CN106347676A - Unmanned rotorcraft complete parachute and direction control method thereof - Google Patents
Unmanned rotorcraft complete parachute and direction control method thereof Download PDFInfo
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- CN106347676A CN106347676A CN201610763177.6A CN201610763177A CN106347676A CN 106347676 A CN106347676 A CN 106347676A CN 201610763177 A CN201610763177 A CN 201610763177A CN 106347676 A CN106347676 A CN 106347676A
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- 235000012771 pancakes Nutrition 0.000 claims description 10
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- 230000007423 decrease Effects 0.000 claims description 4
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- 230000005484 gravity Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- 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
- B64D17/62—Deployment
- B64D17/64—Deployment by extractor parachute
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- 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
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
- B64D25/08—Ejecting or escaping means
- B64D25/18—Flotation gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an unmanned rotorcraft complete parachute and a direction control method thereof, and belongs to the technical field of parachutes. The unmanned rotorcraft complete parachute comprises a parachute opening component, a main parachute and a small parachute, wherein both the main parachute and the small parachute are positioned in a main parachute pack, and the parachute opening component is connected onto the main parachute pack. The unmanned rotorcraft complete parachute is characterized in that a horizontal landing controller is arranged on an unmanned rotorcraft and comprises an automatic pilot, a GPS (global positioning system), at least four actuators and a vision module, the parachute opening component receives parachute opening signals of the automatic pilot or a ground handling base station, and the actuators are uniformly distributed at the edge of a main canopy and receive signals of the automatic pilot to control the moving direction of the main parachute. The moving direction of the main parachute can be automatically adjusted, so that a helicopter lands at a proper position, safety is better, and loss caused by improper landing sites is maximally avoided.
Description
Technical field
The present invention relates to parachute technology field, the whole machine parachute of specifically a kind of unmanned gyroplane and its direction control
Method processed.
Background technology
Unmanned gyroplane execute aerial mission when, emergency case can be run into unavoidably, once unmanned gyroplane out of control from height
Sky falls, and either unmanned gyroplane, carrying equipment still all can cause greatly to damage to ground staff, facility, but unmanned
How gyroplane is realized parachuting and is always a difficult problem perplexing depopulated helicopter field.
At present, if unmanned gyroplane breaks down in high-altitude, its result is usually smashed to pieces, even if the nothing of some models
Man-machine have standby parachute, but during opening, parachute usually can be wound around by rotor, and ultimately resulting in can not be soft
Land.In addition, even without the situation that parachute is wound around by rotor occurs, helicopter during parachuting random landing it is possible to
The place being not suitable for landing, such as river, lake, residential block etc. can be dropped to, will also result in larger loss.
Content of the invention
For solving above-mentioned defect of the prior art, it is an object of the invention to provide a kind of landing of unmanned gyroplane whole machine
Umbrella and its direction-controlling method, to solve the above problems.
The present invention solves the technical scheme that its technical problem taken and includes: unmanned gyroplane whole machine parachute, including opening
Umbrella part, main chute and umbellule, main chute and umbellule are respectively positioned in main chute bag, and parachute-opening part is connected to main chute and wraps, in unmanned rotary wing
Machine is provided with pancake controller, and described pancake controller includes automatic pilot, gps, actuator and vision module；Described parachute-opening
Part receives the parachute-opening signal of described automatic pilot or the parachute-opening signal of ground controlling base station, described actuator at least provided with
There are four, actuator is evenly distributed on the edge of main chute canopy, actuator receives the signal of described automatic pilot thus controlling
The moving direction of main chute processed.
A kind of selectable technical scheme is: the canopy edge of described main chute is provided with one-to-one with described actuator
Opening, is respectively equipped with the umbrella rope controlling openings of sizes, the umbrella rope of described control openings of sizes and described actuator at each opening
It is connected.
Opening is set at the edge of main chute canopy, when opening becomes big, the air in canopy spills at the opening becoming big,
Thus producing counteracting force, main chute is promoted to move to the opposite direction of leadage air, thus realizing the adjustment of the moving direction of main chute.
Opening on canopy at least should arrange four, corresponding east, south, west, north four orientation, and the quantity of opening can also increase.
Another kind of selectable technical scheme is: described actuator is connected with the umbrella rope of relevant position on main chute.Canopy
On when being not provided with opening, by actuator open/close umbrella rope, control the attitude that main chute declines, also can control the moving direction of main chute.
