50 in a state inclined diagonally upward relative to the horizontal plane while aligning the rocket 50 along the side of the housing 31. The rocket holder 40 has an actuator, and can grasp and release the rocket 50 using the power of the actuator. Note that, although grasping is given as an example of a support form, the rocket holder 40 may support the rocket 50 in a form other than grasping.

A control unit 60, a position detection unit 71, an altitude detection unit 72, an attitude detection unit 73, a temperature detection unit 74, a wind speed detection unit 75, a wind direction detection unit 76, an output detection unit 77, and a wireless communication device 78 are provided inside or outside the housing 31 of the attitude control device 30.

The position detection unit 71 is, for example, an inertial navigation system or a satellite navigation system. The position detection unit 71 detects the latitude and longitude of the balloon 10 and outputs the detected latitude and longitude to the control unit 60.
The altitude detection unit 72 is, for example, a barometric altimeter or a radio altimeter. The altitude detection unit 72 detects the altitude of the balloon 10 and outputs the detected altitude to the control unit 60. Note that the position detection unit 71 may detect the altitude.

The attitude detection unit 73 is, for example, a gyro sensor. The attitude detection unit 73 detects the direction and attitude of the attitude control device 30, and therefore the direction and attitude of each rocket 50, and outputs the detected direction and attitude to the control unit 60.
The temperature detector 74 is, for example, a thermocouple or a thermistor. The temperature detector 74 detects the air temperature around the balloon 10 and the attitude control device 30, and outputs the detected air temperature to the control unit 60.

The wind speed detection unit 75 detects the wind speed around the balloon 10 and the attitude control device 30, and outputs the detected wind speed to the control unit 60.

The wind direction detection unit 76 detects the wind direction around the balloon 10 and the attitude control device 30, and outputs the detected wind direction to the control unit 60.
The output detection section 77 detects the output of the engine of the rocket 50 and outputs the detected output to the control unit 60 .
The radio communication device 78 performs radio communication with ground control equipment.

The control unit 60 monitors the detection values of the position detection unit 71, altitude detection unit 72, attitude detection unit 73, temperature detection unit 74, wind speed detection unit 75, wind direction detection unit 76, and output detection unit 77. Furthermore, the control unit 60 transfers the detection values of the position detection unit 71, altitude detection unit 72, attitude detection unit 73, temperature detection unit 74, wind speed detection unit 75, wind direction detection unit 76, and output detection unit 77 to the wireless communication device 78, and causes the wireless communication device 78 to transmit the detection values to the control equipment on the ground. Furthermore, when the wireless communication device 78 receives an operation signal transmitted from the control equipment on the ground, the operation signal is transferred from the wireless communication device 78 to the control unit 60, and the control unit 60 controls the attitude control device 30, the rocket holder 40, and the rocket 50 according to the operation signal.

<<2. How to launch a rocket>>
Next, a method for launching rocket 50 in the air using rocket launcher 1 will be described.
FIG. 4 is a process diagram showing the launch process of the rocket 50.

(1) Preparation for launch First, the rocket 50 is loaded onto the attitude control device 30 via the rocket holder 40, and fuel is replenished into the rocket 50. Then, while the balloon 10 is moored to the ground, the balloon 10 is inflated by heat or gas (e.g., helium gas), or both. This enables the balloon 10 to float. Then, the attitude control device 30 is connected to the balloon 10 via the hanging body 21.

(2) Ascent and movement Next, the balloon 10 is released from its tether. Then, the balloon 10 rises and rides the wind into the sky above the sea. During the ascent and movement of the balloon 10, the control unit 60 monitors the detection values of the position detection unit 71, altitude detection unit 72, attitude detection unit 73, temperature detection unit 74, wind speed detection unit 75, wind direction detection unit 76, and output detection unit 77, and transmits the detection values to a control device on the ground using a wireless communication device 78. The detection values are displayed on the display of the control device, so that workers on the ground can recognize the status of the rocket launcher 1 in the sky.

While the balloon 10 is moving, the control unit 60 determines whether the rocket launch conditions are met. In other words, the control unit 60 determines whether the following conditions 1 to 5 are met.

[Condition 1] The latitude and longitude detected by the position detection unit 71 are within a predetermined range (i.e., the balloon 10 has reached a predetermined area).
[Condition 2] The altitude detected by the position detection unit 71 or the altitude detection unit 72 is equal to or greater than a predetermined value (for example, a predetermined value in the stratosphere range, 30,000 [m]) (i.e., the balloon 10 has reached the predetermined altitude).
[Condition 3] The temperature detected by the temperature detection unit 74 is within a predetermined range.
[Condition 4] The wind speed detected by the wind speed detection unit 75 is equal to or lower than a predetermined value.
[Condition 5] The wind direction detected by the wind direction detection unit 76 is within a predetermined range.

