JP2023118027A - Flight body falling assist device - Google Patents

Abstract

To solve the problem that an emergency parachute mounted on a flight body has no choice of a landing point because it moves to a downwind direction after deployment and is landed, and to adjust falling speed of the flight body without large change of a parachute system.SOLUTION: A flight body falling assist device includes a cross-shaped parachute X and its deployment mechanism, wherein the deployment mechanism has a first bridal cord 13 obtained by bundling a plurality of first suspension lines 1 and 4 connected to a corner part of the parachute, a second bridal cord 14 obtained by a plurality of second suspension lines connected to an edge part other than the corner part, and a variable mechanism for changing a ratio of a length of the first or second bridal cord, and changes the length of the first or second bridal cord between a flight body and the parachute, and changes a projection blade area at the time of deployment of the parachute.SELECTED DRAWING: Figure 3

Description

TECHNICAL FIELD The present invention relates to a parachute drop assistance device installed in a flying object such as a drone.

Several techniques have been proposed for adjusting the fall (descent) speed of the parachute. In Patent Document 1, in order to change the development area of the canopy of the parachute, an auxiliary measure surrounding the upper periphery of the suspension measure is provided, and one end of this auxiliary measure is controlled to be wound by a winder to loosen and tighten the auxiliary measure. discloses a technique for changing the extent of deployment of a canopy. Patent Literature 2 describes a technique that has an opening at the top of the parachute and changes the area of the opening with a throttle and a string to change the floating force of the parachute.

JP-A-7-40898

Japanese Utility Model Laid-Open No. 2-49598

In Patent Document 1, an auxiliary cable is attached to a sling cable of a parachute canopy body, and this is controlled to be wound up by a winder to be loosened or tensed. A technique for varying the speed is disclosed. This technology requires a complex mechanism of installing auxiliary ropes and winders, and a strong winding mechanism is necessary to change the pulling direction of many slings that are under strong tension during parachute deployment. Therefore, it is not suitable for installation on flying objects such as drones. In Document 1, it is necessary to add a structure such as an auxiliary measure and a motor, and the existence of pulleys to correct and guide the difference between the tightening direction of the opening and the pulling direction at hand or with a pulling device is necessary for the suspension line. There is a possibility that normal opening of the umbrella may be hindered due to interference and catching during packing and unfolding. Due to the load applied in the direction of gravity, the total load divided by the number of suspension lines of the parachute is spread over each line. As in this document 1, if a cord-like thing is wound horizontally in a circle around the outer circumference surrounding all the suspension lines and the circumference is made smaller by pulling in the motor, friction with the suspension lines that are tense in the vertical direction will occur. It may generate heat and burn out the rope on the operating side. Further, in Document 1, the position where the winding motor device is arranged is the inside surrounded by all the suspension lines under the canopy. The parachute must be unfolded from the packed (folded) state, and due to the position of the motor device, it is impossible to pack the parachute completely separated from the suspension line.
Some countries have enacted a license system for handling emergency parachute packing for interpersonal use, and in the United States, it is issued by the Federal Aviation Administration, so it is difficult to adopt the technology of Document 1. Also, with the round type parachute, when the suspension line is pulled horizontally toward the center line (central part) by applying a tightening force from the outer periphery as in Document 1, the circumference of the canopy itself does not change. , Only the suspension line attachment part of the lowermost edge part of the canopy is pulled in to the center part, and the fabric between the adjacent attachment parts is in a slack state and remains outside the circle formed by the drag line. remain. Although it is conceivable that the sinking speed can be increased by this, the speed change is lower than the expected effect, and fluttering occurs due to the sagging of the fabric, and the large deceleration effect causes a net effect. can be zero or negative. A more serious problem is that flutter causes instability, the descent is no longer in a straight line (straight trajectory), leaving the possibility of pendulum impact on the ground at the moment of touchdown.

