CN103101621A - Parafoil aircraft applicable to cylindrical space loading - Google Patents
Parafoil aircraft applicable to cylindrical space loading Download PDFInfo
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- CN103101621A CN103101621A CN2013100236236A CN201310023623A CN103101621A CN 103101621 A CN103101621 A CN 103101621A CN 2013100236236 A CN2013100236236 A CN 2013100236236A CN 201310023623 A CN201310023623 A CN 201310023623A CN 103101621 A CN103101621 A CN 103101621A
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Abstract
The invention discloses a parafoil aircraft applicable to cylindrical space loading. The parafoil aircraft applicable to the cylindrical space loading comprises a parafoil body and a nacelle; the nacelle is entirely cylindrical, and comprises a control cabinet, a power cabinet and a load cabinet which are fixedly arranged in a laminated manner; two rope winding plates are arranged inside the control cabinet; an operation rope in the parafoil body is coiled on each rope winding plate; a main parachute cord is fixed with the both ends of a supporting rod which can be unfolded in the left-right direction and be mounted on the control cabinet; the parafoil body is unfolded by unfolding the supporting rod; and a steering engine controls the rope winding plates to rotate, so that the steering posture of the parafoil aircraft can be controlled. A motor for driving propellers arranged outside the power cabinet to rotate is mounted in the power cabinet, so that the parafoil aircraft climbs out and falls down. The load cabinet can be configured with various types of mission loads aiming at the parafoil aircraft. The parafoil aircraft applicable to the cylindrical space loading, provided by the invention, has the advantages that the high use ratio of the cylindrical space loading the aircraft can be realized; the large-area flexible punching parafoil is used as a lifting surface, so that the lower flight speed can be obtained, and the parafoil aircraft applicable to the cylindrical space loading is applicable to a long-term fixed-point reconnaissance mission; and meanwhile, the parafoil aircraft applicable to the cylindrical space loading has good vertical and transverse stability.
Description
Technical field
The present invention is parasail, belongs to the Flight Vehicle Design field, specifically, is a kind of parasail that cylindrical space loads that is suitable for.
Background technology
The big gun that the weapon welds such as unmanned vehicle and shell, rocket projectile develop is penetrated aircraft, has the ability that the hasty breaching enemy air defences blocks, arrive at the designated flying zone in the short time, and characteristic is particularly suitable for front tactical reconnaissance, injure the excessive risk task such as assessment.
The size of penetrating aircraft due to big gun has been subject to the restriction of cannon cylindrical interior space, and therefore to penetrate aircraft be all to have adopted rigid wing distortion, folding method to satisfy simultaneously emission and cruising phase for the different requirements of aircraft profile to present main flow big gun.But extra distortion, fold mechanism have increased unnecessary weight to aircraft, have taken valuable body space; The wing area of this type of aircraft still can be subject to the restriction of body size, so the flying weight of its full machine also can't increase to desired value.The direct result of above-mentioned two problems is, the minimizing of the mission payload of aircraft and fuel (fuel oil or battery), thus cause mission effectiveness variation and cruise duration to shorten.In addition, fixedly the wing gun complex deformation mechanism of penetrating unmanned plane has reduced the global reliability of system.Less blade area causes its flying speed too high simultaneously, is not suitable for the lasting monitor task of some fixed points.
The mainstream system cannon bore that adopt present countries in the world is generally between 100 ~ 200mm, and the fixedly wing gun that matches is penetrated the maximum endurance of aircraft generally in the 30min left and right.If increase weight or the cruise duration of aircraft, can only increase so the bore of emission cannon, this cost that will make whole big gun penetrate the emission coefficient of aircraft increases greatly.
Summary of the invention
In order to address the above problem, the present invention proposes a kind of simple in structure, space availability ratio is high, cruise duration is long, and is applicable to the parasail that cylindrical space loads.This aircraft can be realized the loading in rocket gun body inside, can also adopt according to other mission requirements the mode of taking off of unmanned plane air-drop or ground hand-thrown.
A kind of parasail that is applicable to the cylindrical space loading is characterized in that: comprise umbrella body and gondola; Wherein, the umbrella body comprises parafoil and the umbrella rope that is made of main chute rope and control wire; The main chute rope is fixed on the parafoil lower surface, and control wire only is fixed on the parafoil trailing edge; Gondola is made of control cabinet, piggyback pod, load cabin, and control cabinet, piggyback pod, load cabin is stacked being fixedly installed from top to bottom.