Further technical scheme is: it is provided with connecting rope between described main chute and the propeller shank of unmanned gyroplane, described
Connecting rope one end forms the loop configuration being nested with propeller shank, and described loop configuration is only tightened up, non-retractable loose, connection
The rope other end is connected on the umbrella rope of main chute, and connecting rope is pasted onto on the outer surface of gyroplane and can be divided with gyroplane outer surface
From.
The loop configuration of connecting rope one end, can form in the following way: in this end, one collar is set, connecting rope
The other end passes through from the described collar after bypassing blade rotating shaft, forms the loop configuration being nested with propeller shank.When main chute ejects,
In the presence of main chute pull strength, connecting rope can be separated with helicopter outer surface rapidly, makes main chute be located at helicopter after launching
Top, simultaneously as the power that parachute applies to connecting rope is upwards, rapidly can strain above-mentioned loop configuration in oar
Blade root, when loop configuration is located at propeller shank, the moment applying for blade is maximum, and blade can be made within the shortest time to stop
Rotate and reach steady statue, it is to avoid the connecting rope of main chute is wound around by blade.
Further technical scheme is: also includes the connecting rope positioner being fixedly mounted on unmanned gyroplane, connects
The end of rope positioner is provided with the loop configuration being nested with blade rotating shaft, and described loop configuration is that plate is assembled to be constituted；Even
The surface of the surface of splicing positioner and connecting rope is provided with the Separable connecting device cooperating.
Connecting rope positioner, can make connecting rope reliably position, Separable connecting device when parachute does not eject
Enough fixing intensities can both be ensure that using strength VELCRO, gum VELCRO or other magic tape, again can the company of making
Splicing positioner is separated with connecting rope when needed.
Further technical scheme is: the middle part of described connecting rope is provided with a rolling bearing.To be connected by rolling bearing
Rope is divided into two parts, and the rotation of connecting rope lower member is not transferred to main chute.
Further technical scheme is: described actuator is motor, and the body of motor is connected to described putting down
On drop controller, the output shaft of motor is connected with the umbrella rope controlling openings of sizes.
Further technical scheme is: described main chute bag is placed in parachute fixed bin, the opening of parachute fixed bin
Place is provided with end cap, and described umbellule is connected with main chute bag；Described parachute-opening part receives parachute-opening signal and described end cap is flicked, and opens
The main chute bag accommodating main chute is pulled out by umbrella part, and continues to make main chute bag come off from the canopy of main chute, so that parachute is suitable
Sharp opens.
The whole machine parachute of this scheme can make parachute fixed bin installation site separate with parachute pulling force effect point, is easy to
Layout pulling force effect point position, and parachute fixed bin flexible layout in fuselage, it is right to be can reach by suitable location layout
The impact of gyroplane position of centre of gravity is little, or reconciles gyroplane center of gravity erect-position, improves gyroplane flight quality.The whole machine landing of this scheme
Umbrella can horizontal parachute-opening it is ensured that during parachute-opening parachute-opening part do not collide with gyroplane rotary part.The whole machine landing of this scheme
Umbrella can ensure that gyroplane rotatable parts are not wound around with umbrella rope.The whole machine parachute of this scheme can make parachute pulling force effect point be located at
Near main shaft oar hoop, the moment that active force produces to gyroplane center of gravity is big, can make gyroplane immediate stability during parachute-opening.This scheme
During whole machine parachute stably declines in parachuting, parachute active force acts at main shaft oar hoop, and helicopter can be made to keep
Good earth attitude, prevents rotor chain-drive section ground connection or afterbody ground connection.
The technical scheme that the present invention solves its technical problem also includes: a kind of direction control of the whole machine parachute of unmanned gyroplane
Method processed, is characterized in that, the information that vision module shoots or the operation information of ground controlling base station are transferred to automatic pilot, from
Dynamic pilot determines the moving direction of main chute and controls actuator action, and actuator controls corresponding opening to become big or reduce；
When one or several adjacent described openings become big, the air in canopy spills at the opening becoming big, thus producing anti-work
Firmly, main chute is promoted to move to the opposite direction of leadage air, thus realizing the adjustment of the moving direction of main chute.