Patent Literature 2 discloses a technique in which an opening is provided at the top of a parachute and the area of the opening is changed by a diaphragm and a diaphragm string. In the case of this technology, the presence of pulleys that correct and guide the difference between the tightening direction of the opening and the pulling direction at the hand or at the pulling device interferes and gets caught when the suspension line is packed and deployed. There is a possibility that it may interfere with normal umbrella opening due to The maximum air resistance part that causes changes in the descent speed of the flying object is the wing tip (the bottom edge part in the case of a round parachute). It is also conceivable that it is difficult to obtain the necessary change in the descent speed by opening and closing during the operation.

When the drone transports goods in the air, it is assumed that there will be an emergency situation in which the drone cannot continue the flight due to malfunction or collision with birds, other flying objects, or structures, etc., and avoid this or return to the ground. An emergency parachute is attached for the purpose of mitigating the impact, but a round parachute is suitable as an emergency parachute because it does not progress. At that time, the presence or absence of natural winds blowing parallel to the ground may affect the use of the parachute. When the wind speed is weak, the range of movement to the leeward is shorter and smaller, but the stronger the wind speed, the longer the range (distance) of movement to the leeward. Drone transport tends to set a course that assumes a place where there are no third parties under the flight course, but when using a parachute and moving in a downwind direction, dense private houses, There is a possibility that there are roads and other facilities on which the vehicle travels, and if the landing position is slightly shifted, is it possible to avoid the possibility of collision with a third party or a third party's property building, vehicle, etc.? There is a case that becomes a turning point. For this reason, it is desirable to adjust the descent speed of the drone and change the landing position. As described above, the techniques of Patent Documents 1 and 2 are not considered suitable for such problems.

The parachute has a ram air structure that forms wings by taking in air from the forward direction and inflating it, allowing it to move forward and turn. It is roughly divided into a parachute that does not have one. Among them, there are dome-shaped round parachutes and cross-shaped cross parachutes. The round-type emergency parachute has a fast deployment speed and is easy to use even at low altitudes, but on the other hand, it does not have operability, so after it is deployed, it will move downwind and land, so there is no choice of landing point. . In a cross parachute having a cruciform shape, the projection shape is changed from a square to a square due to the force that causes the canopy to expand due to the wind pressure received from below during descent due to the tension of the suspension line connected to the canopy. Focusing on forming a circular shape, this shape change is not fixed, and it is possible to select and switch arbitrarily. The present invention provides a unique mechanism for adjusting the speed of a flying object without making any major changes to the basic configuration of a normal parachute system, and without making any major changes to the suspension line and bridle cord mechanism that connect the parachute and the flying object. It is made possible by applying the ingenuity (shown in Means for Solving the Problems below). It is another object of the present invention to provide a fall assistance device that enables easy adjustment and setting of the falling speed of a flying object before the start of flight.

In order to solve the above problems, the present invention includes a cross-shaped parachute that is mounted on an aircraft and deployed in the air, and a deployment mechanism for the parachute that is attached to the aircraft, and the deployment mechanism is connected to a corner portion of the parachute. A first bridal cord that bundles a plurality of first suspension lines, a second bridal cord that bundles a plurality of second suspension lines connected to edges other than corners of the parachute, and the first or second and a variable mechanism for changing the length ratio of the bridal cords of the flying object and the parachute by varying the length of the first or second bridal cord between the flying object and the parachute by the variable mechanism. Provided is a fall assist device for a flying object characterized by changing the projected wing area of time. Further, the present invention provides the above-described device, in which the first connection portions are provided at four corner portions of the cross-shaped parachute, and the second connection portions are provided at four or eight or more portions of the edge portion other than the corner portions. a first suspension line is connected to the first connecting portion, and a second suspension line is connected to the second connecting portion;