Described control system comprises pole, steering wheel A, steering wheel B, wiring dish A, wiring dish B, main control module and controls power supply; Wherein, pole is the rod-like structure that left, center, right three parts consist of; Pole middle part is fixed on control cabinet, left part and right part end face below respectively with the middle part both ends of the surface below hinged; On above-mentioned pole left part and right part free end, and all have eyelet hole on control cabinet; Described wiring dish A and wiring dish B are arranged on control cabinet inside; Be installed with steering wheel A and steering wheel B on the control cabinet sidewall, the arbor of steering wheel A, steering wheel B respectively with wiring dish A, the coaxial connection of wiring dish B; The free end of every group of main chute rope of parafoil front side left-half is fixed with the pole left part after passing pole left part eyelet hole thus; The free end of every group of main chute rope of parafoil front side right half part is fixed with the pole right part after passing pole right part eyelet hole; And the free end of every group of control wire of parafoil rear side left-half passes the eyelet hole on pole left part eyelet hole and control cabinet successively, stretches into the control cabinet inner disk on wiring dish A; The free end of every group of control wire of parafoil rear side right half part passes the eyelet hole on pole right part eyelet hole and control cabinet successively, stretches into the control cabinet inner disk on wiring dish B.Described control power supply is used for being steering wheel A, steering wheel B and main control module power supply; Main control module is also realized communicating by letter between parasail and surface control station, transmits control signal to main control module by surface control station, by the work of master control module controls steering wheel A and steering wheel B.
Described power system comprises motor, screw propeller, electrokinetic cell; Wherein, motor is arranged in piggyback pod; Screw propeller is arranged on the piggyback pod outer wall, fixes with motor output shaft; Electrokinetic cell is used for being arranged on equally in piggyback pod into the motor power supply; Motor is connected with main control module in control cabinet, and the control signal that receives surface control station by main control module is thus realized the control to motor.
Described load cabin is used for for the performed task of parasail, mission payload being set.
The invention has the advantages that:
1) parasail of the present invention is utilized the folding and gas replenishment process of flexible parafoil, controls the expansion of parafoil; Unique fold mechanism is gondola pole, and it is simply too much that this pole is compared folded wing, has higher reliability in whole use procedure;
2) parasail of the present invention is when the rocket bomb transmitting, can fully fill up the cylindrical space of body inside by columniform gondola and flexible parafoil and umbrella rope, realizes the high usage of body inner space;
3) gondola of the cylindrical setting of parasail of the present invention has the stability that less course rotor inertia while gondola itself possesses again good vertical and horizontal;
4) the parasail degree of modularity of the present invention is high, and the parafoil between different aircraft and gondola are all replaceable; Simultaneously gondola is divided into three standalone modules: control cabinet, piggyback pod, load cabin, can exchange between different aircraft; Can replace in addition the load cabin of difference in functionality according to mission requirements, or increase new cabin body on the basis of original three cabin bodies;
5) parasail of the present invention adopts flexible ram air parachute as lifting surface, adopts the large tracts of land parafoil, can obtain lower flying speed, and suitable executive chairman's time fixes a point to monitor reconnaissance mission.
Description of drawings
Fig. 1 is parasail integral structure schematic diagram of the present invention;
Fig. 2 is control system and the mounting mode of power system schematic diagram of parasail of the present invention;
Fig. 3 is connection mode schematic diagram between the pole left part of parasail of the present invention and right part;
Fig. 4 is umbrella rope and the gondola connection mode schematic diagram of parasail of the present invention;
Fig. 5 is that parasail of the present invention is at the inner mounting means schematic diagram of typical rocket projectile.