The technical scheme that the present invention solves its technical problem also includes: a kind of direction control of the whole machine parachute of unmanned gyroplane
Method processed, is characterized in that, the information that vision module shoots or the operation information of ground controlling base station are transferred to automatic pilot, from
Dynamic pilot determines the moving direction of main chute and controls actuator action, and actuator controls the appearance of main chute decline by open/close umbrella rope
State, and then control the moving direction of main chute.
The invention has the beneficial effects as follows:
1st, it is provided with vision module, the situation on the ground below main chute can be shot, judge optimal place of landing, and
The edge of main chute canopy arranges the variable opening of size, by adjusting the size of opening, can adjust the moving direction of main chute,
So that helicopter drops to optimal place, it is to avoid the landing improper loss bringing in place.
2nd, one end of the connecting rope of main chute is nested with the blade rotating shaft of helicopter, when main chute is opened, the ring of connecting rope
Shape structure can tighten up the root in blade, and the moment applying for blade is maximum, blade can be made to stop the rotation within the shortest time
And reaching steady statue, it is to avoid the connecting rope of main chute is wound around by blade.
3rd, connecting rope positioner is set, is cooperated by magic tape between connecting rope and connecting rope positioner,
Connecting rope can be made when parachute does not eject reliably to position, parachute quickly can be separated with helicopter when ejecting.
4th, the middle part of described connecting rope is provided with a rolling bearing, by rolling bearing, connecting rope is divided into two parts, connects
The rotation of rope lower member is not transferred to main chute.
5th, the whole machine parachute of this scheme can make parachute fixed bin installation site separate with parachute pulling force effect point, just
In layout pulling force effect point position, and parachute fixed bin flexible layout in fuselage, be can reach by suitable location layout
Gyroplane position of centre of gravity is affected little, or reconcile gyroplane center of gravity erect-position, improve gyroplane flight quality.
6th, the whole machine parachute of this scheme be not limited only to during parachute-opening can horizontal parachute-opening, ensure parachute-opening part not with gyroplane
Rotatable parts bump against in the case of it is also possible to the parachute-opening at a certain angle of gyroplane transverse axis.
7th, the whole machine parachute of this scheme can make parachute pulling force effect point be located near main shaft oar hoop, and active force is to rotor
The moment that machine center of gravity produces is big, can make gyroplane immediate stability during parachute-opening.Under the whole machine parachute of this scheme is stable in parachuting
During fall, parachute active force acts at main shaft oar hoop, helicopter can be made to keep good earth attitude, prevent rotor head
Portion's ground connection or afterbody ground connection.
8th, the direction-controlling method of the present invention, adjusts the moving direction of main chute by controlling the opening at canopy edge, or
Umbrella rope is pulled by actuator, changes the decline attitude of main chute, to change its moving direction, structure is simple, strong operability.
Brief description
Fig. 1 is the structural representation before the ejection of embodiment of the present invention parachute；
Fig. 2 is the structural representation of embodiment of the present invention connecting rope positioner；
Fig. 3 is the exploded view of embodiment of the present invention connecting rope positioner；
Fig. 4 is the structural representation of embodiment of the present invention connecting rope；
Fig. 5 is structural representation when pack ejects for the embodiment of the present invention parachute；
Fig. 6～Fig. 7 is embodiment of the present invention parachute opening procedure schematic diagram；
Fig. 8 is the structural representation of embodiment of the present invention umbellule；
Fig. 9 is the upward view of the embodiment of the present invention 1 main chute canopy；
Figure 10 is the fundamental diagram of the embodiment of the present invention.
In figure: 1 gyroplane, 2 blades, 3 parachute fixed bins, 4 gyroplane main shafts, 5 connecting rope positioners, 6 connecting ropes,
7 main chute bags, 8 parachute-opening parts, 9 main chutes, 10 rolling bearings, 11 umbellules, 12 openings, 13 pancake controllers.
Specific embodiment
With reference to Figure of description and specific embodiment, the invention will be further described:
Embodiment 1:
As shown in Figure 1, Figure 10 shows, unmanned gyroplane whole machine parachute, including parachute-opening part 8, main chute 9 and umbellule 11, main chute 9
It is respectively positioned in main chute bag 7 with umbellule 11, parachute-opening part 8 is connected on main chute bag 7, is provided with pancake control on unmanned gyroplane 1
Device 13, described pancake controller 13 includes automatic pilot, gps, actuator and vision module；Described parachute-opening part 8 receives institute
State the parachute-opening signal of automatic pilot or the parachute-opening signal of ground controlling base station, described actuator is along the edge of main chute 9 canopy
It is evenly arranged with four, actuator receives the signal of described automatic pilot thus controlling the moving direction of main chute 9.