(3) Attitude control When the control unit 60 determines that at least Condition 1 and Condition 2 are satisfied, it controls the attitude control device 30 while recognizing the direction and attitude of the attitude control device 30 and the rocket 50 based on the detection value of the attitude detection unit 73. This causes the attitude control device 30 to yaw. If the gimbal of the attitude control device 30 has degrees of freedom on two axes, the attitude control device 30 will pitch in addition to yawing. If the gimbal of the attitude control device 30 has degrees of freedom on three axes, the attitude control device 30 will pitch and roll in addition to yawing.
The launch direction of the rocket 50, i.e., the launch azimuth, is determined by the operation of the attitude control device 30, and thereafter, the attitude and orientation of the attitude control device 30 are maintained. When the gimbal of the attitude control device 30 has two or three degrees of freedom, the launch elevation angle of the rocket 50 is also determined in addition to the launch azimuth.

In addition, a ground worker may operate a control device, which sends an operation signal to the control unit 60, and the control unit 60 may control the attitude control device 30 according to the operation signal. This determines the launch direction of the rocket 50.

(4) Engine Start Once the launch direction of the rockets 50 has been determined, the control unit 60 starts the engine of one of the rockets 50 (the launch azimuth of that rocket 50 is determined to be, for example, eastward). This causes the output of the engine of that rocket 50 to increase. The control unit 60 also monitors the output of the engine of the rocket 50 detected by the output detection unit 77, and determines whether or not the detected output has exceeded a predetermined value.

In addition, a ground worker may operate a control device, which may then transmit an operation signal to the control unit 60, and the control unit 60 may start the engine of the rocket 50 in accordance with the operation signal.

(5) Launch After starting the engine of rocket 50, if the control unit 60 determines that the output detected by the output detection unit 77 exceeds a predetermined value and determines that at least condition 1 and condition 2 are satisfied, it drives the actuator of the rocket holder 40. This causes the rocket holder 40 to open and the rocket 50 to be released from the rocket holder 40. As a result, the rocket 50 is launched further into the sky by the thrust of the engine and flies. Rocket 50 is equipped with multiple secondary engines or gas ejection mechanisms, and the attitude of rocket 50 during flight is controlled by controlling the output of these secondary engines or gas ejection mechanisms.

In addition, a ground worker may operate the control device, which may then transmit an operation signal to the control unit 60, and the control unit 60 may open the rocket holder 40 in accordance with the operation signal.

(6) Launch of the second and subsequent rockets When a sufficient amount of time has passed since the launch of the first rocket 50, the above-mentioned "(3) Attitude control", "(4) Engine start" and "(5) Launch" are repeated to launch the second and third rockets 50 in sequence. The launch direction of the second and third rockets 50 may be the same as that of the first rocket 50 or may be different.

<<3. Effects>>
(1) Since multiple rockets 50 are mounted on the attitude control device 30 suspended from the balloon 10, multiple rockets 50 can be launched into the sky with one launch of the balloon 10. Therefore, multiple rockets 50 can be launched into the thermosphere or space at low cost.

(2) The attitude control device 30 can control the attitude of each rocket 50 so that its launch direction is set to the desired direction, for example, eastward.

(3) Because the rocket 50 is launched in the sky, the fuel required for the rocket 50 can be reduced and the size of the rocket 50 can be reduced. Therefore, multiple rockets 50 can be launched into the thermosphere or space at low cost.

(4) Because the density and pressure of the atmosphere in the sky are low, the vertical downward load on the rocket 50 in the sky is smaller than that on the ground. This allows the rocket 50's engine to be made smaller and its maximum output to be reduced, and even with such an engine, the rocket 50 can be launched into the thermosphere or space.

(5) Because the rocket 50 does not need to pass through the lower parts of the atmosphere, such as the troposphere, the fairing at the tip of the rocket 50 can be simplified, and the structure of the payload (e.g., an artificial satellite) can also be simplified.

<<4. Modifications>>
The above describes the embodiment of the present invention. The above embodiment is for facilitating understanding of the present invention, and is not intended to limit the present invention. The embodiment of the present invention may be modified or improved without departing from the spirit of the present invention, and the present invention also includes equivalents. Modifications from the above embodiment are described below. The modifications described below may be applied in combination.

(1) In the above embodiment, three rockets 50 were mounted on the attitude control device 30. However, as in the rocket launcher 1A shown in Figures 5 and 6, a total of two rockets 50 may be mounted, one on each of the opposing sides of the housing 31 of the attitude control device 30. Also, as in the rocket launcher 1B shown in Figures 7 and 8, a total of four rockets 50 may be mounted, one on each of the four sides of the attitude control device 30. Even if the number of rockets 50 is two or four, these rockets 50 can be launched further into the sky above the sea using the above-mentioned procedure.