In figure:
1-umbrella body 2-gondola 3-pilot-parachute 4-subtracts and revolves umbrella
5-rocket engine 101-parafoil 102-umbrella rope 102a-main chute rope
102b-control wire 201-control cabinet 202-piggyback pod 203-load cabin
204-control system 205-power system 206-mission payload 201a-pole
201b-steering wheel A 201c-steering wheel B 201d-wiring dish A 201e-wiring dish B
201f-main control module 201g-handles power supply 201h-torsion spring A 201i-torsion spring B
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Parasail of the present invention comprises umbrella body 1 and gondola 2, as shown in Figure 1; Wherein, umbrella body 1 comprises parafoil 101 and the umbrella rope 102 that is made of main chute rope 102a and control wire 102b.Parafoil 101 is common parafoil 101, is connected gondola 2 by main chute rope 102a with control wire 102b.Main chute rope 102a is fixed on parafoil 101 lower surfaces, is one group in twos, and the free end intersection converges and is one, forms Y shape bifurcated configuration.Control wire 102b is fixed on parafoil 101 trailing edges, is one group equally in twos, and the free end intersection converges and is one, forms Y shape bifurcated configuration.Gondola 2 is made of control cabinet 201, piggyback pod 202, load cabin 203, and control cabinet 201, piggyback pod 202, load cabin 203 is stacked being fixedly installed from top to bottom, respectively as the supporting body of control system 204, power system 205 and mission payload 206.
As shown in Figure 2; Described control system 204 comprises pole 201a, steering wheel A201b, steering wheel B201c, wiring dish A201d, wiring dish B201e, main control module 201f and handles power supply 201g; Wherein, pole 201a is used for fixing umbrella body 1, is the rod-like structure of left, center, right three parts formations; Pole 201a middle part is horizontally fixed on control cabinet 201 end faces, left part and right part end face below is hinged with middle part both ends of the surface belows respectively, and torsion spring is installed on jointed shaft, as shown in Figure 3, when placing in the rocket projectile body thus, the pole of left part and right part is in respectively bottom state, can't open due to the restriction of body inwall.After shell case was abandoned, pole left part, right part can be due to the elastic force Automatic-expandings of torsion spring A201h and torsion spring B201i.On above-mentioned pole 201a left part and right part free end, and all have eyelet hole on control cabinet 201 end faces, be used for fixing of umbrella body 1 main chute rope 102a and penetrating of control wire 102b.Described wiring dish A201d and wiring dish B201e are parallel to each other and perpendicular to horizontal surface, are arranged on control cabinet 201 inside, are used for coiling umbrella body 1 control wire 102b; Be installed with respectively steering wheel A201b and steering wheel B201c on control cabinet 201 two lateral walls, the arbor of steering wheel A201b, steering wheel B201c respectively with wiring dish A201d, the coaxial connection of wiring dish B201e; The free end of every group of main chute rope 102a of parafoil 101 front side left-half is fixed with pole 201a left part after passing pole 201a left part eyelet hole thus; The free end of every group of main chute rope 102a of parafoil 101 front side right half part is fixed with pole 201a right part after passing pole 201a right part eyelet hole; And the free end of every group of control wire 102b of parafoil 101 rear side left-half passes the eyelet hole on pole 201a left part eyelet hole and control cabinet 201 successively, stretches into control cabinet 201 inner disks on wiring dish A201d; The free end of every group of control wire 102b of parafoil 101 rear side right half parts, pass successively the eyelet hole on pole 201a right part eyelet hole and control cabinet 201, stretch into control cabinet 201 inner disks on wiring dish B201e, as shown in Figure 4, control respectively wiring dish A201d by steering wheel A201b and steering wheel B201c thus and wiring dish B201e rotates, control wire 102b is coiled or discharges, realize thus the adjustment to parafoil 101 trailing edge arranged on left and right sides upper and lower drift angles, and then realize that parasail turns to attitude to control.Described control power supply 201g is used for being steering wheel A201b, steering wheel B201c and main control module 201f power supply; Main control module 201f also realizes communicating by letter between parasail and surface control station, transmits control signal to main control module 201f by surface control station, is controlled the work of steering wheel A201b and steering wheel B201c by main control module 201f.
Described power system 205 comprises motor 202a, screw propeller 202b, electrokinetic cell 203c.Wherein, motor 202a is arranged in piggyback pod 202 by motor 202a erecting bed; Screw propeller 202b is arranged on piggyback pod 202 outer walls, fixes with motor 202a output shaft, drives screw propeller 202b by motor 202a output shaft rotation and rotates, and produces pulling force, drives the rise and fall of parasail.Electrokinetic cell 202c is used for being arranged on equally in piggyback pod 202 into motor 202a power supply.201 of piggyback pod 202 and control cabinets have interface channel, motor 202a is connected by the interior main control module 201f of interface channel and control cabinet 201, receive the control signal realization of surface control station to the control of motor 202a by main control module 201f thus, realize the control of climbing with descending of aircraft.
