# US 9,434,485 B1 · Multi-purpose cargo delivery and space debris removal system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,485 B1 - Document ID: US9434485B1 - Status: Granted - Kind: B1 - Application number: 13/750,243 - Filed: 2013-01-25 - Granted: 2016-09-06 - Earliest claimed: 2013-01-25 - Applicants: Stephen C. Lehocki - Inventors: Stephen C. Lehocki - Web page: https://patentgrep.com/patent/US9434485B1 ## CPC - B64G 1/22: Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles - B64G 1/1081: {for debris removal} - B64G 1/242: {Orbits and trajectories} - B64G 1/26: using jets - B64G 1/401: {Liquid propellant rocket engines (Ion or plasma engines B64G1/413; Arcjets and other resistojets B64G1/415)} - B64G 1/402: {Propellant tanks; Feeding propellants} - B64G 1/403: {Solid propellant rocket engines} - B64G 1/64: Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements - B64G 4/00: Tools specially adapted for use in space - B64G 1/002: {Launch systems} - B64G 1/2227: {Inflating} - B64G 1/641: {Interstage or payload connectors (docking systems B64G1/646)} - B64G: COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR ## Abstract A debris removal system that includes at least a control module that includes a debris contact module storage area, a maneuverable arm and camera storage area, a maneuverable arm, a camera, and a universal coupler socket; a guidance, control, and communications unit; a maneuvering module, wherein the maneuvering module includes fuel/propellant storage containers that provide fuel/propellant, via a control and fuel/propellant delivery conduit, to one or more control thrusters; a propulsion module, wherein the propulsion module includes fuel/propellant storage containers that provide fuel/propellant to at least one primary thrust device; and a debris contact module, wherein the debris contact module includes a debris contact member attached or coupled to a debris contact element, and wherein a universal coupler pin extends from the debris contact member so as to allow the debris contact module to be attached or coupled to the universal coupler socket of the control module. ## Claims ### Claim 1 A debris removal system, comprising: a control module, wherein said control module includes: a debris contact module storage area, a maneuverable arm and camera storage area, a maneuverable arm, a camera, and a coupler socket; a guidance, control, and communications unit; a maneuvering module, wherein said maneuvering module includes: fuel/propellant storage containers that provide fuel/propellant, via a control and fuel/propellant delivery conduit, to one or more control thrusters; at least one primary thrust device; a propulsion module coupled to said maneuvering module, wherein said propulsion module includes: fuel/propellant storage containers that provide fuel/propellant to said at least one primary thrust device; and a debris contact module, wherein said debris contact module includes: a debris contact member attached or coupled to a debris contact element, and wherein a coupler device coupler pin extends from said debris contact member so as to allow said debris contact module to be attached or coupled to said coupler socket of said control module; wherein said control module, said maneuvering module, and said propulsion module each include: a coupler socket and a coupler device coupler pin, wherein each coupler socket includes: a recess that is appropriately sized and shaped to receive a coupler device coupler pin so that a coupler device coupler pin may be releasably attached or coupled within a coupler socket, wherein said coupler devices and coupler sockets of each module are configured to couple with another of said coupler devices and/or coupler sockets of another module, and wherein said guidance, control, and communications unit is connected to at least one module. ### Claim 2 (depends on 1) The debris removal system of claim 1, wherein said coupler socket of one or more of said control module, said maneuvering module, and/or said propulsion module includes protrusions that are shaped to mate with corresponding recesses in said coupler device. ### Claim 3 (depends on 1) The debris removal system of claim 1, wherein said debris contact element comprises an inflatable element, an expansible bag or membrane, a conforming pillow/cushion device, or a basket-like element. ### Claim 4 (depends on 1) The debris removal system of claim 1, wherein said debris contact element comprises a substantially sponge-like or absorbent material. ### Claim 5 (depends on 1) The debris removal system of claim 1, wherein said debris contact module storage area includes a cavity that is sized so as to accommodate at least one debris contact module. ### Claim 6 (depends on 1) The debris removal system of claim 1, wherein said maneuverable arm and camera storage area includes a cavity that is sized so as to accommodate at least said maneuverable arm and said camera. ### Claim 7 (depends on 1) The debris removal system of claim 1, wherein said debris contact module storage area and said maneuverable arm and camera storage area are configured to be closed off or sealed from an external environment. ### Claim 8 (depends on 1) The debris removal system of claim 1, wherein said guidance, control, and communications unit is programmed with command and control information to operate elements of said debris removal system. ### Claim 9 (depends on 1) The debris removal system of claim 1, wherein said guidance, control, and