As Fig. 9, described master, 9 canopy edge is provided with the one-to-one opening 12 with described actuator, each opening 12
Place is respectively equipped with the umbrella rope controlling openings of sizes, and the umbrella rope of described control openings of sizes is connected with described actuator.Described
Actuator is motor, and the body of motor is connected on described pancake controller 13, the output shaft of motor and control
The umbrella rope of openings of sizes processed connects.
It is provided with connecting rope 6, described connecting rope 6 one end forms and is nested with rotation between described main chute 9 and gyroplane main shaft 4 root
The loop configuration of wing owner's axle 4 root, described loop configuration only tightens up, non-retractable loose, and connecting rope 6 other end is connected to
On the umbrella rope of main chute 9, connecting rope 6 is pasted onto on the outer surface of gyroplane 1 and can be separated with gyroplane 1 outer surface.
The loop configuration of connecting rope 6 one end, forms in the following way: as shown in figure 4, arranging a set in this end
Ring, the other end of connecting rope 6 passes through from the described collar after bypassing gyroplane main shaft 4, is formed and is nested with gyroplane main shaft 4 root
Loop configuration.When main chute 9 ejects, in the presence of main chute 9 pull strength, connecting rope 6 can be divided with gyroplane 1 outer surface rapidly
From, make main chute 9 after launching, be located at the top of gyroplane 1, simultaneously as the power that parachute applies to connecting rope 6 is upwards, can
Rapidly to strain in gyroplane main shaft 4 root by above-mentioned loop configuration, when loop configuration is located at gyroplane main shaft 4 root, right
The moment applying in rotor is maximum, rotor can be made to stop the rotation and reach steady statue, it is to avoid the company of main chute 9 within the shortest time
Splicing 6 is wound around by rotor.
As shown in Fig. 2 also including the connecting rope positioner 5 being fixedly mounted on unmanned gyroplane 1, connecting rope positioning dress
The end putting 5 is provided with the loop configuration being nested with gyroplane main shaft 4, as shown in figure 3, described loop configuration is plate assembly structure
Become；The surface of the surface of connecting rope positioner 5 and connecting rope is provided with the gum VELCRO magic tape cooperating.Connecting rope is fixed
Position device 5 can make connecting rope 6 reliably position when parachute does not eject, and gum VELCRO magic tape both ensure that enough
Fixing intensity, can make connecting rope positioner separate with connecting rope when needed again.
The middle part of described connecting rope 6 is provided with a rolling bearing 10.Connecting rope 6 is divided into by two parts by rolling bearing 10,
The rotation of connecting rope 6 lower member is not transferred to main chute 9.
As shown in figure 5, described main chute bag 7 is placed in parachute fixed bin 3, it is provided with the opening of parachute fixed bin 3
End cap, described umbellule 11 is connected with main chute bag 7；Described parachute-opening part 8 receives parachute-opening signal and described end cap is flicked, parachute-opening
The main chute bag 7 accommodating main chute 9 is pulled out by part 8, and continues to make main chute bag 7 come off from the canopy of main chute 9, so that parachute
Smoothly open.
As shown in Fig. 6, Fig. 7 and Figure 10, the work process of the unmanned gyroplane whole machine parachute of the present embodiment is as follows:
When gyroplane 1 breaks down in high-altitude, system for flight control computer or ground controlling base station can be to parachute-opening parts 8
Send signal, parachute-opening part 8 action, the end cap of main chute bag 8 pulls open, the main chute bag 7 accommodating main chute 9 is pulled out by parachute-opening part 8,
And continue to make main chute bag 7 come off from the canopy of main chute 9.After main chute 9 ejects, in the presence of main chute 9 pull strength, connecting rope 6
Can separate with gyroplane 1 outer surface rapidly, make main chute 9 after launching, be located at the top of gyroplane 1, simultaneously as parachute is to even
The power that splicing 6 applies is upwards, rapidly can strain above-mentioned loop configuration in gyroplane main shaft 4 root, loop configuration
Positioned at gyroplane main shaft 4 when, gyroplane 1 attitude stabilization can be made within the shortest time, and gyroplane 1 can be made to keep good ground connection
Attitude, connecting rope 6 can avoid the umbrella rope of main chute 9 to be wound around by rotor after stretching.
