KR100673523B1 - Advanced guided parafoil airborne system - Google Patents

Abstract

A transporting system of a parafoil guide parachute is provided to reduce the freight of the servo motor by installing the worm gear speed reducer at the servo actuator and to correctly transport the load to the destination by controlling the control strings through the servo actuator. A transporting system of a parafoil guide parachute is composed of a parachute part having a main parachute(1), two operating strings(3), a canopy bag(6), and an auxiliary parachute; an auto opening device(18) containing a pulling wire, a pulling wire fixing apparatus, and a linear motion servo actuator; an auto guide apparatus part(8) installed with a flight control part(10), a first command inlet part, an actuation switch(16) operating the timer actuating the flight control part, and a flight apparatus sensor; two servo actuators(9) independently controlling the pulling volume of the control strings; and a freight part(27) placed at the lower part of the auto guide apparatus part. The auto guide apparatus part contains a first communication part for the wireless communication with the ground.

Description

Parafoil guided parachute transport system

1 is a view schematically showing a parafoil guided parachute transport system according to an embodiment of the present invention.

FIG. 2 is a view showing a state immediately after the parafoil guided parachute transport system shown in FIG. 1 is dropped from the aircraft.

FIG. 3 is a view showing an auxiliary parachute unfolded in the parafoil guided parachute transport system shown in FIG. 2.

4 is a view schematically showing an automatic spreader according to an embodiment of the present invention.

5 is a view showing a pull wire fixing device of the automatic spreader shown in FIG.

6A to 6C are views illustrating a process of spreading the main parachute unit in the parafoil guided parachute transport system shown in FIG. 3.

7 is a view showing the state of the parafoil guided parachute transport system after the main parachute illustrated in FIG.

8 is a block diagram showing the configuration of a parafoil guided parachute transport system according to an embodiment of the present invention.

9 is a plan view schematically illustrating a servo driver according to an exemplary embodiment of the present invention.

FIG. 10 is a view illustrating a control line connected to a control line fixing pin of the servo driver shown in FIG. 9.

Brief description of symbols for the main parts of the drawings

1: Parachute 3: Control Line

4: first riser 5: fixing member

6: canopy bag 7: second riser

8: Automatic guidance unit 9: Servo driver

9a: servo motor 9b: worm

9c: worm wheel 9d: pulley

9g: control bar fixing pin 10: flight control unit

11a: magnetometer 12: barometric altimeter

15: GPS receiver 16: activation switch

18: automatic spreader 18a: pull wire fixing device

19: power supply 20: guide bushing

22: Ground Mission Planning Unit

23: remote control device 24: third riser

25: swivel joint 26: fourth riser

27: cargo department 37: ties

39: parachute 40: static line

41: Doppler radar and transmitter 42b: fixed cord ring
42c: fixed cord 42d: 1 ring
42e: 2 rings 42f: 3 rings
42g: 4 rings 42h: 5 rings
42i: pulling wire

The present invention relates to an air transport system for cargo, and more particularly, to receive cargo such as a global positioning system (GPS) to drive a navigation system and to quickly deliver cargo to a destination by using an automatic flight control device considering wind effects. A parafoil guided parachute transport system flying for transport.

The land supply method is not available when the transportation route is not secured due to an earthquake or war, and in this case, the aircraft is dropped by connecting the cargo from the air to the destination by a circular parachute. An air supply method is used. Although the air supply method is not geographically restricted, it is difficult to accurately deliver cargo to a destination due to disturbances such as altitude, aircraft speed, and wind.

Therefore, a method of using a parafoil guided parachute capable of flight control, rather than a conventional circular parachute, has recently been used. U.S. Patent No. 6343244 and U.S. Patent Publication No. 2004-0084567 disclose such a parachute transport system.

The invention disclosed in U.S. Patent No. 6343244 has a configuration including a wind speed / wind direction measuring means, a landing route determining means, and a flight control means, and measures the wind direction / wind speed after the parachute is spread and proceeds to the forward path and forward direction. Setting a landing flight path to descend, guiding to fly close to the landing flight path, and descending along the landing flight path.

The invention disclosed in U.S. Patent Publication No. 2004-0084567 is a compact and inexpensive transportation system for transporting small cargoes, which includes a parachute, a parachute release sensor, a GPS sensor, a horizontal bearing sensor, an induction control, and a single motor. It is composed. The system is guided by a motor to rotate in a horizontal direction orthogonal to the direction of travel as it leaves the destination, to fly in a straight course from the destination to a predetermined radius and then fly in a circle above the destination.

However, the disclosed inventions stabilize the cargo posture after dropping the transportation system and twist the parachute, prevent the load on the motor connected to the control line and the impact prevention when the parachute is released, the soft landing technology using the Doppler radar, and the air resistance of the cargo. There is no disclosure to solve the problems related to the attitude change of the guided parachute. And there is no countermeasure in case of sensor failure such as GPS receiver which is an important navigation device. There was inconvenience and hassle that required correction.

The present invention is to solve the problems as described above to prevent the opening defect and the impact of the parachute parachute, to minimize the air resistance of the cargo in consideration of the influence of the wind to automatically transport the cargo to the destination point automatically The aim is to provide a parafoil guided parachute transport system that can not only fly but also be manually remotely controlled in the event of an automatic flight system failure.

