KR101699797B1 - GPS Guided Parafoil Aerial Delivery System - Google Patents

Abstract

A GPS induction parafoil aerial transportation system according to the present invention comprises: a parachute unit; an automatic induction device unit which is connected to the lower portion of the parachute unit, and flies to a target spot by fully automatic navigation flight in accordance with operation of a GPS navigation device; and a cargo unit which is connected to the lower portion of the automatic induction device unit by a third riser and is transported, wherein the parachute unit includes an auxiliary parachute which is primarily unfolded immediately after dropping and stabilizes the position of the cargo while freely falling during a predetermined time, a main parachute which is unfolded by operation of an unfolding switch and an automatic unfolding device when the auxiliary parachute is unfolded, a plurality of parachute lines which are connected to the main parachute, two control lines which are connected to both the left and right sides of the main parachute to control a flying direction of the main parachute, and a canopy container bag which stores the auxiliary parachute, the main parachute, the parachute lines, and the control lines. Accordingly, it is possible to rapidly, accurately, and safely transport cargo to a target spot by fully automatic flying, and thus it is possible to reduce cargo recovery time.

Description

[0001] The present invention relates to a GPS guided parafoil aerial delivery system,

The present invention relates to a GPS-guided parafoil public transportation system, and more particularly, to a GPS-guided parafoil public transportation system, Accurate, and safe way to transport cargo.

Among the methods of supplying the cargo to the destination, the land supply method can not be used when the transportation route can not be secured due to an earthquake or war. In such a case, the air is transferred from the air to the destination to the circular parachute, Public procurement methods are being used. The air supply method has no geographical restriction, but it is difficult to accurately transmit the cargo to the destination by disturbance such as altitude, aircraft speed and wind.

Accordingly, a method using a parachute-shaped guide parachute capable of flight control, rather than a conventional circular parachute, has recently been used. US Patent Publication No. 6343244 (hereinafter referred to as Prior Art 1) and U.S. Patent Application Publication No. 2004-0084567 (hereinafter referred to as Prior Art 2) disclose such an induced parachute transportation system.

The invention described in the above-mentioned prior art document 1 is configured to include an air speed / direction measuring means, a landing route determining means, and a flight control means. After the parachute is deployed, it measures the wind direction / wind speed, Setting a flight path, guiding the user to fly close to the landing flight route, and descending the landing flight route.

The invention disclosed in the above-mentioned prior art document 2 is a compact and inexpensive transportation system for transporting a small cargo, and has a configuration including a parachute portion, a parachute cover emission detection sensor, a GPS sensor, a horizontal bearing sensor, an induction control and a single motor. This system is guided by a motor to rotate in a horizontal direction perpendicular to the traveling direction when departing from the destination, and it is designed to fly in a circular shape from above the destination after flying to a straight line course from a destination to a predetermined radius.

However, the above-mentioned prior art documents have problems in stabilizing the cargo posture and the twist of the parachute after dropping the transportation system, the impact of the load on the motor connected to the control line and the parachute start, and the posture change of the parachute induced by the air resistance of the cargo .

In addition, there is no alternative method in case of sensor failure such as GPS receiver, and there is a disadvantage that it is inconvenient and inconvenient that it is necessary to calibrate after opening a parachute.

Patent Document 1: US Patent Publication No. 6343244 Patent Document 2: U.S. Patent Application Publication No. 2004-0084567

In order to solve the above-mentioned problems, the present invention prevents the open fault of the main parachute Ram air parachute and the spreading shock, and calculates or estimates the wind direction and the wind speed by itself, while minimizing the air resistance of the cargo, It is aimed to provide a GPS-guided parafoil air transportation system that can fly freely, accurately and safely to the destination point considering not only the fully automatic flight but also the manual switching in case of system error and remote control.

