KR20040005390A - Remote control parafoil air delivery system - Google Patents

Abstract

PURPOSE: An RCPFADS(Remote Control Parafoil Air Delivery System) is provided to distinguish a front surface from a back surface of a parafoil for easily identifying left/right sides of an apparatus while operating manually or with the naked eye, thereby preventing the apparatus from being damaged owing to collisions after descending from a high sky. CONSTITUTION: A remote control unit(1) has simulation and control program install functions, a system checking function of an electro mechanical unit(2), and a function of controlling a landing position by inputting GPS coordinates for a transmit target. The electro mechanical unit(2) has 4 suspension system fixing points, respectively, mounts a parafoil on the top and freight on a bottom surface, and induces the parafoil to be located in a targeted position through autonomous guidance by capturing an induction signal emitted from a mobile post by remote control. The parafoil controls directions by controlling tension of a control line, and induces precise landing to the targeted position. Tags for identifying front/back surfaces of the parafoil are attached.

Description

Induction Parachute Transport System {Remote Control Parafoil Air Delivery System}

The RCPFADS-Remote Control Parafoil Air Delivery System is based on a delta ram pressure parachute developed by NASA for spacecraft retrieval and can be self-guided by GPS (Global Positioning System) depending on the type of operation. Development of a parachute transport system guided by wireless remote control is underway. Unlike unmanned aerial vehicles guided by the latest technology, parafoils have different designs and different control characteristics depending on the payload.In addition, in order to adapt non-powered and non-rigid payloads to nature and settle on the correct place on the ground, It requires complex equations of motion. At present, several companies in the UK, USA and Canada are continuing efforts to model payload dynamics and generate equations. In the course of the present invention, the problems as described in the object of the invention have arisen and the importance of the mechanism configuration for controlling the equations of motion in parallel with the equations of motion has been found.

[Task 1] Improved to distinguish the front and back of the parafoil so that the left and right sides of the instrument can be easily identified during visual and manual adjustments.

[Task 2] Rolling occurs during the operation of Electro mechanical unit

[Task 3] Prevent Parachute Control Line Damage by Parachute Tangle and Friction and Tension

[Task 4] Precise control and restoration of control line range during remote control

[Task 5] Correction of altitude error on the earth's surface.

[Task 6] Reduction of landing error range by motor speed and control ratio according to control line proper control length and maximum control length control per unit time.

1.Remote control unit:

It consists of a monitor, RF communication unit, altimeter, GPS receiver and keyboard. Simulation and control program installation, Electro-Mechanical Unit system check function, and whether the basic information necessary for landing is selected correctly according to flight speed, injection altitude, wind direction, wind speed, air pressure, cargo weight, etc. There is a function to control the landing position by entering. In addition, there is a function to control the system by using the RF signal on the ground by the radicon method. It is possible to control the control line to the level of 0-10 level according to the situation of wave and lafoil in the fluid, and it is always the initial value by the button method. The motor can be returned to enable precise control. Given that there are many outdoor applications, even if the screen is closed, it can be controlled through a hole connected to the outside.

2.Electro Mechanical Unit:

Paraglide Control part, RF communication part, Yaw rate gyro, RF range finder,

The motor control unit consists of altimeter, GPS receiver, Linchpin switch, and two motors.

Consists of. Electro Mechanical Unit has 4 Suspension system fixing points (8 points total) at the top and bottom, respectively, with parafoil at the top and autonomous guidance, wireless remote at the bottom with cargo. A system that captures guided signals from guided, designated or controlled posts by remote control and guides parachutes to target points through automatic guided delivery. Deliver small weapons, anti-aircraft guns, portable missiles and munitions to allies in hazardous areas, transport material to destroyers or ocean fishing vessels, minimize submarine exposure from submarine operations versus submarine material transport, transfer island materials and materials, and special military operations. Substituted, mounted on conventional weapons, precision bomb release and explosion type selection by induction control, NBC and radioactivity Dropping of anticipated area pollution measuring equipment and data transmission, inducing target landing at high altitude drop at night, collecting information by wireless remote camera, collecting missile body and peripheral device, collecting radio sonde and weather collection device, and using paragliding tourism It is expected to be.

3.Parafoil:

It is a kind of parachute. It controls direction by using tension control of control line.

can do. For reference, if you pull the right row, the parafoil will move to the right.

And pull the left row to move it to the left.

Induce precise landing at the target point. However, when visually adjusting remotely

Low front and rear discernment of parafoils makes remote wireless control difficult. Therefore, in the present invention, an identification tag for distinguishing the front and the rear of the parafoil is attached to facilitate the left and right discrimination.