The present invention provides a parachute, a parachute having two control lines connected to both sides of the main parachute, and a canopy bag for storing the main parachute and the control line; An automatic spreader for spreading the main parachute; An automatic induction apparatus unit having a central processing unit and a motor control unit, a flight control unit for performing automatic navigation, a first command input unit, an active switch for activating a timer for activating the flight control unit, and a sensor for navigation device; Two servo drivers which independently control the amount of pulling of each control line by a control signal from the flight control unit; And it provides a parafoil guided parachute transport system comprising a cargo unit located under the automatic guided unit. By such a configuration, the parafoil guided parachute transport system of the present invention can quickly and accurately transport cargo to a destination point by automatic navigation considering wind effects.

The automatic guidance unit further includes a first communication unit for wireless communication with the ground, and the parafoil guided parachute transport system of the present invention may further include a remote control device including a second communication unit and a second command input unit. . By such a configuration, the parafoil guided parachute transport system of the present invention can increase the performance of the mission by switching to the manual mode on the ground in case of flight control error.

The remote control device may communicate with one or more of the guided parachute transport system, and the remote control device may further include a GPS receiver and a beacon transmitter. By such a configuration, the current position of the operator on the ground of the destination is grasped in real time, the position information is changed into a beacon signal, and the uplink (up-up) to the automatic induction apparatus unit using the second communication unit. line) to control the servo driver of the automatic induction unit, so that the automatic induction flight is possible.

The remote control device may further include a third communication unit, and the parafoil guided parachute transport system may further include a ground mission planning device. And the ground mission planning device is a fourth communication unit for transmitting and receiving data with the third communication unit of the remote control device; And it may include a display unit for showing the flight status using the data received from the remote control device. With this configuration, it is possible to check the flight status of the parafoil guided parachute transport system through the ground mission planning device on the ground.

The parachute unit fixing pins for fixing a portion of each control line; And an auxiliary parachute, wherein the automatic induction apparatus unit may further include an open switch for operating a timer for counting a predetermined time after dispersing the auxiliary parachute. At this time, the secondary parachute is dispersed immediately after the drop by the static line connected to the aircraft to freely descend for a predetermined time to stabilize the attitude of the cargo, operate the switch, and the main parachute using the force of air resistance It is released from the canopy bag and automatically collapses after the main parachute is opened. With this configuration, the attitude of the cargo is stabilized and stable spread of the main parachute is possible, and the parachute easily recognizes the flight direction during manual control by performing the function of the identification table indicating the flight direction of the parafoil guided parachute transport system. can do.

The parafoil guided parachute transport system may further include a cargo connection part connecting the automatic induction device part and the cargo part and independently rotating the upper and lower parts. By such a configuration, air resistance is reduced during flight and the shape of the cargo is not affected by flight control.

Each of the canopy bag and the auto induction device may further include a guide bushing having a top and bottom rounded and smoothly polished surfaces. By such a configuration, it is possible to prevent the control line connected to the servo driver to be worn by mechanical friction during vertical movement.

The navigation device sensor may include a magnetic orientation sensor and a GPS receiver, and the navigation device sensor may further include a gyro sensor and an acceleration sensor. And the sensor for navigation device may further include a barometric altimeter. In addition, the parafoil guided parachute transport system, the automatic guided unit is mounted on one side of the cargo unit Doppler radar for measuring the distance between the cargo unit and the ground; And a transmitting device for transmitting data from the Doppler radar to the automatic induction unit.

By such a configuration, the automatic navigation flight is able to reliably perform automatic navigation even in case of GPS reception error by using a GPS / INS induction device in conjunction with an inertial navigation system and a global positioning system. Can be. And, depending on the altitude, GPS, barometer, and Doppler radar can be used to measure altitude accurately. In particular, the Doppler radar accurately measures the distance between the cargo unit and the ground without interference by the rotation of the cargo unit and wirelessly communicates with the automatic induction apparatus unit. Therefore, the optimum distance for the final soft landing to the destination point can be calculated and stable landing can be achieved by operating the canopy brake.

The parafoil guided parachute transport system operates by inputting a system specific encryption code to the first command input unit or the second command input unit. This prevents the parafoil guided parachute transport system from being operated by enemies.

Each servo driver controls the amount of pulling of each control line in accordance with the rotation of the pulley in conjunction with the worm gear reducer connected to the servo motor. With this configuration, it is possible to perform the brake function without using a separate brake device, it is possible to conveniently control the direction change of the drive shaft.

The automatic spreader is a pull wire; Pull wire fixing means for fixing the pull wire so that one end of the pull wire penetrates inside, and the length of the other end of the pull wire to protrude outward is adjusted in a one-touch manner; And a linear motion servo driver for providing linear motion to the pull wire fixing means, wherein the linear motion servo driver operates in conjunction with a timer and / or barometric altimeter operated by the open switch. With such a configuration, the operational parachute is spread out in a stable posture of the cargo, thereby improving operational reliability.

The pull wire fixing means includes a housing in which at least a portion of an inner diameter thereof changes in a longitudinal direction; A plunger inserted into the housing so as to be reciprocated and having the pull wire penetrated therein; At least three balls uniformly disposed along an outer circumference of the pull wire passing through the plunger; A spring for urging the plunger in one direction of the housing having a small inner diameter such that the balls fix the pull wire with respect to the housing; And locking means for securing the plunger to the housing. By this configuration, it is easy to adjust the length of the pull wire of the automatic spreader, can be used semi-permanently without special calibration / calibration, can be used semi-permanently without special calibration / calibration.