Described load cabin 203 is a fully independently cabin body, is used for for the performed task of parasail, mission payload 206 being set; Has independently power supply.The cabin body that (or increasing) has other functions can be replaced according to the difference of task in load cabin 203.For example: when carrying out investigations task, loading device can be the investigation load of camera and graphic transmission equipment formation, by camera collection ambient environment information, sends to surface control station by graphic transmission equipment; When carrying out strike mission, the load cabin can be replaced by the attack ammunition, in the time of above arriving in the target that has set by plane, control the release bullet and attack; Also can thereunder increase on the basis in this external existing investigation load cabin and hang ammunition load, parasail just can be attacked as the case may be thus.
Parasail of the present invention can adapt to body interior cylindrical space well, so rocket bomb transmitting is the mode of taking off of parasail first-selection.Parasail of the present invention can also adopt the modes such as unmanned plane air-drop or ground hand-thrown to take off in addition.
When adopting rocket bomb transmitting, being followed successively by from front to back in body: gondola 2, umbrella body 1, pilot-parachute 3, subtract and revolve umbrella 4, rocket engine 5, as shown in Figure 4.When body flies to trajectory peak, dish out successively to subtract and revolve, 4, pilot-parachute 3, umbrella body 1, gondola 2.After umbrella body 1 was opened, the support on gondola 2 flicked at this moment, and the umbrella rope 102 that is intertwined can be turned round the moment of gyration of direction to 2 one solutions of gondola, be exaggerated because flicking of support makes this moment of gyration; Turn round until umbrella rope 102 is removed to twine, parasail enters the stabilized flight cruising condition.
When adopting the unmanned plane air-drop to take off, parasail is thrown in the designated flying zone, in gondola 2 setting dropping process, umbrella body 1 is opened, support on gondola 2 flicks at this moment, the umbrella rope 102 that is intertwined can be turned round the moment of gyration of direction to 2 one solutions of gondola, be exaggerated because flicking of support makes this moment of gyration; Turn round until umbrella rope 102 is removed to twine, parasail enters the stabilized flight cruising condition.
When adopting ground hand-thrown mode to take off, thrower's hand is lifted gondola 2 runnings and is accelerated, and the air-flow that heads on makes parafoil 101 fully inflate and erect, and looses one's grip after accelerating to takeoff speed, and parasail rises to specified altitude assignment with large power, then begins to cruise.This kind takes off does not have the releasing of umbrella rope 102 to twine the process of turning round in mode, because in this kind mode, umbrella body 1 is just put in more regular mode when the quiescence of ground, there be not more more complicated folding, therefore and be not easy between the umbrella rope to produce to be wound around it is comparatively mild that simultaneously parafoil 101 accelerates gas replenishment processs.
In order to make parasail of the present invention can be fit to simultaneously above-mentioned three kinds of modes of taking off, therefore column structure is adopted in load cabin 203, and it is inner to guarantee that control cabinet 201, piggyback pod 202 and control system 204, power system 205 in whole parasail all is positioned at the projection of load cabin 203 on horizontal surface in the projection on horizontal surface, can avoid thus being stopped when inner parasail being arranged on the rocket projectile body.And adopt this cylindrical structural gondola 2, in the time of can making parasail be subject to solution after emission to turn round the moment of gyration of direction, have less course rotor inertia and larger indulging/horizontal rotor inertia, thereby make gondola 2 have good course deflection followability and the quick solution of parachute-opening to turn round ability with respect to parafoil 101.
After adopting above-mentioned three kinds of modes to make parafoil 101 enter the flight cruise state, can send control command to main control module 201f by surface control station, control steering wheel A201b or steering wheel B201c work by main control module 201f, wiring dish A201d or wiring dish B201e are rotated, pull thus the upper control wire 102b that is wound around of wiring dish A201d or wiring dish B201e, make thus under parafoil 101 trailing edges of wiring dish A201d or wiring dish B201e place one side partially, resistance increases, and makes whole parasail to this lateral deviation boat; If main control module 201f controls steering wheel A201b and steering wheel B201c work simultaneously, wiring dish A201d and wiring dish B201e are rotated, pull simultaneously thus the upper control wire 102b that is wound around of wiring dish A201d and wiring dish B201e, make parafoil 101 trailing edge both sides all partially lower, realize thus the deceleration of parasail.By surface control station to main control module 201f sending controling instruction, also can be rotated by main control module 201f control engine, make screw propeller 202b rotation, the parasail system that realizes is thus climbed or is descended, engine speed is faster, propeller speed is faster, and the pulling force received of parasail is larger, and the angle of climb is larger; Otherwise engine speed descends, and propeller speed descends, and the pulling force received of parasail reduces, and parasail is descended.