communications unit comprises a means for receiving initial, real-time, or updated data and/or information that includes command and control information for operating elements of said debris removal vehicle. ### Claim 10 (depends on 1) The debris removal system of claim 1, wherein said guidance, control, and communications unit includes a radar for identifying and tracking space debris. ### Claim 11 (depends on 1) The debris removal system of claim 1, wherein said maneuverable arm comprises: a controllable arm having at least one gripping or connecting element. ### Claim 12 (depends on 1) The debris removal system of claim 1, wherein said camera is mounted on said maneuverable arm. ### Claim 13 (depends on 1) The debris removal system of claim 1, wherein said debris removal system is attached or coupled to an initial propulsion device, wherein said initial propulsion device comprises one or more solid, liquid, compressed gas, compressed fluid, or other equivalent propulsion device. ### Claim 14 (depends on 1) The debris removal system of claim 1, further comprising at least one storage module, wherein said at least one storage module includes a coupler socket and a coupler device, wherein said coupler socket includes: a recess that is appropriately sized and shaped to receive a coupler device so that a coupler device may be releasablv attached or coupled within a coupler socket, wherein said coupler devices and coupler sockets of each module are configured to couple with another of said coupler devices and/or coupler sockets of another module, such that said at least one storage module is releasablv connected to at least one module, wherein each storage module includes: at least one internal cavity, at least one access hatch, and at least two pass-through apertures. ### Claim 15 (depends on 1) The debris removal system of claim 1, wherein said guidance, control, and communications unit is located within said control module. ### Claim 16 (depends on 1) The debris removal system of claim 1, wherein said guidance, control, and communications unit is located within said maneuvering module. ### Claim 17 A debris removal method, comprising: controlling a debris removal system to maneuver to a determined terrestrial orbit, wherein said determined terrestrial orbit is an approximate terrestrial orbit of a portion of debris, wherein said debris removal system comprises: a control module, wherein said control module includes: a debris contact module storage area, a maneuverable arm and camera storage area, a maneuverable arm, a camera, and a coupler socket; a guidance, control, and communications unit; a maneuvering module, wherein said maneuvering module includes: fuel/propellant storage containers that provide fuel/propellant, via a control and fuel/propellant delivery conduit, to one or more control thrusters; at least one primary thrust device; a propulsion module coupled to said maneuvering module, wherein said propulsion module includes: fuel/propellant storage containers that provide fuel/propellant to said at least one primary thrust device; and a debris contact module, wherein said debris contact module includes: a debris contact member attached or coupled to a debris contact element, and wherein a coupler device coupler pin extends from said debris contact member so as to allow said debris contact module to be attached or coupled to said coupler socket of said control module; wherein said control module, said maneuvering module, and said propulsion module each include: a coupler socket, and a coupler device coupler pin, wherein each coupler socket includes: a recess that is appropriately sized and shaped to receive a coupler device coupler pin so that a coupler device coupler pin may be releasably attached or coupled within a coupler socket, wherein said coupler devices and coupler sockets of each module are configured to couple with another of said coupler devices and/or coupler sockets of another module, and wherein said guidance, control, and communications unit is connected to at least one module; attaching or coupling, when said debris removal system is within a determined distance of said portion of debris, said debris contact module, via interaction of a coupler device coupler pin and a coupler socket, to said control module; controlling said debris removal system to approach and overtake said debris such that at least a portion of said debris contact element makes contact with said debris; and controlling said debris removal system to urge said debris to a deteriorating terrestrial orbit. ### Claim 18 (depends on 17) The debris removal method of claim 17, further comprising controlling said debris removal system such that at least a portion of said debris contact element continues to make contact with said debris throughout said deteriorating terrestrial orbit. ### Claim 19 (depends on 17) The debris removal method of claim 17, further comprising controlling said debris removal system such that said debris contact element breaks contact with said debris when said debris is in a deteriorating terrestrial orbit and returns to said determined terrestrial orbit. ### Claim 20 (depends on 17) The debris removal method of claim 17, further comprising controlling said debris removal system such that said control module is released or decoupled from said debris contact element when said debris is in a deteriorating terrestrial orbit and allowing said debris contact element to continue in said deteriorating terrestrial orbit with said debris.