The parafoil guided parachute transport system may further include a camera or a CBR detector, which may be transmitted to a user through a first communication unit. Therefore, it is possible to carry out various operations according to the needs of users.

Hereinafter, with reference to the accompanying drawings an embodiment of the present invention will be described in detail. 1 is a view schematically showing a parafoil guided parachute transport system according to an embodiment of the present invention, Figure 2 is a view showing a state immediately after the parafoil guided parachute transport system shown in FIG. 3 is a view showing the state that the parachute unfolded in the parafoil guided parachute transport system shown in FIG.

The parafoil guided parachute transport system shown in FIG. 1 includes a parachute, an automatic releaser, an autonomous guidance unit 8 connected to a lower portion of the parachute, a servo driver and a cargo ( payload) section 27 is provided.

The parachute unit further includes two parachute (39), main parachute (1), several parachute lines (2) connected to the main parachute (1), and two ends connected to both left and right ends of the main parachute (1). A control line 3 and a canopy bag 6 for storing them are provided.

As shown in FIG. 2, when the parafoil guided parachute transport system according to an embodiment of the present invention is dropped from the aircraft, the secondary parachute 39 is forced by a static line 40 attached to the aircraft. Unfolds. After the secondary parachute 39 is unfolded, the cutter cuts the payload tie down strap 37 due to the impact when it receives air resistance. As shown in FIG. 3, the canopy bag 6 and the cargo unit ( 27) the parachute 39 is supported. The secondary parachute 39 stabilizes the attitude of the guided parachute transport system according to the present invention while freely descending for 4 to 6 seconds, and operates a release switch 17.

4 is a view schematically showing an automatic spreader according to an embodiment of the present invention, Figure 5 is a view showing a pull wire fixing device of the automatic spreader shown in FIG.

The automatic spreader 18 discharges the main parachute 1 from the canopy bag 6 to perform a reliable deployment. Conventionally, a method of spreading the parachute by opening the canopy bag 6 by the force of a large spring and a method of spreading the parachute by cutting the wire of the canopy bag 6 by the explosive force of the gunpowder are mainly used. By the way, both of the above method has a hassle that must be reused after a certain number of times, after the calibration / calibration process by the manufacturer.

On the other hand, the automatic spreader according to one embodiment of the present invention shown in Figures 4 and 5 includes a pull wire 42i, a pull wire fixing device 18a, a linear motion servo driver 18b. The pull wire 42i is fixed to the pull wire fixing device 18a, and the pull wire fixing device 18a is fastened to the linear motion servo driver 18b. Accordingly, as the linear motion servo driver 18b moves, the pulling wire 42i also moves together.

The linear motion servo driver 18b may be an assembly of a servo motor, for example a DC servo motor and an LM guide. However, the linear motion servo driver 18b is not necessarily limited thereto, and any linear motion servo driver 18b may be used as long as the linear motion servo driver 18b provides forward and reverse reciprocating driving force in a linear direction such as a pneumatic cylinder.

Referring to Fig. 5, the pull wire fixing device 18a has a housing 18c, a plunger 18d, three balls 18e, a spring 18f and a locking means 18g. The housing 18c is cylindrical, tapered such that the inner diameter decreases toward the entry and exit of the pulling wire 42i. The right end of the housing 18c is engaged with the left end of the linear motion servo driver 18b. The coupling may be, for example, a screw coupling. The plunger 18d is inserted in the housing 18c so as to be reciprocated. The inside of the plunger 18d is formed with a center hole, and the pull wire 42i is fitted into the hollow. Three balls are uniformly arranged along the outer circumference of the pulling wire 42i on the outer circumference of the plunger 18d.

A spring 18f is interposed between the right side surface of the plunger 18d and the housing 18c to press the plunger 18d in the left end direction of the housing 18c. Then, since the pressurized plunger 18d moves the balls 18e in the left end direction of the housing 18c, the circumference formed by the balls 18e is reduced. Therefore, since the balls 18e are pressed in the inner circumferential direction from the outer circumference of the pulling wire 42i, the pulling wire 42i is fixed with respect to the housing 18c. That is, the pull wire fixing device 18a is more strongly fixed as the pull wire 42i is pulled because the portion where the ball is mounted is always in close contact with the tapered portion by the force of the spring 18f.

On the other hand, when the user pushes the plunger 18d to the right to adjust the pulling wire 42i to a suitable length, the force for pressing the pulling wire 42i of the balls 18e is removed. Therefore, the user moderately adjusts the length of the pulling wire 42i while pressing the plunger 18d to the right. In other words, it is a one-touch method that is simply adjusted in length just by pushing the pull wire (42i). Then, when the plunger 18d is fixed to the housing 18c by the locking means, the pulling wire 42i is firmly fixed to the pulling wire fixing device 18a. At this time, the locking means may be a locking nut that can be screwed with the left end of the plunger (18d).

The automatic disperser having such a structure performs a linear motion between the load mode position A and the release mode position B by the electronic signal, and thus the pull wire 42i also loads the load mode. Move together between position (A) and release mode position (B).