Claims (4)
1. one kind is applicable to the parasail that cylindrical space loads, and it is characterized in that: comprise umbrella body and gondola; Wherein, the umbrella body comprises parafoil and the umbrella rope that is made of main chute rope and control wire; The main chute rope is fixed on the parafoil lower surface, and control wire is fixed on the parafoil trailing edge; Gondola is made of control cabinet, piggyback pod, load cabin, and control cabinet, piggyback pod, load cabin is stacked being fixedly installed from top to bottom;
Described control system comprises pole, steering wheel A, steering wheel B, wiring dish A, wiring dish B, main control module and controls power supply; Wherein, pole is the rod-like structure that left, center, right three parts consist of; Pole middle part is fixed on control cabinet, left part and right part end face below respectively with the middle part both ends of the surface below hinged; On above-mentioned pole left part and right part free end, and all have eyelet hole on control cabinet; Described wiring dish A and wiring dish B are arranged on control cabinet inside; Be installed with steering wheel A and steering wheel B on the control cabinet sidewall, the arbor of steering wheel A, steering wheel B respectively with wiring dish A, the coaxial connection of wiring dish B; The free end of every group of main chute rope of parafoil front side left-half is fixed with the pole left part after passing pole left part eyelet hole thus; The free end of every group of main chute rope of parafoil front side right half part is fixed with the pole right part after passing pole right part eyelet hole; And the free end of every group of control wire of parafoil rear side left-half passes the eyelet hole on pole left part eyelet hole and control cabinet successively, stretches into the control cabinet inner disk on wiring dish A; The free end of every group of control wire of parafoil rear side right half part passes the eyelet hole on pole right part eyelet hole and control cabinet successively, stretches into the control cabinet inner disk on wiring dish B; Described control power supply is used for being steering wheel A, steering wheel B and main control module power supply; Main control module is also realized communicating by letter between parasail and surface control station, transmits control signal to main control module by surface control station, by the work of master control module controls steering wheel A and steering wheel B;
Described power system comprises motor, screw propeller, electrokinetic cell; Wherein, motor is arranged in piggyback pod; Screw propeller is arranged on the piggyback pod outer wall, fixes with motor output shaft; Electrokinetic cell is used for being arranged on equally in piggyback pod into the motor power supply; Motor is connected with main control module in control cabinet, and the control signal that receives surface control station by main control module is thus realized the control to motor;
Described load cabin is used for for the performed task of parasail, mission payload being set.
2. a kind ofly as claimed in claim 1 be applicable to the parasail that cylindrical space loads, it is characterized in that: on the jointed shaft between described pole left part, right part and middle part, torsion spring is installed.
3. a kind ofly as claimed in claim 1 be applicable to the parasail that cylindrical space loads, it is characterized in that: described wiring dish A and wiring dish B are parallel to each other and perpendicular to horizontal surface.
4. a kind ofly as claimed in claim 1 be applicable to the parasail that cylindrical space loads, it is characterized in that: described load cabin employing column structure, and guarantee that control cabinet, piggyback pod and control system, power system in whole parasail all are positioned at the projection inside of load cabin on horizontal surface in the projection on horizontal surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310023623.6A CN103101621B (en) | 2013-01-22 | 2013-01-22 | Parafoil aircraft applicable to cylindrical space loading |
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| CN201310023623.6A CN103101621B (en) | 2013-01-22 | 2013-01-22 | Parafoil aircraft applicable to cylindrical space loading |