The present invention is difficult to identify the left and right of the parachute during visual or manual adjustment in implementing the guided parachute transport system (aka: RCPFADS-Remote Control Parafoil Air Delivery System), the front and rear of the parafoil that has been a problem in the direction control To make it easier to distinguish between them, and due to the lack of center of gravity during the operation of the electro mechanical unit, rolling occurs, and problems in the arrangement of parts that damage the mechanism due to impact with the ground when falling at high altitudes, and entanglement due to the operation of the system when the parachute is spread. In addition, mechanical problems such as rotation of the cargo in the air, damage to the control line due to friction and tension during parachute diffusion, and control of the scope of the control line by the hand's sensation during remote control are controlled. I need to recover, but I can't control precisely with the touch of my hand. Since the altitude sensor is based on sea level during induction, errors such as altitude and considerable errors on the surface of the mountain and land occur, and the error range of landing area occurs depending on the control line's proper control length and maximum control length per unit time. Its purpose is to present control problems and to suggest solutions.

1.Functional scheme of System

[Figure 2]

The system configuration of the present invention is as shown in Figure 1 Remote

It consists of control unit, electro mechanical unit, and parafoil parts.

The remote control unit lands by entering the GPS coordinates for the transmit target.

It has the function to control the position induction, and also uses the radicon method on the ground.

It controls the system by using RF signal. Electro mechanical

The unit has the same system structure as [Fig. 2] and the remote control unit

Controlled by GPS or autonomous guidance by GPS signal.

Once the induction signal is captured, the controller is controlled using two motors.

The line moves. Yaw rate gyro is used to obtain direction information and electronic altimeter is used to obtain altitude information. In addition, since the electronic altimeter is based on sea level, an RF rangefinder is attached to recognize the difference from the surface altitude. In addition, a spare port is provided to support additional control in transit.

2.Hardware Description

A. Remote control unit:

See FIG. 3

[Figure-101] LED Display operates when screen cover status s / w of [Figure-115] is on and monitors the operation status of the device.

[Figure-102] Button Hole can perform the basic functions of Remote Control even when the screen view of the device is covered.

[Figure-103] GPS Status is activated when GPS reception is normal and valid data is received. Blue LED is on and flickers if valid data is not received.

[Figure-104] RF Status shows the status of RF communication. When communication between devices with the same ID is attempted, the RX LED is turned on. When ID communication is successful and reception is successful, the status data of the Electro Mechanical Unit is received through RS232. The TX LED lights up when valid data is received.

[Figure-105] Motor Status shows forward and reverse operation status of left and right motor.

[Figure-106] Power status is green LED on when power is on, green LED when fully charged during discharge, yellow LED when charging.

[Figure-112] Control Level is to set the maximum moving range of the control line for the left and right motor operation buttons of [Figure-109] RC Button. It is used to adjust the settlement rate during left and right rotation. [Figure-109] The RC Button is a return type switch. When the switch is on, the motor moves to the designated control line range and maintains it. If you release the switch from the button, the motor will return to its original state and the control line will return. It will be in equilibrium.

B. Electro Mechanical Unit:

[Figure 21] Overall structure diagram

Figure 22 Unit Dimension

[Figure 23] Shock alleviation device and guide bushing

[Figure 24] Instrument layout

FIG. 25 Paraglide Control Unit (PCU) Hardware Architecture

Fig. 26 Paraglide Control Panel

3. Functional structure diagram

Refer to [Figure-111].

Refer to [Figure-112].

Refer to [Figure-113].

In order to achieve the technical problem to be achieved by the present invention satisfies the following invention.

[Task 1] Parafoil by wind when attaching a direction indication tag equal to or shorter than the vertical length of parafoil as shown in FIG. 1 to facilitate identification of left and right sides of parafoil during visual and manual adjustment. The forward and backward conditions of the system can be observed to provide important judgment information for visual control.

[Task 2] In order to prevent mechanical damage due to the ground and impact when rolling occurs during the operation of the electro mechanical unit, as shown in FIG. The Paraglide Control Unit was placed at the back of the heading, and the parts inside the instrument were placed to prevent the impact by applying a shock absorber to the bottom of the motor and under the battery. As shown in FIG. 21, in order to suppress the rotation of the cargo in the air and maintain the load of the cargo, the suspension system fixing points consisted of a total of 8 points, each of 4 points each up and down. In addition, the upper and lower integral supporters were arranged in consideration of the fact that most of the load is applied up and down.

[Task 3] Inventing the switch by Linchpin as shown in FIG. 131 to prevent the parachute rope from tangling while the motor is running before the parachute is spread during parachute spreading. Linchpin is removed by the force of diffusion.

[Task 4] By controlling the left and right motors in an organic connection with the remote control, it controls the settling rate and flight distance of the parachute according to the wind direction and the wind speed. Due to the difficulty in precision control, a control level range of 1 to 10 levels was set. The length, time required, and maximum controllable distance per level are important factors in precision induction control. Therefore, in the present invention, the unit has the maximum stability and precision, and the reduction ratio of the motor to the size of the roller is satisfied so that the control of 10cm per stage, the maximum control length of 70-100cmm, and the control speed per second of the control line can satisfy 30-60cm. Calculated. In addition, the control lines must always be parallel to ensure the precision of the control. To compensate for the disadvantage of having to rely on the adjuster's sense of the initial value of the motor in the conventional manual control, when the motor is operated by the button and released from the button, As the button returns to its original position, the motor can be returned to the initial value (FIG. 122).