According to another aspect of the present invention, there is provided a GPS-guided parafoil air transportation system for transporting a cargo area to a target point using GPS information, the air transportation system comprising a parachute part, And a cargo part connected to the lower part of the automatic induction device by a third riser and transported; Wherein the parachute part is a main parachute for stabilizing the posture of the cargo while being freely lowered for a predetermined time when the parachute is deployed immediately after the release of the main parachute, A plurality of parachute ropes connected to the parachute, two control rods connected to both sides of the main parachute for controlling the direction of flight of the main parachute, and two control rods for controlling the main parachute, the main parachute, the parachute, Includes a canopy container bag; The automatic guiding device includes two pulleys, and the control rope is connected to the pulleys. The control rods are pulled or loosened as the pulleys are rotated left and right to transport the cargo at a target point, ; Before the main parachute is deployed, the canopy container is fixed with a 5-ring riser including a 5-ring of metal material of 5 different sizes, and the automatic guiding element of the lower part; The automatic spreader includes a rib code fixing pin, a first spring drive shaft, a second spring drive shaft, a first solenoid for operating the first spring drive shaft, and a second solenoid for actuating the second spring drive shaft, The pin is tied with a lip cord, which is the last connection of the 5-ring riser; The first solenoid and the first spring drive shaft are operated or the first solenoid and the first spring drive shaft and the second solenoid and the second spring drive shaft are operated to release the main clutch, Ring risers are separated from each other when the rib cords are separated from the automatic ropes by moving the ribs into the automatic racking so that the canopy container bag is opened and the main parachute packed inside is released and opened .
In one embodiment, the length of the control rope is longer than the length of the second riser connecting the canopy container bag and the automatic induction device.
In an embodiment, a lower portion of the canopy container bag and an upper portion of the automatic induction device are connected by a first riser and a second riser, and the first and second risers can be mounted separately Characterized in that a riser connection ring is used.

The GPS-guided parafoil air transportation system according to the present invention analyzes the influence of the wind and controls the pulling amounts of the left and right control rods of the main parachute by using the servo driver based on the position and the azimuth angle, So that it is possible to quickly, accurately, and safely transport the vehicle, thereby reducing the collection time of the cargo.

In addition, the GPS-guided parafoil air transportation system according to the present invention stabilizes the posture by deploying the sub-parachute immediately after the delivery, and operates the release switch for allowing the main parachute to spread out after a predetermined time, thereby preventing defective deployment of the main parachute, After the main parachute is deployed, it automatically folds and functions as an identification mark indicating the direction, so that manual navigation can be performed through visual observation.

In addition, the GPS-guided parafoil air transportation system according to the present invention can alleviate the impact on the servo driver that controls the flight by being connected to one end of the control rods of both sides, and by installing the worm gear reducer in the servo driver without a separate electromagnetic brake device There is an effect that the motor load can be reduced.

In addition, the GPS-guided parafoil air transportation system according to the present invention can reduce the air resistance during flight by providing a swivel joint in the cargo connection portion, and can prevent the shape of the cargo portion from affecting the flight control, In addition to being able to monitor the flight status in real time through the remote control device and the ground mission planning device on the ground, it is also possible to switch to the manual control mode in case of a system error, It is possible to increase the performance of the mission.

1 shows a GPS-guided parafoil public transport system according to the present invention,
FIG. 2 is a view showing a state of engagement of an automatic guiding element part and a canopy container bag of a GPS-guided parafoil air transportation system according to the present invention,
3 shows a structure of a 5-ring riser of a GPS-guided parafoil air transportation system according to the present invention,
FIG. 4 is a view showing a coupling relation between a 5-ring riser and automatic transmission in a GPS-guided parafoil air transportation system according to the present invention;
FIG. 5 is a view for explaining a structure of a dualization safety device for automatic detection of a GPS-guided parafoil air transportation system according to the present invention;
FIG. 6 is a view for explaining the connection relationship between the fishing line and the magnetic induction device of the GPS-guided parafoil air transportation system of the present invention,
7 is a developed view of the canopy container bag of the GPS-guided parafoil air transportation system of the present invention,
8 is a view for explaining that the GPS-guided parafoil air transportation system of the present invention is flying to a target point by an automatic navigation flight,
9 is a view for explaining the automatic guidance device of the GPS-guided parafoll air transportation system according to the present invention in detail;
10 is a view for explaining the fastening of the risers engaged in the automatic guiding element of the GPS guided parafoll air transportation system according to the present invention,
11 is a view for explaining in detail the coupling relationship between the automatic induction portion and the control rods of the GPS-guided parafoil air transportation system according to the present invention, and
FIG. 12 is a view for explaining a process in which a GPS-guided parafoll air transportation system according to the present invention is released after flying from an aircraft.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor should properly interpret the concept of the term to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a diagram illustrating a GPS-guided parafoil public transport system in accordance with the present invention;