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| CN103101621A true CN103101621A (en) | 2013-05-15 |
| CN103101621B CN103101621B (en) | 2015-03-25 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103241363A (en) * | 2013-05-17 | 2013-08-14 | 哈尔滨工业大学 | Unmanned plane with arrayed type suspension-cable control type rigid-flexible mixing type wing-shaped umbrella flexible inflatable wings |
| CN103332291A (en) * | 2013-06-14 | 2013-10-02 | 南京航空航天大学 | Folding and unfolding mechanism for air-drop hex-rotor wing unmanned aerial vehicle |
| CN106081090A (en) * | 2016-08-16 | 2016-11-09 | 中国工程物理研究院总体工程研究所 | Flex-wing controllable platform during long boat |
| CN106114855A (en) * | 2016-08-29 | 2016-11-16 | 航宇救生装备有限公司 | A kind of ram air parachute parachute-opening controls device |
| CN107585303A (en) * | 2017-09-12 | 2018-01-16 | 厦门盈趣科技股份有限公司 | Unmanned vehicle forced landing umbrella adjusting means and Automatic adjustment method |
| CN107608366A (en) * | 2017-09-01 | 2018-01-19 | 宁波大学 | More parafoil UASs based on event triggering |
| CN109436318A (en) * | 2018-12-05 | 2019-03-08 | 中国工程物理研究院总体工程研究所 | Parafoil platform and its control method |
| CN110525651A (en) * | 2019-09-26 | 2019-12-03 | 北京理工大学 | Separate type injures the stagnant empty acquisition system of video and its acquisition method on a kind of bullet |
| CN110723295A (en) * | 2019-10-29 | 2020-01-24 | 航宇救生装备有限公司 | Simple controllable parachute and operation method thereof |
| CN114524099A (en) * | 2022-03-15 | 2022-05-24 | 南京航空航天大学 | Device for enhancing steering capacity of parafoil, control method and parafoil |
| WO2022222238A1 (en) * | 2021-04-23 | 2022-10-27 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method therefor |
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| CN103241363A (en) * | 2013-05-17 | 2013-08-14 | 哈尔滨工业大学 | Unmanned plane with arrayed type suspension-cable control type rigid-flexible mixing type wing-shaped umbrella flexible inflatable wings |
| CN103241363B (en) * | 2013-05-17 | 2015-12-02 | 哈尔滨工业大学 | The hard and soft hybrid class parafoil flexible gas-filled wing unmanned plane of row array formula suspension cable control type |
| CN103332291A (en) * | 2013-06-14 | 2013-10-02 | 南京航空航天大学 | Folding and unfolding mechanism for air-drop hex-rotor wing unmanned aerial vehicle |
| CN103332291B (en) * | 2013-06-14 | 2015-11-18 | 南京航空航天大学 | A kind of air-drop six rotor wing unmanned aerial vehicles fold and development mechanism |
| CN106081090B (en) * | 2016-08-16 | 2019-01-11 | 中国工程物理研究院总体工程研究所 | Long endurance flex-wing controllable platform |
| CN106081090A (en) * | 2016-08-16 | 2016-11-09 | 中国工程物理研究院总体工程研究所 | Flex-wing controllable platform during long boat |
| CN106114855A (en) * | 2016-08-29 | 2016-11-16 | 航宇救生装备有限公司 | A kind of ram air parachute parachute-opening controls device |
| CN107608366A (en) * | 2017-09-01 | 2018-01-19 | 宁波大学 | More parafoil UASs based on event triggering |
| CN107608366B (en) * | 2017-09-01 | 2021-02-05 | 宁波大学 | Multi-wing umbrella unmanned aerial vehicle system based on event trigger |
| CN107585303A (en) * | 2017-09-12 | 2018-01-16 | 厦门盈趣科技股份有限公司 | Unmanned vehicle forced landing umbrella adjusting means and Automatic adjustment method |
| CN107585303B (en) * | 2017-09-12 | 2023-08-22 | 厦门盈趣科技股份有限公司 | Unmanned aerial vehicle emergency parachute adjusting device and automatic adjusting method |
| CN109436318A (en) * | 2018-12-05 | 2019-03-08 | 中国工程物理研究院总体工程研究所 | Parafoil platform and its control method |
| CN109436318B (en) * | 2018-12-05 | 2023-08-29 | 中国工程物理研究院总体工程研究所 | Parafoil platform and control method thereof |
| CN110525651A (en) * | 2019-09-26 | 2019-12-03 | 北京理工大学 | Separate type injures the stagnant empty acquisition system of video and its acquisition method on a kind of bullet |
| CN110723295A (en) * | 2019-10-29 | 2020-01-24 | 航宇救生装备有限公司 | Simple controllable parachute and operation method thereof |
| WO2022222238A1 (en) * | 2021-04-23 | 2022-10-27 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method therefor |
| CN114524099A (en) * | 2022-03-15 | 2022-05-24 | 南京航空航天大学 | Device for enhancing steering capacity of parafoil, control method and parafoil |
Also Published As
| Publication number | Publication date |
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| CN103101621B (en) | 2015-03-25 |
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