Pancake controller 13 is provided with vision module (photographic head), and during gyroplane 1 landing, vision module can be in real time
The situation shooting gyroplane 1 lower section, and transmit signals to automatic pilot, judge optimal landing place.When gyroplane 1
Underface when being that river etc. is not suitable for the place landed, automatic pilot sends signal to actuator, and corresponding actuator is moved
Make, the respective openings on the canopy of main chute 9 are become big, air spills at the opening becoming big, in the presence of counteracting force, main
Umbrella 9 moves to opposite direction, to avoid the place being not suitable for landing.
Four openings 12 are set at the canopy edge of main chute 9, just correspond to four orientation, corresponded to respectively with four openings
As a example east, south, west, north, when the opening positioned at east side becomes big, air spills from this opening, and main chute 9 moves to west；Work as position
In east side and be located at southern side two openings with time-varying big when, air spills from two openings simultaneously, and main chute 9 northwestward is to shifting
Dynamic.Identical with this to the principle of remaining direction movement, will not be described here.
As shown in figure 8, for avoiding the parachute-opening part 8 coming off and main chute bag 7 to go out in the presence of acceleration of gravity when falling
Existing contingency, parachute-opening part 8 and main chute bag 7 are provided with umbellule 11, after parachute-opening part 8 and main chute bag 7 come off from main chute 9,
Umbellule 11 is opened.
Embodiment 2:
The present embodiment feature same as Example 1 repeats no more, and the present embodiment is different from embodiment 1 to be characterised by:
In the present embodiment, the canopy of main chute 9 is not provided with opening, described actuator is connected with the umbrella rope of relevant position on main chute 9.
In the present embodiment, when the moving direction of main chute needs adjustment, by actuator open/close umbrella rope, main chute is controlled to decline
Attitude, also can control the moving direction of main chute.When the umbrella rope of side is tightened, canopy is to the lopsidedness being tightened, canopy
Interior air spills from opposite side, can form counteracting force to canopy, so that main chute is to tightening up side shifting.
In the present invention, the attachment means between connecting rope positioner 5 and connecting rope 6 also can be selected for strength VELCRO thread gluing
Other Separable connecting device such as band or separable sticker.
Actuator in the present invention is not limited to adopt motor, also can be using other linear feeding devices.The present invention
In, actuator and the opening 12 for controlling main chute 11 moving direction are not limited to four described in embodiment 1, can arrange more
Opening, but the adjustment for the ease of direction, the opening of setting should be evenly arranged, and preferably four multiple.
The foregoing is only presently preferred embodiments of the present invention, be not the whole embodiments of the present invention, not in order to limit
The present invention processed, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in
Within protection scope of the present invention.
In addition to technical characteristic described in description, remaining technical characteristic is technology known to those skilled in the art, in order to prominent
Go out the innovative characteristicses of the present invention, above-mentioned technical characteristic will not be described here.
Claims (10)
1. unmanned gyroplane whole machine parachute, including parachute-opening part, main chute and umbellule, main chute and umbellule are respectively positioned in main chute bag,
Parachute-opening part is connected to main chute and wraps, and it is characterized in that, is provided with pancake controller, described pancake controller bag on unmanned gyroplane
Include automatic pilot, gps, actuator and vision module；Described parachute-opening part receive described automatic pilot parachute-opening signal or
The parachute-opening signal of person's ground controlling base station, at least provided with four, actuator is evenly distributed on main chute canopy to described actuator
Edge, actuator receives the signal of described automatic pilot thus controlling the moving direction of main chute.
2. the whole machine parachute of unmanned gyroplane according to claim 1, is characterized in that, the canopy edge of described main chute sets
There is the one-to-one opening with described actuator, at each opening, be respectively equipped with the umbrella rope controlling openings of sizes, described control is opened
The umbrella rope of mouth size is connected with described actuator.
3. the whole machine parachute of unmanned gyroplane according to claim 1, is characterized in that, described actuator is corresponding on main chute
The umbrella rope of position is connected.