1, the GPS-guided parafoil public transportation system according to the present invention includes a parachute unit 100, a plurality of autonomous guidance units 100 connected to a lower portion of the parachute unit 100, 200 and a payload 300 connected to the lower portion of the automatic induction device 200.

The parachute unit 100 includes a sub-parachute 110, a main parachute 120, a plurality of parachute strings 130 connected to the main parachute 120, two control rods 130 connected to both sides of the main parachute 120, (140) and a canopy container bag (150) for storing them.

The sub-parachute 110 deploys first from the canopy container bag 150 immediately after the discharge, freely descends for a predetermined time, stabilizes the posture of the cargo, operates the release switch so that the main parachute 120 is deployed, After the main parachute 120 is deployed, it is automatically folded to reduce air resistance.

The main parachute 120 is stored in the canopy container bag 150 and is opened by operating the automatic opener after the deactivation switch and the timer are first operated as the auxiliary parachute is deployed.

The tightening relationship between the canopy container hopper 150, the automatic guide device 200, and the storage unit 300 before the main parachute 120 is deployed will be described.

2, the canopy container bag 150 is firmly fixed to the lower automatic guiding apparatus 200, the 5-ring riser 210, and the automatic gantry 220.

The 5-ring riser 210 has one end connected to the 5-ring, the other end divided into 2 equal parts and fastened to the riser coupling part 230 formed on the side edge of the automatic induction device 200, Dispersed.

The automatic spreader 220 is attached to the side portion of the canopy container bag 150 by the automatic spreading riser 221 and the adjusting clip 222 for adjusting the length of the automatic spreading riser 221 The position can be freely adjusted at the time of coupling with the 5-ring riser 210.

Referring to FIG. 3, the structure of the 5-ring riser 210 coupled to the automatic spreader 220 will be described in detail.

As shown in FIG. 3, the five-ring riser 210 has five sizes and five-rings 211, 212, 213, 214 and 215 of different metals are coupled to each other in order of size, Work is easy and separation takes place in a very short time.

 The total load of the GPS-guided parafoll air transportation system according to the present invention and the strength of the drag generated during the vertical descent of the assistant parachute 110 are tightened.

At this time, a bridle 111 connecting the main parachute 120 and the sub-parachute 110 is connected to the third ring 213 to withstand all loads, Ring riser 210 is separated from the automatic gauging 220 when it is the last connecting part of the 5-ring riser 210. The 5-ring riser 210 has five rings 211, 212, 213, 214 The main parachute 120, which is opened and packed in the canopy container bag 150, is instantaneously released due to the resistance of the auxiliary parachute 110 and is deployed.

The 5-ring riser 210 can also forcefully separate the rib cord 216 connected to the static line 240 attached to the aircraft without using the automatic rope 220, - rings (211, 212, 213, 214, 215) may be separated to spread the main parachute (120).

 Ring riser 210 to release and deflate the main parachute 120 from the canopy container bag 150. As shown in Figure 4, Will be described in detail.

4, the automatic treader 220 of the present invention includes a rib cord fixing pin 223 for binding and separating the rip cord 216, The first and second spring drive shafts 225 and 227 are driven by the two solenoids and the first and second spring drive shafts 225 and 227 which are compressed by the actuation of the first solenoid 226 and the second solenoid 228, Ring risers 210 are separated from the ring cords 216 that are engaged with the rib cage fixing pins 223 of the automatic cage by operating the first and second ring cages 225 and 227, Rings 215, 214, 213, 212, and 211 are separated from each other. The first spring drive shaft 225 is operated by the first solenoid 226 and the second spring drive shaft 227 is operated by the second solenoid 228.