As described above, not only the position control can be easily performed by the electronic signal, but also the pull wire 42i can be moved semi-permanently without special inspection / calibration, unlike the conventional automatic spreader because the loading mode and the release mode can be moved.

There are two modes of operating this automatic spreader. The first mode is to set the pressure (atmospheric pressure) at the altitude to be opened or to operate after a predetermined time by a timer linked to the switch 17 which is activated when the auxiliary parachute 39 is opened. The next barometric altimeter 12 is a mode in which any one of the methods of causing the barometer to operate when the predetermined barometric pressure is reached. The second mode is a mode in which a predetermined time to be spread out by the timer and a predetermined atmospheric pressure value to be spread out are activated when one of the two conditions is satisfied. It is a way to spread stably.

In this manner, when 4 to 6 seconds have elapsed or the predetermined pressure (atmospheric pressure) is reached after the opening switch 17 is operated, the main parachute 1 is opened by driving the automatic opening device 18. 6A to 6C are views illustrating a process of spreading the main parachute unit in the parafoil guided parachute transport system shown in FIG. 3.

First, when the main parachute 1 is loaded, the third ring 42f is fitted into the fourth ring 42g and the fifth ring 42h as shown in FIG. 6A and the third ring 42f. ) Is fitted with a second ring 42e, a first ring 42d is fitted with a second ring 42e, and a fixing cord 42c is sequentially inserted into the first ring 42d and a fixing cord ring 42b. Is fitted. And the pulling wire 42i which penetrates the inside of the rip cord housing 42j arrange | positioned at the 3-ring riser side is fitted to the fixing cord 42c inserted in the fixing cord ring 42b. Therefore, the first ring 42d, the second ring 42e, the third ring 42f, the fourth ring 42g and the fifth ring by binding the fixing cord 42c so as not to escape the fixing cord ring 42b. 42h are bound to each other. As a result, the three-ring riser and the one-ring riser bind the canopy bag so that the main parachute 1 is not spread out. At this time, the force pulled up by the parachute riser is the first ring 42d, the second ring 42e, the second ring 42f, the fourth ring 42g, the fifth ring 42h, and the fixing cord 42c. And a fixed cord ring 42b. Therefore, the opening defect of the main parachute 1 due to the destruction of the automatic opening machine can be prevented.

When the automatic disperser is operated to move the pulling wire fixing device to the release mode position, the pulling wire 42i is also released from the fixing cord 42c. Thus, as shown in FIGS. 6B and 6A, the binding is sequentially released. As a result, the binding of the three-ring riser and the one-ring riser is released to open the canopy bag, and the main parachute 1 is unfolded by air resistance.

After the main parachute 1 is opened, the secondary parachute 39 is automatically folded to reduce air resistance, and is connected to the rear side of the main parachute 1 as shown in FIG. do. In addition, about 10% of one end of the parachute parachute 1 is displayed as a different color to be used as a marker for recognizing direction.

Several parachute lines 2 are formed in the main parachute 1 in the shape of a ram air parafoil, and the parachute lines 2 are four first risers in the canopy bag 6. , 4) and then fixed to the canopy bag 6. Separately, four to six strings are connected to each flap on both sides of the main parachute (1), which are then combined into one control string (3). That is, one end of each control line (3) is connected to each end portion of both sides of the main parachute (1), and the other end of each control line (3) is connected to the pulley (9d) of the servo driver (9) to be described later have.

However, a part of each control line 3 (part of the control line 3 at a distance of 1/2 to 3/4 from one end of the servo driver 9 side) is fixed to the first riser (by the fixing member 5). 4) It is fixed to the part. This serves to prevent the opening impact of the main parachute 1 from being transmitted directly to the servo driver 9. In addition, in order to quickly and stably spread the main parachute (1) having a large area and several cells in a short time, it is necessary to ensure the necessary air resistance, for this purpose it must be a parachute (2) of the appropriate length. Therefore, by allowing the fixing member 5 to secure a part of each control line 3 to the part of the first riser 4, air is not evenly distributed in the cells (pores) of the main parachute 1 which are spontaneously spread, so that the parafoil It is possible to prevent so-called deployment malfunctions that do not form properly.

The lower portion of the canopy bag 6 and the upper portion of the automatic induction device portion 8 are connected by four second risers 7. Two guide bushings 16 are provided at the lower portion of the canopy bag 6 and the upper portion of the automatic induction device portion 8 so that the control line 3 moves up and down through the guide bushing 16. The upper and lower portions of the guide bushing 16 are curved to prevent the control string 3 from being worn by mechanical friction while moving up and down, and the surface of the guide bushing 16 is electropolished. It is smooth.

Hereinafter, the automatic induction apparatus unit 8 will be described with reference to FIG. 8. The automatic guidance unit 8 includes a flight control unit 10, a first command input unit 13, an activation switch 16, a navigation device sensor, a first communication unit 14 and a power supply unit 19, and a Doppler. Radar 41 is provided.

The flight controller 10 is a type of controller including a central processing unit 10a and a servo motor controller 10b. The servo motor controller 10b is a pulse width modulation (PWM) for controlling a DC servo motor. Use the board. The flight control unit 10 is connected to a first command input unit 13 such as an on-board mission planning unit to receive data necessary for flight coordinates and automatic navigation, and sensors for navigation devices ( The autonomous flight is performed by processing the measured signals input from 11a, 11b, 11c, 12, and 15 by an automatic flight control algorithm and outputting drive signals to the servo driver 9 and other drivers.