[Task 5] Since the existing altimeter was calculated based on the sea level, there is a considerable error with the surface altitude during operation. In order to compensate for this altitude error, a method that can measure the distance to the surface of at least 30M should be devised. Conventionally, laser measuring method, infrared measuring method and ultrasonic measuring method can be used as a common method. Laser measuring method is expensive and there are too many causes of error due to clouds generated at high altitude. Infrared measurement is cheaper than lasers, but it does not solve the shortcomings of lasers and is suitable for short distances. Therefore, it is judged that the use is not suitable in the absence of a reflector such as the use of the present invention. The following is an example of ultrasonic measurement, which is inexpensive but has a slow propagation speed and good diffusion, making it impossible to use for long distance measurements. Therefore, in the present invention, the distance was measured by RF which can be modulated.

[Task 6] Square control line is used to minimize the length error of the line that is controlled by increasing the number of rotation of the roller.It can damage the control line with high spreading speed and enormous air resistance and load during parachute spreading. In order to prevent such an accident, a guide bushing is disposed on the outside of the unit to prevent damage to the parachute control line, as shown in [Fig. 23], and the right angle is maintained between the motor and the guide bushing to maximize the transmission of the control force. It can be used to distribute the force.

Parafoils are moved by the influence of gravity and wind. Structurally, the head of the parafoil is directed in the direction of the wind. However, when the parafoil is rotated by manual control, it becomes difficult to distinguish between the front and the rear of the parafoil. Therefore, as can be seen in FIG. 1, if the direction tag is attached with the same length or shorter length of the parafoil, the direction tag is fluttered by the wind when the parafoil spreads. The forward and backward states of the foil can be observed, providing judgment information that makes visual control more accurate and easier.

In addition, as shown in FIG. 24, the heavy motors are arranged in a staggered direction in the center, and the batteries are distributed on both sides of the diagonal to maintain balance, and the Paraglide Control Unit is disposed at the back of the heading, and the shock absorber is installed at the bottom of the motor and under the battery. This prevents rolling from occurring during the operation of the electro mechanical unit and damages to the equipment due to impact from the ground when falling.

In addition, as shown in FIG. 21, the suspension system fixing point is composed of a total of 8 points of 4 points each up and down to suppress the rotation of the cargo in the air, and by placing four up and down integral supporters to maintain the cargo load up and down The more precise control is possible by protecting the unit due to the rotation and minimizing the influence on the parafoil control by rolling.

In addition, when the Linchpin is flowered on the Linchpin switch as shown in FIG. 131, the motor is not operated, but when the parachute spreads, the Linchpin is removed by the force of the wire connected to the payload. This will ensure that the parachute string is entangled with the motor running before the parachute spreads to prevent accidents.

In the present invention, the control of the control level range of 1 to 10 steps and the left and right motor operation can be controlled by the button type when controlling the remote control. You can adjust the settling rate and flight distance of the parachute. In addition, the reduction ratio of the motor to the roller size to satisfy the control of 10cm per stage, the maximum control length 70-100cmm, the control speed per second of the control line 30-60cm calculated in the present invention is an important value to increase the precision of landing to be. In addition, as shown in FIG. 122, when the control button returns to its original position, as shown in FIG. 133, the roller is rotated in reverse to unwind the control line. At this time, it is detected whether the load of the motor is zero. Since the detected motor is controlled to return to the initial value, it is necessary to make the control line always parallel to compensate for the disadvantage that the initial value of the motor must be relyed on the adjuster's sense in the conventional manual control. Can be. In the present invention, by measuring the distance by the modifiable RF, the stability of the altitude error landing of the existing altimeter calculated on the basis of the sea level at a low price is dramatically increased.

As shown in Fig. 23, the guide bushing is arranged to prevent accidents due to the rapid spreading speed, the enormous air resistance and the fatal damage of the control line, which is expected to be a huge air resistance, and the load between the motor and the guide bushing. By maintaining the right angle to and maximize the transmission of the control force and distribute the force to the motor.

Claims (9)

Parachute rear display tag attachment method designed to easily distinguish the front and rear of the parachute from a distance and increase the accuracy of left and right control line control when remote control as shown in [3] of FIG. [21] and the force distribution structural arrangement method for shock mitigation and cargo rolling prevention for impact protection when landing on the ground having the characteristics of [FIG. 24] Linchpin and Linchpin removal method designed to prevent the tangling caused by the operation of the system during the parachute diffusion of FIG. Control level of [Figure 112] and button switch structural characteristics of [Figure 102] designed to improve the precision of remote control of [Figure 3]. Frequency distance measuring method for altitude correction during automatic induction by GPS 70-100Cm control line control length Control line control characteristics of 30-60cm per second calculated to maintain the precision of induction, and the size of the rotating shaft and the speed control ratio of the motor to control Guide Bushing designed to prevent damage to the control line by friction and tension during parachute spreading Suspension system fixing point (8 points total) designed to suppress the rotation of the cargo in the air and to maintain the load of the cargo