4. the whole machine of the unmanned gyroplane according to any one in claims 1 to 3 parachute, is characterized in that, described master
It is provided with connecting rope, described connecting rope one end forms the annular being nested with propeller shank between umbrella and the propeller shank of unmanned gyroplane
Structure, described loop configuration only tightens up, non-retractable loose, and the connecting rope other end is connected on the umbrella rope of main chute, connecting rope
It is pasted onto on the outer surface of gyroplane and can separate with gyroplane outer surface.
5. the whole machine parachute of unmanned gyroplane according to claim 4, is characterized in that, also includes being fixedly mounted on unmanned rotation
Connecting rope positioner on wing machine, the end of connecting rope positioner is provided with the loop configuration being nested with blade rotating shaft, institute
Stating loop configuration is the assembled composition of plate；The surface of the surface of connecting rope positioner and connecting rope is provided with dividing of cooperating
From attachment means.
6. the whole machine parachute of unmanned gyroplane according to claim 4, is characterized in that, the middle part of described connecting rope is provided with one
Rolling bearing.
7. the whole machine parachute of unmanned gyroplane according to claim 2, is characterized in that, described actuator is stepping electricity
Machine, the body of motor is connected on described pancake controller, the umbrella rope of the output shaft of motor and control openings of sizes
Connect.
8. the whole machine parachute of unmanned gyroplane according to claim 1, is characterized in that, described main chute bag is placed on parachute
In fixed bin, at the opening of parachute fixed bin, it is provided with end cap, described umbellule is connected with main chute bag；Described parachute-opening part receives
Parachute-opening signal makes described end cap flick, and the main chute bag accommodating main chute is pulled out by parachute-opening part, and continues to make main chute bag from master
Come off on the canopy of umbrella, so that parachute is smoothly opened.
9. the direction-controlling method of the whole machine parachute of unmanned gyroplane as claimed in claim 2, is characterized in that, vision module is clapped
The information taken the photograph or the operation information of ground controlling base station are transferred to automatic pilot, and automatic pilot determines the moving direction of main chute
And controlling actuator action, actuator controls corresponding opening to become big or reduce；One or several adjacent described openings
When becoming big, the air in canopy spills at the opening becoming big, thus producing counteracting force, promotes main chute anti-to leadage air
Direction is moved, thus realizing the adjustment of the moving direction of main chute.
10. the direction-controlling method of the whole machine parachute of unmanned gyroplane as claimed in claim 3, is characterized in that, vision module
The information shooting or the operation information of ground controlling base station are transferred to automatic pilot, and automatic pilot determines the mobile side of main chute
To and control actuator action, actuator by open/close umbrella rope control main chute decline attitude, and then control main chute mobile side
To.
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| CN201610763177.6A CN106347676A (en) | 2016-08-30 | 2016-08-30 | Unmanned rotorcraft complete parachute and direction control method thereof |
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| CN201610763177.6A CN106347676A (en) | 2016-08-30 | 2016-08-30 | Unmanned rotorcraft complete parachute and direction control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813942A (en) * | 2017-10-27 | 2018-03-20 | 航宇救生装备有限公司 | A kind of emergency ejection bell set |
| CN109398721A (en) * | 2018-11-28 | 2019-03-01 | 襄阳宏伟航空器有限责任公司 | A kind of attachment device of parachute and hanger |
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| US2657880A (en) * | 1951-11-20 | 1953-11-03 | Clyde E Bannister | Parachute-equipped helicopter |
| FR2772340A1 (en) * | 1997-12-11 | 1999-06-18 | Andre Georges Greze | Emergency descent control parachute for helicopter |
| JP2007090981A (en) * | 2005-09-28 | 2007-04-12 | Fujikura Parachute Co Ltd | Parachute |
| CN103744430A (en) * | 2013-02-07 | 2014-04-23 | 山东英特力光通信开发有限公司 | Flight control method of small unmanned helicopter |
| CN103723278A (en) * | 2014-01-24 | 2014-04-16 | 康子纯 | Intelligent parachute |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813942A (en) * | 2017-10-27 | 2018-03-20 | 航宇救生装备有限公司 | A kind of emergency ejection bell set |
| CN109398721A (en) * | 2018-11-28 | 2019-03-01 | 襄阳宏伟航空器有限责任公司 | A kind of attachment device of parachute and hanger |
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