The activation switch 16 of the flight control unit 10 is equipped with an activation pin (activation pin), the main parachute (1) is extended and at the same time the activation pin is released and from this time the timer built in the flight control unit 10 After about six seconds to activate the flight control unit 10 to perform the automatic navigation flight. If the flight control unit 10 operates simultaneously with or before the opening of the main parachute 1, the parachute 1 is prevented from being twisted while the main parachute 1 is unfolded by the operation of the servo driver 9. For sake.

The auto induction unit 8 obtains latitude, longitude, and altitude data from the navigation devices 11a, 11b, 11c, 12 and 15, and obtains azimuth data from the magnetic orientation sensor 11a to perform autopilot flight. Use to In addition, since information about the position and azimuth after the initial time and the arbitrary time can be obtained from the data, the direction and magnitude of the deviation vector, which is a difference between the expected flight path vector and the actual flight path vector obtained at this point, are obtained. Wind direction and wind speed can be calculated. This wind direction and wind speed information is used to fly without escaping the expected flight path.

Navigation system according to an embodiment of the present invention is a GPS / INS interlocking system. Since the GPS receiver 15 receives data from the satellite, the GPS receiver 15 is positioned at the top of the automatic guidance unit 8 to improve the reception state during flight. However, GPS has a disadvantage in that a measurement error is large and its accuracy may be significantly degraded due to an interference signal. Therefore, by using the INS (11) in conjunction with the operation reliability of the system can be increased. The INS includes a gyro sensor 11c, an acceleration sensor 11b, and a magnetic orientation sensor 11a.

In addition, a barometric altimeter 12 may be additionally provided to measure the precise altitude near the destination point. The barometric altimeter can be used when the parafoil-guided parachute transport system is hundreds of meters above, since the error is smaller than the altitude error measured by GPS. And the top of the cargo unit is equipped with a Doppler radar 41 connected to the automatic induction unit 8 wirelessly to accurately measure the distance between the cargo unit and the ground. The altitude data measured by the Doppler radar 41 is transmitted to the flight control unit 10 through the transmission device, and the central processing unit 10a calculates the optimum distance for soft landing. The servo driver 9 operates the canopy brake at the corresponding altitude to allow the parafoil guided parachute transport system to land safely on the ground.

In addition, the automatic induction unit 8 includes a battery 19b which is one power supply source. The battery 19b has a voltage of 28 VDC and is supplied not only to the flight control unit 10 and the electronic unit requiring low voltage by the voltage regulator 19a but also to the servo drive 9 requiring the high voltage. do.

The automatic guidance unit 8 may further include a camera or a CBR detector according to a user's request. The automatic guidance unit 8 includes a first communication unit 14, which uses a 900 MHz RF modem to transmit data to the remote control unit 23, which will be described later, on the automatic flight state of the transport system or CBR. By down-linking additional data such as detection information in real time, the flight status and surrounding conditions of the transportation system can be reproduced numerically and graphically and monitored in real time. The first communication unit 14 is located at the lower end of the automatic induction apparatus unit 8 to facilitate communication with the remote control unit 23. The automatic induction unit 8 is surrounded by a special shock-absorbing product, so that it can be reused since it is protected from the impact of the collision with the ground.

The automatic induction apparatus 8 described above inputs a unique encryption code set for each system to the first command input unit 13 or the second command input unit to turn on the power. Therefore, the parafoil-derived parachute transport system of the present invention can be prevented from being used by enemies even in the event of falling into the hands of the enemies.

The remote control unit 23 includes a second communication unit 23a, a second command input unit, a GPS receiver 23g, and a beacon transmitter 23h for up-linking a manual control signal to the automatic induction unit 8. It is provided. Like the first communication unit 14, the second communication unit 23a uses a 900 MHz RF modem, and the second command input unit includes an auto / manual switch 23d and a joystick 23e, and a button unit for inputting an encryption code. It may be further provided. When the flight control unit 10 loses its function and automatic navigation is impossible, the automatic parachute transport system of the present invention is switched to the manual mode by switching the automatic / manual switch 23d of the remote control unit 23 to the manual mode. Press the left or right turn and the manual control signal to operate in both directions at the same time. The manual control signal is uplinked to the automatic induction unit 8 to the second communication unit 23a to operate the servo driver 9 through the motor control unit 10b of the flight control unit 10, thereby inducing parachute transport system of the present invention. Can be controlled manually.

In addition, the remote control device 23 may further include a third communication unit 23c for wired communication and wireless communication. By having such a GPS receiver 23g, it is possible to grasp in real time the current position of the operator on the ground of the destination. This positional information is changed to a beacon signal and is uplinked to the automatic induction apparatus section 8 using the second communication section 23a. The automatic induction unit 8 can use the information to control the servo driver 9 to perform automatic induction flight according to the position of the ground manipulator.