The lip cord fixing pin 223 which is always in contact with the lip cord fastening portion of the automatic waveguide 220 is pushed out from the outside in the direction of the arrow by the force of the spring 224 which is an elastic body, The rib cords 216 are reliably bound to the automatic ribs 220 by the force of the springs 224 when the rib cords 216 are inserted between the rib cords 223.

5 illustrates a structure of a dual acting safety device for enhancing the reliability of the automatic spreader 220 shown in FIG. 4. As shown in the left side of FIG. 5, The first spring drive shaft 225 and the first solenoid 226 of the two spring drive shafts 225 and 227 are actuated to move the lip cord fixing pin 223 to the automatic Is pulled into the ridge 220 and the rip cord 216 is separated from the automatic ridge 220 at this time.

If the first spring drive shaft 224 and the solenoid 226 are not operated, the second spring drive shaft 227 and the second solenoid 228 are operated as shown in the right side of FIG. 5, ) And move the lip cord 216 apart.

FIG. 6 is a view for explaining the construction of the GPS-guided parafoil air transportation system of the present invention in more detail; FIG. 6 is a schematic view of the main parachute, which is called Ram Air Parachute or Ram Air Parafoil; A plurality of (at least 16 to 100) pieces of parachute strings 130 are formed in the first part 120 of the canopy container bag 150, And is fixed to the canopy container bag 150 after being connected to the riser 151.

Separately, four to six lines are connected to the left and right trailing edges of the main parachute 120, which are combined into one control line 140 (see FIG. 1).

One end of the maneuvering rope 140 is connected to the left and right ends of the main parachute 120 and the maneuvering rope 140 is connected to the automatic guiding rope 120, And is connected to a pulley 251 of the tooth 200.

The control rod 140 is fixed to the first riser 151 part by a control rod fixing pin 141 by a length of 50 to 75% from the one end of the servo driver side pulley 251.

At this time, the length of the control rope 140 is longer than the length of the second riser 152 connecting the canopy container bag 150 and the automatic guide device 200, so that the shock when the main parachute 120 is deployed Which is a safety device for preventing direct delivery to the servo driver and securing the air resistance necessary for quickly deploying the main parachute 120 with a large area in a short time.

The lower portion of the canopy container bag 150 and the upper portion of the automatic induction device 200 are connected by four first risers 151 and a second riser 152, respectively, wherein the first and second risers 151 And 152 are connected to each other, a riser connection ring 153 capable of upward and downward attachment is used.

The control rope 140 is rotated in a vertical direction. Two grommets 154 are formed in the lower portion of the canopy container bag 150 to minimize mechanical friction while moving smoothly under the surface of the canopy container 200. The surface of the inner hole is formed on the upper portion of the automatic guide device 200 Two guide bushings 270, each of which is smoothly machined by rounding, are provided.

Ring riser 210 which tightly binds the canopy container bag 150 and the automatic induction device 200 to the middle end of the four riser coupling parts 230 installed in the automatic induction device 200 ).

FIG. 7 is an exploded view for explaining in detail the structure of the canopy container bag 150 in which the main parachute 120 shown in FIG. 6 is packaged. The control rope 140 of the main parachute 120 is securely fixed to the 50% or 75% of the entire length by the rope fixing pin 141 and the rope fixing ring 142 provided on the first riser 151 Therefore, when the main parachute 120 is initially deployed, the end portion of the main parachute 120, which is the piloting surface, is in a state of being forcedly braked.

When the brake of the main parachute 120 is loosened, when the pulleys 251 and 261 are rotated by the servo driver of the control rod 140, the control rod 140 is pulled down from the control rod fixing pin 141 .

The main parachute 120 is packed and then forcedly inserted into the canopy container bag 150. In order to facilitate the operation, packing holes 155 and 156 are provided do.

