KR101723743B1 - Parachute module for drone - Google Patents

Parachute module for drone Download PDF

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Publication number
KR101723743B1
KR101723743B1 KR1020150142423A KR20150142423A KR101723743B1 KR 101723743 B1 KR101723743 B1 KR 101723743B1 KR 1020150142423 A KR1020150142423 A KR 1020150142423A KR 20150142423 A KR20150142423 A KR 20150142423A KR 101723743 B1 KR101723743 B1 KR 101723743B1
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KR
South Korea
Prior art keywords
canopy
frame
gas
container
spool
Prior art date
Application number
KR1020150142423A
Other languages
Korean (ko)
Inventor
김형호
Original Assignee
주식회사 이든이엔지
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Publication date
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Priority to KR1020150142423A priority Critical patent/KR101723743B1/en
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Publication of KR101723743B1 publication Critical patent/KR101723743B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/40—Packs
    • B64D17/42—Packs rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/40—Packs
    • B64D17/52—Opening, e.g. manual
    • B64D17/54—Opening, e.g. manual automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/62—Deployment
    • B64D17/72—Deployment by explosive or inflatable means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64C2201/185—

Abstract

The present invention relates to a drones parachute module having a characteristic mechanism capable of rapidly deploying a parachute under its own judgment so that it can land safely in case of a fall due to internal or external factors during the flight of the drones, A canopy which is detachably mounted on a drone, which is a maneuverable unmanned aerial vehicle, and which is opened and closed at an upper portion thereof, a canopy accommodated in a folded state connected to the frame through a plurality of canopy connecting lines, A canopy deploying portion operable to open the upper portion of the frame and to deploy the canopy upwardly of the frame; and a control portion that controls the attitude of the dron through at least one or more of an acceleration sensor, a gyro sensor, a vibration sensor, A posture detection unit for detecting a posture of the subject, Wherein the controller is further configured to compare whether the signal received from the attitude sensing unit is within a range of the normal flight attitude of the drones, And a control unit for operating the developing unit.

Description

The parachute module for drones {PARACHUTE MODULE FOR DRONE}

The present invention relates to a parachute module for a drone, which can be lowered in speed and fall safely in case of a fall due to an internal or external factor during the flight of a drone, which is a unmanned aerial vehicle capable of flying or maneuvering by radio waves.

In general, a drone is a unmanned aerial vehicle that can be remotely controlled by automatic flight or radio waves without a pilot on board. It is called a 'drone' because it means 'beating up' and also means a flight with several propellers Also called multi-copter.

Since the drones were developed for military use in the early 20th century, they have been used for actual combat since the US and other great powers have been developing competitively. In the 2000s, drone shooting, pesticide spraying, logistics transportation, traffic control and security It is used for professional and commercial purposes.

The above drones are classified as unmanned aerial vehicles with a weight of 150 kg or less under aeronautical law, and more than 12 kg of unmanned aerial vehicles are required to be reported to the competent local aviation authorities in Korea. And must comply with safety regulations, such as prohibiting non-flying areas or falling objects.

In the case of Korea, the 22nd National Science and Technology Advisory Council of Korea in May 2015 recognized the drones related industry as the future growth engine and ranked as the ninth in the world, and the three strategies for realizing the power of the global unmanned mobile industry It is showing the will to intensify the drone industry by deriving 9 tasks.

As described above, the development of additional devices related to safety is relatively weak as compared with the performance of the rapidly developing drones, and in fact, the number of cases of accidents and damage caused by the drone crash has increased and the industry has been obstructed.

In the event of a sudden fall of these drones, the drones may be equipped with a parachute to minimize damage to the drones and to reduce damage to the ground. At this time, when deploying the parachute, it is necessary to deploy the parachute under its own judgment not only to the situation where the parachute is deployed under the perception of the pilot but also to the internal and external factors that the pilot can not recognize. A distinctive mechanism capable of rapid deployment is also contemplated.