According to the present invention, for example, if there is no wind or a wind speed of 1 m/s or less, the effect of being swept downwind when using a parachute is small. For example, if the distance exceeds 2 m/s, a square-shaped adjustment with a smaller projected area is selected so that the descent speed becomes faster in order to shorten the moving distance in the downwind direction. These can be easily selected and adjusted before flight. It is also possible to deploy the parachute in a square shape by wireless operation and then change it to a circular shape just before it touches the ground.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view of a parachute {cross type} in one embodiment of the present invention, in which (a) is a square deployment state, (b) is a circular deployment state, and (c) is a comparative shape of parachute deployment. It is what I did. BRIEF DESCRIPTION OF THE DRAWINGS It is a parachute deployment|deployment side schematic diagram in embodiment of this invention, (a) is a square deployment state, (b) is a circular deployment state, (c) represents the comparison shape of parachute deployment. BRIEF DESCRIPTION OF THE DRAWINGS It is a parachute deployment perspective schematic diagram in one Embodiment of this invention, (a) shows a square deployment state, (b) shows a circular deployment state. FIG. 10 is a schematic perspective view showing a fixation switching mechanism for bradal cords provided in a storage container in a parachute deployed state according to an embodiment of the present invention, (a) in a square deployed state, (b) in a switching operation, and (c). shows the state in the circular deployment state. It is the bottom schematic diagram of the fixation switching mechanism of the Bradal code provided in the storage container of FIG. It is a schematic side view of the fixed switching mechanism of FIG. 5, in which (a) shows the square unfolded state, and (b) shows the circular unfolded state. Fig. 10 is a schematic perspective view showing another embodiment of a bradal cord fixation switching mechanism provided in the storage container in the parachute deployed state in the present invention, (a) in the square deployed state, (b) in the circular deployed state. show the situation. 1 is a schematic side view of a drone equipped with a parachute according to the invention; FIG.

An embodiment of the present invention will be described with reference to the drawings. In this embodiment, the developed shape of the canopy of the cross-type parachute is variable between square and circular. (b) shows a state of circular development (x2). A group 20 of four suspension lines 1, 2, 3, 4 connected to the lower edge corners of the four corners of the parachute are bundled and connected to the bridal cord 13, and evenly distributed to the eight outer edges other than the corners. A group 30 of the eight suspension lines 5, 6, 7, 8, 9, 10, 11, and 12 connected to the side portion at the position where they are located is bundled and connected to the Bradal cord 14. A loop portion 13A is formed at the tip of the bridal cord 13, a loop portion 14B is formed at the tip of the bridal cord 14, and a loop portion 14A is formed at a portion apart from the tip of the bridal cord 14. - 特許庁For example, the loop portion 14A is provided above the lower end of the bridal cord by a length corresponding to 5% of the sum of the suspension line and the bridal cord. In this configuration, one of the loop portions 14A and 14B is selected when fixing the bridal cord 14, and a load is applied to the selected one to change the open shape of the canopy. By fixing the loop portion 13A of the bridal cord 13, fixing the loop portion 14A of the bradal cord 14, and setting the loop portion 14B to the unfixed state (the cord 14 is pulled in), the side portion of the canopy x is Pulled downward, the canopy X is deployed in a square shape. The loop portion 13A of the bridal cord 13 is fixed, the loop portion 14B of the bridal cord 14 is fixed, and the loop portion 14A is moved to the non-fixed state (loosing the pull-in of the cord 14 and moving the position of the loop portion 14A upward). state), the side portions of the canopy X move upward, and the canopy X is deployed in a circular shape. That is, the height position h of the connection point of the group 20 of the four suspension lines connected to the bridal cord 13 and the lower edge corner portions (1.2.3.4) of the four corners is unchanged, but the bridal cord Connection of a group 30 of eight suspension lines connected to the side portions (5, 6, 7, 8, 9, 10, 11, 12) at positions evenly distributed over the eight outer edges excluding the corners and 14. The height position H of the point changes as shown in FIG. 2 between when it is fixed by the loop portion 14A and when it is fixed by the loop portion 14B. 3(a) and 3(b) are perspective views showing the unfolded state of FIGS. 2(a) and 2(b) in an easy-to-understand manner. w shown in FIG. 2(c) indicates the range difference of the projected area caused by the variation of (a) and (b). The parachute material has the flexibility of fabrics such as nylon, and by utilizing this, the tension of the canopy can be adjusted by adjusting the degree of expansion by adjusting the tension of the canopy with the above structure, and the parachute can be projected. It causes a change in shape and thus in projected wing area. It gains a change in descent speed and can vary the distance it travels downwind. As a parachute material, in addition to nylon fabric, petroleum-derived chemical fibers such as polyester fabric, polyamide fabric, and polyurethane fabric can be used to cause a similar change in projected area.