The ground mission planning unit 22 may include not only the display unit 22a but also the third communication unit 23c of the remote control unit 23 and the fourth communication unit for wired communication and wireless communication such as RS-232 ( 22b). Therefore, the flight status data downlinked to the remote control device 23 through the first communication unit 14 of the automatic induction unit unit 8 is RS-232 wired between the third communication unit 23c and the fourth communication unit 22b. It is transmitted to the ground mission planning device 22 by wireless communication by communication and RF modem to reproduce the flight situation in real time numerically and graphically to monitor the actual flight state of the guided parachute transport system of the present invention on the ground in real time. .

9 is a plan view schematically showing a servo driver 9 according to an exemplary embodiment of the present invention, and FIG. 10 is a control line (9g) on a fixing pin 9g of the servo driver 9 according to an exemplary embodiment of the present invention. 3) is a diagram showing how it is connected. Referring to the drawings, the servo driver 9 is connected to the servo motor 9a, the worm gear reducers 9b and 9c connected to the servo motor 9a, and the worm gears 9b and 9c by the fixing keys 9e. Pulleys (9d) that rotate in conjunction with the worm wheel (9c) and a control groove fixing pin (9g) is mounted in a groove in a portion of the outer peripheral portion of the pulley (9d) to secure the control line (3) to the pulley (9d) Equipped.

One end of each control line (3) is connected to both sides of the main parachute (1) and the other end of the control line (3) pulley (9d) tied to the control line fixing pin (9g) of the servo driver (9) as shown in FIG. Is attached to the pulley 9d in the direction of the arrow of FIG. 8 via the egg groove 9f. At this time, the tapered portions at both ends of the control line fixing pin 9g allow the pulley 9d to be easily detached from the groove 9f by the control line fixing pin 9g.

The worm gear reducers 9b and 9c are composed of a worm 9b and a worm wheel 9c. In the present invention, a separate brake device is provided to the servo driver 9 by using the worm gear reducers 9b and 9c. Since it is possible to perform the brake function without using, there is an effect that can conveniently control the direction change of the drive shaft.

When the servo driver 9 does not pull the control line 3, the servo driver 9 shows a neutral position where the brake is 0%, and the servo driver 9 is not loaded at all. In this state, by operating the servo driver 9 and pulling the two control lines 3 simultaneously, the canopy is braked and the brake rate can be adjusted by controlling the amount of pulling. As described above, when the parachute 1 is opened, both control lines 3 are restrained by the fixing member 5 and brake about 50 to 75%. When the flight control unit 10 is operated, the servo The driver 9 first winds up to 100% in the direction of winding the pulley to change the braked portion (approximately 50-75% pulled portion of the control string 3) to the neutral position, and then reverses again after a delay of about 1.0 seconds. By rotating in the direction, the holding member 5 is released and the brake is switched to the fully neutral position at 0%.

In order to adjust the flying speed, the descending speed, the turning rate and the like of the guided parachute transport system according to the present invention, each servo driver 9 separately controls the pull amount of the control line 3 connected to both sides of the main parachute 1. do. For example, if you only need to turn in the right direction, control only the right control line. If you only need to turn in the left direction, control only the left control line. If it is necessary to adjust the descent rate, minimize the radius of the turn and adjust the steering ratio on the right turn, it is possible to control the left control line and only slightly control the left control line. Similarly, if you need to adjust your descent rate, minimize turn radius, and adjust the lift ratio on your left turn, you need to control the left control line and control the right control line slightly. In addition, by controlling the bi-directional control bar at the same time, you can adjust the descent rate and the lift ratio. In this way, the automatic navigation flight is performed by appropriately selecting the control mode of the servo driver 9 according to the control command of the flight control unit 10.

As such, the tension of the control line required to control the parafoil guided parachute transport system of the present invention should be 3% or more of the maximum cargo weight that the parachute can withstand, considering the canopy area and the weight of the cargo section, such as a gust in flight. Considering the heavy load in unexpected situations, 4% to 10% is preferable. The worm gear reduction ratio is calculated based on the final required drive torque, taking into account the output and torque of the servo motor itself, the number of revolutions, the diameter of the pulley and the control speed of the control line. At this time, the control speed of the control line is preferably set so that the time required for the maximum pulling or loosening of the control line is 2 to 8 seconds.

Parafoil guided parachute transport system according to the present invention is provided with a cargo connection (24, 25, 26) in the lower portion of the automatic guidance unit 8 and the upper portion of the cargo 27 as shown in FIG. The cargo connections 24, 25, 26 are four third risers 24 connected to four places of the lower portion of the automatic induction part 8, and four fourth risers 26 connected to four places of the upper portion of the cargo part 27. And a swivel joint 25 to which the third riser 24 and the fourth riser 26 are connected. The swivel joint 25 rotates the cargo part 27 during the flight by independently rotating the upper and lower parts so that the third riser 24 and the fourth riser 26 can be freely rotated independently, thereby reducing air resistance. The shape of the part 27 plays a role of not affecting the flight control.

Hereinafter, the parafoil guided parachute transport system according to an exemplary embodiment of the present invention having the above components will be described with respect to a process of reaching the destination by autopilot flying after being dropped from an aircraft.

The guided parachute transport system according to the present invention is dropped in a mission altitude enough to reach a destination point stably through a non-powered gliding flight, in which case the parachute part is connected by a strap 37 as shown in FIG. 2. (6), the automatic induction device portion 8 and the cargo portion 27 are bound to each other. As soon as the guided parachute transport system is dropped, the secondary parachute 39 is forcibly unfolded by a static line 40 attached to the aircraft. After the auxiliary parachute 39 is unfolded, the cutter cuts the binding strap 37 due to the impact of receiving air resistance, and thus the main parachute 1 and the auto guide unit 8 and the cargo are shown in FIG. 3. The secondary parachute 39 supports the portion 27.