Also, it should be simple and convenient to use regardless of user skill level, so that the time and cost loss of initial setting and maintenance should be reduced when using drones for hobbies and commercial services.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a mechanism for rapidly deploying a parachute under self-determination so that the dron can safely land in the event of a fall due to internal or external factors And to provide a parachute module for a vacuum drone.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

In order to achieve the above object, the present invention provides a parachute module for a drone, comprising: a frame detachably mounted on a drone, which is an unmanned aerial vehicle capable of flight control by radio waves, A canopy accommodated in a folded state connected via a canopy connection line; a canopy expansion unit installed in the frame and operable to open the upper portion of the frame to deploy the canopy upwardly of the frame; A dorsal sensing unit for sensing the dorsal attitude through at least one of a sensor, a vibration sensor, and a shock sensor, or a combination of two or more sensors; And the signal received from the posture sensing unit is compared with the range of the normal flight attitude value If it is determined that comprises a control unit for operating the canopy development section such that the canopy is deployed above the frame.

Further, the frame includes a bowl-shaped lower frame provided on the drum and opened upwardly, and a plurality of hinging plates arranged radially in an open manner along an upper periphery of the lower frame, And an opening / closing cover which is opened or closed by a side contact.

The frame may further include a magnet coupled to a side surface of each of the opening plates so that the side surfaces of the respective opening plates adjacent to each other are closed while being in contact with each other by magnetic force.

The canopy deploying portion includes a cylinder vertically opened and fixed to the inside of the frame, a valve coupled to a lower portion of the cylinder to communicate with the cylinder, and a valve installed to communicate with a container inlet into one side of the valve, A gas container for discharging gas stored in the gas inlet to the inside of the valve through the inlet of the container to supply high-pressure gas to the cylinder; and a control unit, installed at the other side of the valve, A gas actuation part connected to the canopy and the valve through a piston connection line and inserted into the cylinder, and when the gas inlet of the gas container is opened according to the operation of the gas actuation part And the upper part of the frame is fired while being fired upwardly of the cylinder with a gas pressure of a high pressure supplied to the cylinder At the same time as bangham characterized in that it includes a piston that deploy the canopy.

The gas actuating part is provided so as to be slidable forward and rearward toward the container inlet of the gas container through the other side of the valve and has a spool for opening the container inlet of the gas container as the front end presses the container inlet, A compression coil spring for providing a spring force for forward movement of the front end of the spool toward a container inlet of the gas container; and a rear end of the spool for maintaining the spool moved backward while the compression coil spring is compressed A latching trigger provided to be able to rotate or to rotate the latch trigger by receiving a control signal of the control unit, or to release the rear end of the spool and to move the spool forward by a spring force of the compression coil spring; And a control unit.

The latch trigger may include a latching hook for latching the rear end of the spool and a driven link provided at one side of the latching hook, the rotating motor being coupled to the output shaft, rotating in contact with the driven link, And a rotating cam which rotates the driven link so that the hooking hook releases the rear end of the spool.

The parachute module for drones according to the present invention can rapidly deploy the parachute under its own judgment so that it can descend safely by reducing the speed when the dron is fallen due to internal or external factors through the characteristic mechanism, It is possible to drastically reduce cases of damage to persons and objects caused by a fall.

Further, in contrast to the existing parachute module receiving operation signals from the flight control computer of the drones, the parachute module for drones according to the present invention has a built-in sensor, so that the parachute is operated by its own judgment So that users who do not have technical expertise can easily use it simply by mounting it on the drones.