The falling speed of a flying object such as a drone equipped with a parachute as a fall assist device configured as described above is adjusted in the following manner. That is, immediately before the flight or descent, the loop portion 14A is fixed at the same height position as the loop portion 13A based on the wind speed of the natural wind that blows parallel to the ground in the airspace where the flight or descent is performed. The projected shape is square and the descent speed is high due to the minimum wing area. On the other hand, by fixing the loop portion 14B at the same height position as the loop portion 13A, the projected shape of the parachute becomes circular and the wing area becomes the maximum and the descent speed becomes small. This switching operation of the loop portion 14A or 14B is performed before flight. In this way, the projected shape of the parachute and thus the projected wing area can be changed to change the descent speed and adjust the distance traveled downwind.

傘形状が正方形の時の隣り合う２辺が各１ｍの場合は投影面積１ｍ^２
このとき対角線の長さは１．４１４２１３５６ｍ
円形になった時の直径は正方形の時の対角線と等しいため円の面積は半径ｘ半径ｘ３．１４、荷重は５ｋｇとする。

パラシュートの投影形状が正方形の時に翼面積は最小値であり１．０ｍ^２とした場合に、同一のパラシュートをたとえば図７に示す調整ベルト６１の操作によって円形に変化させた時にの最大値である１．５７ｍ^２となる。投影面積の増減は吊り下げ重量が同じ場合にその沈下速度に影響し、方程式によって計算される最小値の変化率は最大値に対して３６．３％減となる。円形での沈下速度が５．０ｍ／ｓｅｃの場合に正方形での沈下速度は６．４２５ｍ／ｓｅｃとなる。Consider the change in the deployment area of the parachute circular and square parachute deployment.
The diagonal of a square can be found by applying the Pythagorean theorem x ² +y ² =z ²
When x is the base, y is the height, and z is the hypotenuse, the following relationship is obtained.

If the two adjacent sides of the umbrella shape are square and each side is 1m, the projected area is 1m ²
At this time, the diagonal length is 1.41421356m
Since the diameter of the circle is equal to the diagonal of the square, the area of the circle is radius x radius x 3.14 and the load is 5 kg.

When the projected shape of the parachute is square, the minimum wing area is 1.0 m ² , and the maximum value when the same parachute is changed to a circular shape by operating the adjustment belt 61 shown in FIG. ^1.57m2 . An increase or decrease in the projected area affects the settling rate for the same suspended weight, and the minimum rate of change calculated by the equation is 36.3% less than the maximum. When the settling speed in the circle is 5.0 m/sec, the settling speed in the square is 6.425 m/sec.

4 to 7, a configuration example of the fixing/length switching mechanism portion of the bridal cords 13 and 14 will be described. The parachute is stored in a storage container 40 (outer container) attached to the upper part of the drone, which is, for example, a squadron, and is deployed when the drone descends. FIGS. 4 to 7 show fixing/length switching mechanism portions of the bridal cords 13 and 14 when the parachute (not shown) is deployed upward. It is fixed through a fixing belt 41 attached to the bottom of 40 . The loop portion 14A at the tip of the bridal cord 14 is passed through a belt 41 and fixed, and the loop portion 14B is pulled out to the bottom of the container through a hole 42 provided in the bottom of the container, and a key 50 for locking is attached to the outside of the bottom of the container. is inserted into the loop portion 14B. This state (Fig. 4a)) is the quadrangular deployment of the parachute. To switch the position (length) of the cord 14, as shown in FIG. It is fixed at the portion 14A and its length is expanded. This state (FIG. 4C) is the circular deployment of the parachute. As is clear from FIG. 5 showing the switching mechanism viewed from the bottom side of the container and FIG. Change length.