8 is a view for explaining that the GPS-guided parafoil air transportation system of the present invention is flying to a target point by an automatic navigation flight.

The auxiliary parachute 110 is first deployed by the stitch line 240 or the automatic pedestrian 220 to stabilize the posture during a free fall and then the main parachute 120 is placed in the canopy container bag 150 ) To release it forcibly.

Thereafter, when the main parachute 120 is normally deployed, the sub-parachute 110 automatically collapses to minimize air resistance during flight.

When the GPS navigation device is operated, all the following processes are performed by the automatic guidance device 200 so as to fly to the target point by an automatic navigation flight.

The slider 160 disposed at the upper end of the canopy container bag 150 prevents the plurality of the parachutes 130 from being twisted when the main parachute 120 is deployed, .

7B is a simplified system in which the canopy container bag 30 is not provided, unlike the case of FIG. 7A. In this embodiment, the main parachute 120 is directly connected to the automatic in- (200).

At this time, the main parachute 120 is packed in the canopy bag between the binding straps 111 connecting the main parachute 120 and the sub-parachute 110.

9 is a view for explaining the automatic guidance device of the GPS-guided parafoil air transportation system according to the present invention in detail.

The control rod 140 for controlling the main parachute 120 passes through the control rod guide bushing 270 provided at the rear portion of the upper surface of the automatic induction device 200 to rotate the servo actuators 250, The control rope is connected to the pulleys 251 and 261 and the control rope 140 is pulled or loosened as the pulleys 251 and 261 rotate left and right.

That is, the amount of displacement of the control rope 140 is adjusted to enable the direction of the main parachute 120 to be steered. Also, in order for the GPS-guided parafoil air transportation system according to the present invention to operate normally, an expansion switch pin 229 and an activation switch pin 231 associated with the deployment of the main parachute 120 are mounted, The main switch 120 is opened and the active switch pin 231 is disengaged and the timer built in the automatic inductive device 200 is activated from this time to activate the servo drivers 250 and 260 after about 6 seconds, The parachute 120 is controlled to perform an automatic navigation flight.

10 is a view for explaining the fastening of the risers engaged in the automatic guiding device of the GPS guided parafoll air transportation system according to the present invention.

10, the automatic induction device 200 includes a plurality of main parasitic lines 130 connected to the first riser 151 and the second riser 152 connected to the inside of the canopy container bag 150, The third riser 157 directly connected to the upper part of the automatic induction device 200 and connected to the storage part 300 is directly connected to the lower part of the automatic induction device 200, A method in which the guide ring 232 is inserted into the four riser coupling portions 230 located at the side of the device 200 and fixed by bolts and nuts 233a and 233b and a method in which the pins 233c are used instead of the nuts 233b It can be fixed without tools and it can easily mount and detach the riser.

FIG. 11 is a view for explaining in detail the coupling relationship between the automatic induction portion and the control rods of the GPS-guided parafoil air transportation system according to the present invention.

The control rope 140 of the main parachute 120 is securely fixed to the pulleys 251 and 261 of the servo drivers 250 and 260 by the rope connecting rings 142 It is securely fixed.

At this time, both ends of the rope connecting ring 142 are tapered to easily detach the rope connecting ring 142 connected to the rope from the inside of the pulley groove and to prevent loss of the rope connecting ring 142 One end of which is screwed and fastened to the threaded grooves of the pulleys 251 and 261 for storage.

A control rod guide (143) is further provided to prevent the control rods (140) from being thrown out of the pulleys while the pulleys (251, 261) rotate.

The groove bottoms of the pulleys 251 and 261 have a rounded shape so that the length of the control rope 140 is constant when the control rope 140 is wound or unwound within the pulleys 251 and 261.

The servomotors 253 and 263 are composed of a BLDC motor, a DC motor, a stepping motor, and a position detecting encoder (not shown). The servo motors 253 and 263 are connected to the worm gear speed reducers 252 and 262, Encoders).

The servo drivers 250 and 260 can obtain a large torque by using the worm gear reducers 252 and 262 and can perform a mechanical brake function without using a separate electromagnetic brake device, The direction can be conveniently controlled.