1 is a perspective view illustrating a process of installing and operating an embodiment of a parachute module for a drone according to the present invention,
Fig. 2 is a main part perspective view showing a state before the canopy is developed in the embodiment of Fig. 1,
Fig. 3 is a principal perspective view showing a state after the canopy is developed in the embodiment of Fig. 1,
4 is a perspective view showing a canopy deploying portion, a posture sensing portion, and a control portion of the embodiment of FIG. 3,
FIG. 5 is an exploded perspective view of the embodiment of FIG. 4,
Figure 6 is an exploded perspective view of the embodiment of Figure 5 taken at different angles,
Figure 7 is a side cross-sectional view of the embodiment of Figure 2,
Fig. 8 is a cross-sectional view of the recessed portion showing the canopy deploying portion in the embodiment of Fig. 7,
FIG. 9 is a main part perspective view showing the operation of the latch trigger and the rotation cam of the canopy deploying part of the present invention,
10 is a side cross-sectional view illustrating the operation of the canopy deploying unit in the embodiment of FIG.

Hereinafter, preferred embodiments of a parachute module for a drone according to the present invention will be described in detail with reference to the accompanying drawings.

2 to 10, the parachute module for drone according to the present invention includes a frame 100, a canopy 200, a canopy expansion unit 300, a posture sensing unit 400, and a control unit 500 . The frame 100 includes a lower frame 110, an opening / closing cover 120 and a magnet 130. The canopy expansion unit 300 includes a cylinder 310, a valve 320, a gas container 330, A gas actuating part 340, and a piston 350. [

1 to 3, the frame 100 is detachably installed on a drone 10, which is a unmanned aerial vehicle capable of flying with radio waves, and the upper portion thereof is opened and closed. The upper portion of the frame 100 should be opened and closed so that various components to be described later are mounted and coupled inside the frame 100 and the canopy 200 installed therein is deployed above the frame 100.

2 and 3, the frame 100 includes a bowl-shaped lower frame 110 installed on the dron 10 and opened upward, and a bowl-shaped lower frame 110 disposed on the upper periphery of the lower frame 110 Closing cover 120 which is openably and closably opened so that the side surfaces of each of the adjacent opening plates 121 are in contact with each other. When the canopy 200 is deployed by the operation of the canopy expansion unit 300 to be described later, the opening and closing cover 120 is opened while the plurality of the opening plates 121 are opened. Normally, The side surfaces of the first and second side walls are coupled to each other to maintain the closed state.

3, the frame 100 includes a plurality of magnet assemblies 121 attached to the sides of the respective excitation plates 121 so that the side surfaces of the adjacent excitation plates 121 are in contact with each other by mutual magnetic force, (130). Therefore, the canopy 200 is extended while the magnet 130 coupled to the adjacent side surface of the cover plate 121 is kept in a state of being coupled by the magnetic force of the magnet 130, and the cover plate 121 moves beyond the magnetic force of the magnet 130 It will be open to the public.

3 and 7, the canopy 200 is connected to the inside of the frame 100 through a plurality of canopy connecting lines 210 and is received in a folded state. Here, the canopy 200 refers to an open cloth of a parachute. When the canopy 200 is received in a folded state inside the frame 100 and then the opening / closing cover 120 of the frame 100 is opened while being opened, 210 to the frame 100 to guide the dron 10 to fall aerodynamically safely.

3 to 10, the canopy expansion unit 300 is installed inside the frame 100 and opens the upper part of the frame 100 to move the canopy 200 upward from the frame 100 Lt; / RTI > The detailed configuration of the canopy deploying unit 300 will be described later.

The attitude sensing unit 400 senses the attitude of the dron 10 through at least one of an acceleration sensor, a gyro sensor, a vibration sensor, and an impact sensor or a combination of two or more of them. For example, when the flight attitude of the drone 10 is suddenly inclined at a specific angle or overturned by a certain angle or more, or due to an internal or external factor such as an increase in vibration due to a sudden collision or a sudden impact, The attitude of the drone 10 can be detected by sensing the three-axis angle, the angular velocity, and the angular acceleration. After the attitude of the dron 10 is sensed by the attitude sensing unit 400, the control unit 500 receives the sensed signal and operates the canopy deployment unit 300.