The auxiliary parachute 39 stabilizes the attitude of the entire transportation system according to the present invention while freely descending for 4 to 6 seconds and operates the open switch 17. When 4 to 6 seconds have elapsed after the opening switch 17 is operated or the preset pressure (air pressure) value is reached, the automatic opening machine 18 is driven to expand the main parachute 1. After the main parachute 1 is opened as shown in FIG. 4, the secondary parachute 39 automatically folds to reduce air resistance and perform a function as an identification table for indicating a direction.

The active switch 16 of the flight control unit 10 is equipped with an active pin, the main parachute (1) is spread out and at the same time the active pin is released and from this time the timer embedded in the flight control unit 10 is operated from 6 seconds Afterwards, the flight control unit 10 is activated to perform automatic navigation flight. When the parachute (1) is spread out, both control lines (3) are restrained by the fixing member (5), and the brakes are about 50 to 75%. When the flight control unit (10) is operated, the servo driver (9) first The fixed member 5 is wound up to 100% in the winding direction to change the braked part (approximately 50 to 75% pulled part of the control string 3) to the neutral position, and then rotates in the opposite direction again after a delay of about 1.0 second. Is released and the brake is at 0%, so both control lines are switched to the fully neutral position.

From this time, each servo driver 9 separately controls the amount of pull of the control line 3 connected to both sides of the main parachute 1 to adjust flight speed, descent speed, turn rate, and the like. In this way, by properly controlling the servo driver 9 according to the control command of the flight control unit 10, it is possible to carry out the automatic navigation flight to transport the cargo to the destination quickly and accurately.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

According to the parafoil guided parachute transport system according to the present invention, by analyzing the influence of the wind and controlling the amount of pull on both control lines using a servo driver based on the position and azimuth angle, the cargo can be quickly and accurately transported to the destination point. And it has the effect of reducing the cargo recovery time.

In addition, the attitude of the guided parachute transport system is stabilized by spreading the secondary parachute immediately after the release, and the operation of the switch for dispersing the main parachute after a predetermined time prevents the defects of the main parachute from spreading. It can also be easily manipulated manually by performing the function as a dog tag indicating the direction by folding.

In addition, it is connected to one end of both control lines to alleviate the impact on the servo driver that controls the flight.The worm gear reducer is installed on the servo driver to reduce the load of the servo motor and to easily change the direction, and requires a separate brake device. none.

In addition, the cargo connection portion is provided with a swivel joint to reduce air resistance during flight, so that the shape of the cargo portion does not affect the flight control, electronic. There is no need for a separate calibration / calibration process by using a mechanical automatic spreader.

In addition, the remote control device and the ground mission planning device in the ground can not only monitor the flight status in real time, but can also increase the performance of the mission by remote control by switching to the manual control mode in the event of a system failure.

Parafoil guided parachute transport system according to the present invention is to expose the submarine location by dropping relief supplies to dangerous and isolated areas, supplying small arms and munitions to allies in dangerous areas, transporting goods to destroyers or ocean-going vessels, and transporting submarine materials during submarine operations. Minimization of prevention, transportation of construction materials and materials in island areas, response to military special operations, precise bomb release by guided control, and equipped with observation sensors in NBC contaminated areas that are hard to access, real-time data transmission, forest fires in areas without access ramps It can be directly used for supplying fire extinguishing equipment and equipment in case of fire, inducing landing of target at high altitude drop at night, collecting information by wireless remote camera, unmanned aerial vehicle (UAV) and rocket, missile device recovery, and paragliding tourism.

Claims (21)