Another configuration of the ON/OFF switching mechanism is shown in FIG. The cord 13 is fixed as shown in FIGS. 4, 5 and 6, and the cord 14 is attached to the triangular variable belt 60 provided at the bottom of the container through the loop portion 14A. Both ends of the variable belt 60 are connected to an adjustment belt 61 arranged outside the container via adjustment buckles 62 and 63 outside the container. Figure 7a shows the state in which the variable belt is retracted (positioned downward) by the adjustment buckles 62 and 63 at both ends outside the container, and Figure 7b is the state in which the variable belt is pulled out (positioned upward) by the adjustment buckles 62 and 63 at both ends. to indicate the state. In this manner, by adjusting the height of the belt 60 that is shaped like an isosceles triangle by pulling out or pulling in the belt 60, it is possible to switch the deployment of the parachute.

As shown in FIG. 8, the parachute X is mounted in a container 40 installed on the drone 70, flies in this state, and deploys in the above-described rectangular or circular shape during emergency descent. As mentioned above, by utilizing the flexibility of fabric such as nylon, which is the parachute material, the tension of the canopy is adjusted by the wind pressure from the bottom to the top, and the degree of expansion is adjusted. Causes a change in projected wing area. It will get a change in descent speed, reducing the unwanted impact on the distance traveled downwind. That is, when the adjustment belt 61 is pulled out to the left outside of the drawing, the height of the isosceles triangle formed by the variable belt 60 is lowered, and the cord 14 is pulled downward. At this time, the buckle 62 fixes the belt 61 to fix the cord 14 in the downwardly pulled state. By pulling out the belt 61 to the right-hand side of the figure, the buckle 63 is loosened from the belt 62, and the isosceles triangle formed by the belt 60 gains its height, and the tension applied upward when the parachute is deployed causes the cord to be pulled out. 14 will be located at the adjusted maximum height.

According to the present invention, in the transportation of goods moving on a flight course over a third party by a drone or the like, by adjusting the parachute having the mechanism of the present invention in the unlikely event that there is a possibility of a crash, Increases the chances of crash landing in a safe area avoiding areas such as residential areas.

X Parachute 1.2.3.4 Suspension lines connected to corners of parachute 5.6.7.8.9.10.11.12 Suspension lines connected to non-corners of parachute 13 Suspension line group Bridal cord 14 for bundling 20 Bridal cords 13A, 14A, 14B for bundling suspension line group 30 Loop part 40 Outer container 41 Belt 42 Hole 50 Key 60 Variable belt 70 Drone

Claims (3)

A cruciform parachute mounted on an aircraft and deployed in the air and a deployment mechanism for the parachute attached to the aircraft, wherein the deployment mechanism comprises a plurality of first suspension lines bundled together at corners of the parachute. 1 bridal cord, a second bridal cord that bundles a plurality of second suspension lines connected to edges other than the corners of the parachute, and the length ratio of the first or second bridal cord is changed. and a variable mechanism that changes the length of the first or second bridle cord between the aircraft and the parachute by the variable mechanism to change the projected wing area when the parachute is deployed. A fall assist device for a flying object characterized by: 2. A fall assist device for a flying object according to claim 1, wherein said variable mechanism comprises loop portions provided on said first and second bridle cords. . 3. A fall assistance device for a flying object according to claim 1, wherein the variable mechanism is provided at the bottom of the parachute housing and comprises a height adjusting variable belt to which a second bridle cord is connected.

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