That is, the control unit 500 receives a signal from the posture sensing unit 400 to compare whether or not the signal is within the predetermined normal flight attitude value of the drones 10, The canopy deploying unit 300 is operated so that the canopy 200 is deployed above the frame 100 when it is determined that the signal is out of the range of the normal flight attitude. The predetermined normal flight attitude value refers to an allowable angle, an angular velocity, and an angular acceleration range from the data of three axes angles, angular velocities and angular velocities at the time of normal flight for each drones 10, When the signal transmitted from the attitude sensing unit 400 is out of the range of the normal flight attitude value for a predetermined time or more, it is determined that the flight is abnormal. When the control unit 500 determines that the drones 10 are in an abnormal flight, the control unit 500 determines that the drones 10 are falling and operates the canopy expansion unit 300 so that the canopy 200 can be deployed so that the canopies 200 can be safely landed.

4 to 6, the canopy expansion unit 300 includes a cylinder 310, a valve 320, a gas container 330, a gas operation unit 340 And a piston 350.

The cylinder 310 is vertically opened and fixed to the inside of the frame 100. The valve 320 is coupled to the lower portion of the cylinder 310 to communicate with the cylinder 310, The valve 310 is provided with a container inlet 331 communicating with one side of the valve 320 and discharges the gas stored therein to the inside of the valve 320 through the container inlet 331, Of gas. The gas actuating part 340 is installed on the other side of the valve 320 and operates to open the container inlet 331 of the gas container 330 by the deployment signal of the control part 500. At this time, the piston 350 is inserted into the cylinder 310 through the piston connecting line 351 between the canopy 200 and the valve 320, and the operation of the gas actuating part 340 When the container inlet 331 of the gas container 330 is opened, the upper part of the frame 100 is opened while being fired above the cylinder 310 with the high pressure gas supplied to the cylinder 310 At the same time, the canopy 200 is deployed.

The spark 341, the compression coil spring 342, the engagement trigger 343, and the rotation motor 344 in a specific configuration for opening the container inlet 331 of the gas container 330 . 5 to 10, the spool 341 is installed so as to be slidable forward and rearward through the other side of the valve 320 toward the container inlet 331 of the gas container 330, The container inlet 331 of the gas container 330 is opened as the container inlet 331 is contacted and pressed. The compression coil spring 342 provides a spring force for forward movement of the front end of the spool 341 toward the container inlet 331 of the gas container 330 and the latch trigger 343 urges the compression coil spring 342 The rear end of the spool 341 is hooked so as to maintain the state that the spool 341 is moved backward by the spring force of the compression coil spring 342 after the rear end of the spool 341 is released, And is rotatably installed to move the spool 341 forward. At this time, the rotation motor 344 receives the control signal of the controller 500 and rotates the latch trigger 343.

9, the latch trigger 343 includes a latching hook 343a for hooking the rear end of the spool 341 and a passive link 343b provided at one side of the latching hook 343a, And the rotation motor 344 is coupled to the output shaft and rotates in contact with the driven link 343b so that the locking hook 343a is engaged with the driven link 343a to release the rear end of the spool 341. [ And a rotation cam 344a for rotating the cam 343b.

1, when the drones 10 fall due to an internal or external factor during a flight in a normal flight attitude, the initial posture sensing unit 400 may be provided with various drones The control unit 500 senses the attitude of the drones 10 through a sensor capable of determining the attitude of the vehicle 10 and the control unit 500 determines whether the signal transmitted from the attitude sensing unit 400 is out of the range of the predetermined normal attitude It determines that it is in an abnormal flight, that is, a fall state, and operates the canopy deployment unit 300.