FIG. 12 is a view for explaining a process in which a GPS-guided parafoll air transportation system according to the present invention is released after flying from an aircraft.

The GPS-guided parafoil airborne transportation system according to the present invention will fly by automatic navigation from the point 283 where it is dropped from the aircraft to the target point DZ, 280.

That is, the altitude 282 of the GPS-guided parafoil air transport system according to the present invention is dropped from the aircraft to a maximum of 8,000 meters, ranging from a minimum of 900 meters to a maximum of 30 kilometers, depending on the mission.

When the GPS-guided parafoll air transportation system according to the present invention is released from the aircraft and the main parachute 120 is completely deployed, when the posture stabilization and the automatic flight mode reach the point 284 where the automatic flight mode is started, The flight control computer automatically calculates a flight trajectory to the flight control unit 280.

Since the influence of wind is high during high altitude flight, the wind direction and wind speed calculations use a vector calculation method to calculate the flight path error and control to reach the target point 280 as short as possible.

When reaching 60% of the mission flight distance 281 during flight, if the altitude is still higher than the expected path altitude, the first elevation process 286 is performed and the wind direction and wind speed are calculated to the target point 280 Calculate and modify the new path. When reaching the 80% point (287) of the mission flight distance, the mode (WE) to calculate the wind direction and the wind speed and the second antitheft process (EM) is guided through the fine control to the end control point (288).

The terminal control point 288 ultimately calculates the wind direction and wind speed to precisely land at the target point 280 so that the GPS guided parafoil airborne transportation system can safely land at the target point 280 289) and calculates the altitude (290) and the distance (291) required for landing at this time.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It is to be understood that various modifications and changes may be made without departing from the scope of the appended claims.

100: Parachute unit
200: Automatic Induction Chisel
300:
110: Paratroop
120: The main chute
130: Parachute line
140: Steering column
150: Canopy container bag

Claims (15)

A GPS-guided parafoil public transport system for transporting cargoes to a target location using GPS information,
The air transportation system includes a parachute part, an automatic induction device connected to a lower part of the parachute part, and a cargo part connected to a lower part of the automatic induction device by a third riser,
Wherein the parachute part is a main parachute for stabilizing the posture of the cargo while being freely lowered for a predetermined time when the parachute is deployed immediately after the release of the main parachute, A plurality of parachute ropes connected to the parachute, two control rods connected to both sides of the main parachute for controlling the direction of flight of the main parachute, and two control rods for controlling the main parachute, the main parachute, the parachute, Includes a canopy container bag;
The automatic guiding device includes two pulleys, and the control rope is connected to the pulleys. The control rods are pulled or loosened as the pulleys are rotated left and right to transport the cargo at a target point, ;
Before the main parachute is deployed, the canopy container is fixed with a 5-ring riser including a 5-ring of metal material of 5 different sizes, and the automatic guiding element of the lower part;
The automatic spreader includes a rib code fixing pin, a first spring drive shaft, a second spring drive shaft, a first solenoid for operating the first spring drive shaft, and a second solenoid for actuating the second spring drive shaft, The pin is tied with a lip cord, which is the last connection of the 5-ring riser;
The first solenoid and the first spring drive shaft are operated or the first solenoid and the first spring drive shaft and the second solenoid and the second spring drive shaft are operated to release the main clutch, Ring risers are sequentially separated when the rib cords are separated from the automatic racking by moving them into the automatic racking so that the canopy container bag is opened and the main parachute packed inside is released and opened. GPS guided parafoil air transport system.
The method according to claim 1,
Wherein the length of the control rope is longer than the length of the second riser connecting the canopy container bag and the automatic guide device.
The method according to claim 1,
The lower portion of the canopy container bag and the upper portion of the automatic induction device are connected by a first riser and a second riser, and a riser connection ring capable of upward and downward attachment is used to connect the first and second risers Wherein the GPS-guided parafoil aerial transport system comprises: delete delete delete delete delete delete delete delete delete delete delete delete

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