(2) In the above embodiment, three rockets 50 were mounted on three sides of the housing 31 of the attitude control device 30. In contrast, as in the rocket launcher 1C shown in Figures 9 and 10, multiple rockets, specifically four rockets 50, may be mounted on one side of the housing 31 of the attitude control device 30. In this case, the rocket holder 40 is configured not only to grip and release the rocket 50, but also to tilt the rocket 50 to adjust the launch elevation angle of the rocket 50. Specifically, the rocket holder 40 has an upper holder 41 and a lower holder 42, and the upper holder 41 and the lower holder 42 grip and release the rocket 50 by a gripping/release actuator. Furthermore, the upper holder 41 expands and contracts horizontally by an expansion and contraction actuator, and when the upper holder 41 is contracted, the rocket 50 is directed upward along the side of the housing 31. When the upper holder 41 is extended, the rocket 50 is tilted, and the launch elevation angle of the rocket 50 is determined so that the launch direction of the rocket 50 is diagonally upward. Even if the rockets 50 are mounted as described above, the rockets 50 can be launched further into the sky above the sea by the above-mentioned procedure. Here, while the balloon 10 is rising and moving, the upper holder 41 is contracted, and the rocket 50 is pointed upward. Then, before starting the engine of the rocket 50, the upper holder 41 is extended by being driven by the control unit 60. As a result, the launch elevation angle of the rocket 50 is determined so that the launch direction of the rocket 50 is diagonally upward. Note that, as in the rocket launching device 1D shown in Figures 11 and 12, four rocket holders 40 that tilt the rocket 50 are provided on each of the four sides of the housing 31 of the attitude control device 30, and four rockets 50 are mounted on each of the four sides of the attitude control device 30.

(3) In the above embodiment and modified examples (1) and (2), the rockets 50 are launched sequentially, but the rockets 50 may be launched simultaneously. In other words, for each rocket 50, "(4) Engine start" and "(5) Launch" may be performed in parallel.

(4) As in the rocket launcher 1E shown in Figures 13 and 14, there may be multiple balloons 10 (specifically, two, but it may be more than two), an attitude control device 30 is suspended from each balloon 10, these attitude control devices 30 are connected to each other by a coupler 90, and the rockets 50 are mounted on each attitude control device 30. In this case, after the balloons 10 rise into the sky, before the first rocket 50 is launched, the coupler 90 is released and the attitude control devices 30 are separated from each other. Then, after each balloon 10 has moved to the target range, the rockets 50 are launched as described above.

(5) In the above embodiment and modified examples (1) to (4), the attitude control device 30 was suspended from the balloon 10 by the hanging body 21. In contrast, as shown in Figures 15 and 16, the rocket launcher 1F has a connecting device 20 that has a hanging body 21, a coupler 90, and multiple rocket holders (rocket support parts) 40, but does not have the attitude control device 30. Specifically, the coupler 90 is connected to the lower end of the hanging body 21 and suspended, rocket holders 40 are provided on both ends of the coupler 90, and the rocket 50 is supported by the rocket holder 40. Even with such a rocket launcher 1F, multiple rockets 50 can be launched in the sky as in the above embodiment. However, in "(3) Attitude control", the attitude of the rocket 50 is controlled by controlling the output of multiple auxiliary engines or gas ejection mechanisms of the rocket 50, and the launch direction of the rocket 50 is determined to be the desired direction. As shown in FIG. 17, the rocket holder 40 may be connected to the lower end of the hanging body 21. In this case, the launch direction of the rocket 50 is determined to be the desired direction by controlling the output of the multiple secondary engines or gas ejection mechanisms of the rocket 50.

(6) In the above embodiment and modified examples (1) to (5), the float is an unpowered float that does not generate self-propulsive force, such as the balloon 10. In contrast, the float may be a flying object that generates propulsive force. The flying object may be an airplane, a rotorcraft, or an airship. In the case of a rotorcraft, it may be a multicopter with multiple rotors, or a helicopter with a main rotor and a tail rotor.

1, 1A, 1B, 1C, 1D, 1E, 1F...Rocket launcher 10...Balloon (float)
20: coupling device 30: attitude control device 40: rocket holder 50: rocket

Claims (3)

A buoyant body capable of floating;
A connecting device is connected to the float and has a rocket support portion capable of supporting and releasing a plurality of rockets;
The coupling device is
an attitude control device that is suspended from the floating body and controls rotation around an up-down axis and an axis perpendicular to the up-down axis;
the attitude control device has a flywheel that controls the attitude of the attitude control device by rotational motion, and a gimbal that tiltably supports the flywheel,
The gimbal tilts the rotation axis of the flywheel with two or more degrees of freedom,
The launch direction of the rocket in a plane perpendicular to the vertical axis and the launch elevation angle of the rocket relative to the plane perpendicular to the vertical axis are controlled by rotating the attitude control device.
Rocket launcher. A rocket launching method in which a buoyant body is raised from the ground into the sky, and multiple rockets connected to the body by a connecting device are transported into the sky, and then the launch direction and launch elevation angle of the rockets are controlled by tilting the rotation axis of a flywheel of an attitude control device provided on the connecting device with two or more degrees of freedom , and the multiple rockets are launched from the connecting device. launching said plurality of rockets one by one;
2. The rocket launcher of claim 1.

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