9, when the rotary motor 344 of the gas actuating part 340 of the canopy deploying part 300 is rotated, the rotary cam 344a rotates to rotate the driven link 343b of the latch trigger 343 And the hooking hook 343a of the hooking trigger 343 rotates together to release the rear end of the spool 341. The spool 341 is moved forward by the spring force of the compression coil spring 342 and the front end of the spool 341 contacts the container inlet 331 of the gas container 330, The stored high-pressure gas is ejected through the container inlet 331 and fed into the cylinder 310. The piston 350 inserted in the cylinder 310 is fired upward and the opening and closing cover 120 of the frame 100 is opened so that the canopy 200 is deployed upwardly of the frame 100, , So that the drone 10 descends safely

As described above, the parachute module for drone according to the present invention expands the parachute rapidly under its own judgment so that it can land safely when the drone 10 falls due to internal or external factors during the flight through the characteristic mechanism It is possible to drastically reduce cases of damage to persons and objects caused by falling drone.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention as long as they are obvious to those skilled in the art.

10: Drones
100: frame 110: lower frame
120: opening / closing cover 121:
130: magnet
200: Canopy 210: Canopy connection line
300: canopy development unit
310: cylinder 320: valve
330: gas container 331: container inlet
340: gas operating part
341: spool 342: compression coil spring
343: Trigger Trigger
343a: Retaining hook 343b: Passive link
344: rotation motor 344a: rotation cam
350: Piston 351: Piston connector
400:
500:

Claims (6)

A canopy which is detachably mounted on a drone, which is an unmanned aerial vehicle capable of flight control by radio waves, and which is opened and closed at an upper portion thereof, a canopy accommodated in a folded state connected to a plurality of canopy connecting rods through the frame, A canopy deploying portion provided at the upper portion of the frame and operable to open the upper portion of the frame to deploy the canopy upwardly of the frame; And a control unit for comparing a signal received from the attitude sensing unit with a predetermined normal attitude of the dron to determine whether the signal received from the attitude sensing unit is within a range of a predetermined normal attitude, When it is determined that the canopy is out of the range of the attitude value, A control unit for operating the group canopy development section, and
The canopy deploying unit includes:
A cylinder vertically opened and fixed upright inside the frame,
A valve coupled to a lower portion of the cylinder to communicate with the cylinder,
A gas container installed to communicate with a container inlet to one side of the valve and spraying the gas stored therein to the inside of the valve through the inlet of the container to supply high pressure gas to the cylinder;
A gas actuating part provided on the other side of the valve and operated to open a container inlet of the gas container by an expansion signal of the control part,
Wherein the gas inlet of the gas container is opened by a gas pressure of a high pressure supplied to the cylinder when the gas inlet of the gas container is opened according to the operation of the gas operating part, And a piston for opening the upper part of the frame and deploying the canopy.
The method according to claim 1,
The frame includes:
A bowl-shaped lower frame provided above the drone and opened upward,
And a cover for opening and closing the drones, the plurality of cover plates being radially openable along the upper periphery of the lower frame and being opened or closed so that the side surfaces of the adjacent cover plates contact each other.
3. The method of claim 2,
The frame includes:
Further comprising a magnet coupled to a side surface of each of the hung plate so that the side surfaces of the hung plate adjacent to each other are closed while being in contact with each other by magnetic force.
delete The method according to claim 1,
The gas-
A spool which is installed so as to be slidable forward and backward toward the container inlet of the gas container through the other side of the valve and opens the container inlet of the gas container as the front end presses the container inlet and presses them,
A compression coil spring for providing a spring force for forward movement of the front end of the spool toward a container inlet of the gas container,
The compression coil spring is compressed and the rear end of the spool is held so as to maintain the state that the spool is moved backward or the rear end of the spool is released to rotate the spool by the spring force of the compression coil spring A jam trigger,
And a rotation motor that receives the control signal of the control unit and rotates the latch trigger.
6. The method of claim 5,
The jam trigger may include:
A hook for hooking the rear end of the spool,
And a driven link provided on one side of the hook,
The rotation motor includes:
And a rotating cam coupled to the output shaft and rotating in contact with the driven link, the rotating cam rotating the driven link such that the retaining hook releases the rear end of the spool.
KR1020150142423A 2015-10-12 2015-10-12 Parachute module for drone KR101723743B1 (en)

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Cited By (16)