A main parachute, a parachute having two control lines connected to both sides of the main parachute, a canopy bag for storing the main parachute and the control line, and an auxiliary parachute which is opened before the main parachute is opened; In order to electromechanically spread the main parachute, a pull wire is opened to open the canopy bag to spread the main parachute, and a portion of the pull wire is exposed so that at least one end of the pull wire is exposed to the outside. It is provided with a pull wire fixing device which accommodates inside and restricts the movement in one direction of the pull wire and controls the movement in the opposite direction, and a linear motion servo driver for providing a reciprocating linear motion to the pull wire fixing device. Automatic spreader; An automatic induction apparatus unit having a central processing unit and a motor control unit, a flight control unit for performing automatic navigation, a first command input unit, an active switch for activating a timer for activating the flight control unit, and a sensor for navigation device; Two servo drivers which independently control the amount of pulling of each control line by a control signal from the flight control unit; And Parafoil guided parachute transport system comprising a cargo unit located in the lower portion of the automatic guide device. According to claim 1, The automatic guided parachute guided parachute parachute further comprises a first communication unit for wireless communication with the ground. According to claim 1, The parachute further includes fixing pins for fixing a portion of each control line, The automatic induction unit further includes a switch for operating a timer for counting a predetermined time after the opening of the auxiliary parachute, wherein the auxiliary parachute is separated from the payload tie down strap by the force of the air resistance received when unfolded The canopy bag, the automatic induction device and the cargo unit are separated, and the auxiliary parachute stabilizes the attitude of the cargo while freely falling for a predetermined time after dropping, and operates the spread switch to spread the main parachute, and the main parachute is spread. Parafoil guided parachute transport system then folded to reduce air resistance. According to claim 1, The parafoil guided parachute transport system, the parafoil guided parachute transport system further comprises a cargo connection part that connects the automatic induction unit and the cargo unit, the upper portion connected to the automatic induction unit and the lower portion connected to the cargo unit independently rotate. . According to claim 1, The parafoil guided parachute transport system further includes a remote control device, The remote control device includes a second communication unit and a second command input unit for transmitting and receiving data by wireless communication with a first communication unit of the automatic induction apparatus unit, The remote control device is a parafoil guided parachute transport system that can manually change the flight path of the parafoil guided parachute transport system through the second command input unit. The method of claim 5, And the first communication unit and the second communication unit are RF modems. The method of claim 5, The remote control device is capable of communicating with at least one guided parachute transport system, The remote control device further includes a GPS receiver and a beacon transmitter, By grasping the current position of the operator on the ground of the destination in real time (real time) to change the position information into a beacon signal and up-line (up-line) to the automatic induction unit using the second communication unit the automatic induction field A parafoil guided parachute transport system that enables automatic guided flight by controlling the servo driver of the tooth. The method of claim 5, The remote control device further comprises a third communication unit, The parafoil guided parachute transport system further includes a ground mission planning device, The ground mission planning apparatus may include a fourth communication unit which exchanges data with a third communication unit of the remote control apparatus; And Parafoil guided parachute transport system comprising a display unit for showing the flight status using the data received from the remote control device. The method of claim 1, Parafoil guided parachute is provided with a guide bushing having a rounded and smoothly polished surface of the canopy bag and the auto induction unit to prevent the control line connected to the servo driver from being worn by mechanical friction during vertical movement. Transportation system. According to claim 1, The sensor for navigation device is a parafoil guided parachute transport system comprising a magnetic orientation sensor and a GPS receiver. The method of claim 10, The sensor for navigation device further includes a gyro sensor and an acceleration sensor, so that the automatic navigation flight is carried out using a GPS / INS induction device in conjunction with an inertial guidance device (INS) and a GPS. . The method according to claim 8 or 9, Said navigation device sensor further comprises a parametric altimeter (barometric altimeter) parafoil guided parachute transport system. The method according to claim 1 or 5, Parafoil guided parachute transport system that is operated by inputting a unique code for each system to either the first command input unit or the second command input unit. According to claim 1, Each servo driver is a parafoil guided parachute transport system for controlling the amount of pulling of each control line in accordance with the rotation of the pulley in conjunction with the worm gear reducer connected to the servo motor. The method of claim 14, A groove is formed on the outer periphery of the pulley, and the control line fixing pin is inserted into the groove to the end of the control line is inserted into the parafoil guided parachute transport system to be fixed without being separated from the pulley. According to claim 1, The range of tension of the control line required for the pulling amount control is 4 to 10% of the maximum cargo weight that the parachute can bear, and the control line so that the time required for the maximum pulling or loosening of the control line is 2 to 8 seconds. Parafoil guided parachute transport system to set the control speed of The method of claim 3, wherein And the linear motion servo driver operates in conjunction with a timer and / or barometric altimeter operated by the open switch, and pulls the pull wire in a direction to open the canopy bag. The device of claim 1, wherein the pull wire anchor is A housing in which at least a portion of the inner diameter varies along the longitudinal direction; A plunger inserted into the housing so as to be reciprocated and having the pull wire penetrated therein; At least three balls uniformly disposed along an outer circumference of the pull wire passing through the plunger; A spring for urging the plunger in one direction of the housing having a small inner diameter such that the balls fix the pull wire with respect to the housing; And Parafoil guided parachute transport system comprising a locking means for securing the plunger against the housing. According to claim 1, wherein the parachute part A three-ring riser having a first ring, a second ring, a third ring, a fixed cord and a fixed cord ring and disposed at one side of the canopy bag; A one ring riser having a fourth ring and disposed on the other side of the canopy bag; And And a secondary parachute riser having a fifth ring and connected to the secondary parachute, wherein the third ring is fitted to the fourth ring and the fifth ring in the reloading mode of the automatic spreader, and the third ring includes: A second ring is fitted, and the first ring is fitted into the second ring, and the fixing cord is sequentially inserted into the first ring and the fixing cord ring, and one end of the pulling wire is inserted into the fixing cord. When the 1 ring riser and the 3 ring riser tighten the canopy bag, the main parachute is not spread from the canopy bag, and one end of the pull wire is released from the fixing cord in the release mode of the automatic spreader. The fourth ring and the fifth ring are separated from the three ring riser and the main parachute is spread out from the canopy bag by the force of air resistance received by the secondary parachute. Parafoil guided parachute transport system. According to claim 1, The auto guide unit is mounted on one surface of the cargo unit to measure the distance between the cargo unit and the ground Doppler radar; And Parafoil guided parachute transport system further comprising a transmission device for transmitting data from the doppler to the automatic induction unit. The method of claim 2, A parafoil guided parachute transport system further comprising a camera and / or a CBR detector, the data transmitting to the ground in real time during flight through the first communication unit.

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