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IT201600103675A1 (en) * 2016-10-14 2018-04-14 Ravennadron Di Andrea Antonioli PARACHUTE DEVICE
CN109466759A (en) * 2018-10-23 2019-03-15 北京王府科技有限公司 The fall arrest unmanned flight's platform acquired for air and water environment parameter
CN109677621A (en) * 2019-01-25 2019-04-26 广东翼景信息科技有限公司 A kind of unmanned plane parachute and unmanned plane parachute control system
KR20190070433A (en) 2017-12-13 2019-06-21 드로젠(주) Fall control method and unmanned aerial vehicle for the same
KR20200045377A (en) 2018-10-22 2020-05-04 도승현 Parachute for Aircraft
CN111252255A (en) * 2018-12-01 2020-06-09 哈尔滨火萤科技有限公司 Unmanned aerial vehicle parachuting device
CN111788118A (en) * 2018-03-02 2020-10-16 高永旭 Umbrella type unmanned aerial vehicle
KR20210016183A (en) * 2019-08-01 2021-02-15 메디케어 유한회사 drone, parachute kit for drone AND METHOD OF CONTROLING THE DRONE
WO2021085352A1 (en) * 2019-10-31 2021-05-06 日本化薬株式会社 Aerial vehicle safety device and method of storing deployable object in aerial vehicle safety device
US20210206497A1 (en) * 2018-06-25 2021-07-08 Nippon Kayaku Kabushiki Kaisha Ejection device and flying body provided with ejection device
KR102318926B1 (en) 2021-06-21 2021-11-01 베셀에어로스페이스 주식회사 Parachute fall shock reduction device
CN113895634A (en) * 2020-07-06 2022-01-07 中光电智能机器人股份有限公司 Unmanned aerial vehicle with parachute and control method thereof
CZ309149B6 (en) * 2018-06-01 2022-03-16 Manlig František Bc., Liberec A device for rescuing a flying vehicle from free fall
KR102549903B1 (en) * 2022-06-02 2023-06-29 김종환 Parachute ejection device for aircraft
CN117087890A (en) * 2023-10-16 2023-11-21 山西省城乡规划设计研究院有限公司 Territorial space planning topography measuring equipment based on unmanned aerial vehicle platform
KR20230173990A (en) 2022-06-20 2023-12-27 한찬우 Emergency Parachute System for Side Launch Drones

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EP3309074A1 (en) * 2016-10-14 2018-04-18 Ravennadron di Andrea Antonioli Parachute device
IT201600103675A1 (en) * 2016-10-14 2018-04-14 Ravennadron Di Andrea Antonioli PARACHUTE DEVICE
KR20190070433A (en) 2017-12-13 2019-06-21 드로젠(주) Fall control method and unmanned aerial vehicle for the same
CN111788118A (en) * 2018-03-02 2020-10-16 高永旭 Umbrella type unmanned aerial vehicle
CN111788118B (en) * 2018-03-02 2023-07-18 高永旭 Umbrella type unmanned aerial vehicle
CZ309149B6 (en) * 2018-06-01 2022-03-16 Manlig František Bc., Liberec A device for rescuing a flying vehicle from free fall
US20210206497A1 (en) * 2018-06-25 2021-07-08 Nippon Kayaku Kabushiki Kaisha Ejection device and flying body provided with ejection device
US11731769B2 (en) * 2018-06-25 2023-08-22 Nippon Kayaku Kabushiki Kaisha Ejection device and flying body provided with ejection device
KR20200045377A (en) 2018-10-22 2020-05-04 도승현 Parachute for Aircraft
CN109466759A (en) * 2018-10-23 2019-03-15 北京王府科技有限公司 The fall arrest unmanned flight's platform acquired for air and water environment parameter
CN109466759B (en) * 2018-10-23 2024-04-16 中铁建设集团有限公司 Anti-falling unmanned flying platform for air and water environment parameter acquisition
CN111252255A (en) * 2018-12-01 2020-06-09 哈尔滨火萤科技有限公司 Unmanned aerial vehicle parachuting device
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