CN111216900A - Parachute canopy folding structure, parachute, landing system, unmanned aerial vehicle - Google Patents
Parachute canopy folding structure, parachute, landing system, unmanned aerial vehicle Download PDFInfo
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- CN111216900A CN111216900A CN202010179014.XA CN202010179014A CN111216900A CN 111216900 A CN111216900 A CN 111216900A CN 202010179014 A CN202010179014 A CN 202010179014A CN 111216900 A CN111216900 A CN 111216900A
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- parachute
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- umbrella
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- 210000000056 organ Anatomy 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 238000004064 recycling Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/62—Deployment
- B64D17/76—Deployment facilitated by method of folding or packing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/02—Canopy arrangement or construction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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; ARRANGEMENT 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention discloses a parachute canopy folding structure, a parachute system and an unmanned aerial vehicle; the canopy comprises a central area and a folding area, and the folding area is covered outside the central area; the folding lines are used for folding the canopy in each sub-region into organ pleats so that the canopy is folded into a plurality of organ pleat columns with dividing lines as axes; the accordion pleated column is then accordion folded to shorten its longitudinal length. The parachute comprises a parachute box, a gas trigger, a canopy and a parachute cable; the canopy folding structure is arranged outside the air trigger, wherein the air outlet of the air trigger is opposite to the central area of the canopy. Including the parachute system of above-mentioned parachute for carry out parachute opening and unmanned aerial vehicle power failure. An unmanned aerial vehicle; the parachute is fixed at the unmanned aerial vehicle upper cover, and the umbrella hawser passes the umbrella box and is tied on the horn.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle safety devices, in particular to a parachute canopy folding structure, a parachute, a landing system and an unmanned aerial vehicle.
Background
A drone is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The safety of use in city high density scene application is an important factor that needs to be considered, and wherein the use of parachute can reduce the harm that unmanned aerial vehicle caused ground facility and personnel when falling, improves the operation safety of unmanned aerial vehicle in urban environment greatly.
When the parachute was designed, need guarantee that the parachute can play the umbrella fast, the umbrella body is popped out the back and is not twined and accomplish the quick inflation of the umbrella body by the screw for guarantee unmanned aerial vehicle's safety in utilization.
In the prior art, the rapid parachute bouncing and the parachute body inflation are mostly achieved through special structures, for example, patent publication number "CN 105501449A" named "unmanned aerial vehicle parachute system with automatic and rapid parachute opening", patent publication number "CN 206841724U" named "unmanned aerial vehicle with parachute device" are all completed through specific structures, but the above processes are inconvenient in manufacturing, later maintenance and parachute recycling.
Disclosure of Invention
The invention aims to provide a parachute canopy folding structure; one or more of the above technical problems may be solved.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a folding structure of a parachute canopy; the umbrella comprises an umbrella coat and an umbrella rope, wherein the umbrella coat comprises a central area and a folding area, and the folding area is wrapped outside the central area; a central point is arranged in the central area, and the canopy is a centrosymmetric umbrella cover about the central point; the umbrella rope is fixed at the edge of the umbrella coat; the plurality of dividing lines divide the folding area into a plurality of subareas outside the central area; the boundary line is radial outside the central area; a plurality of fold lines in the shape of ' Chinese character ' hui ' spread towards the edge of the canopy on the folding area by taking the central area as the center, and the fold lines fold the canopy in each sub-area into organ pleats so that the canopy is folded into a plurality of organ pleat columns by taking dividing lines as axes; the accordion pleated column is then accordion folded to shorten its longitudinal length.
The canopy surface of the whole parachute is in an organ fold, when the canopy adopting the folding structure is unfolded, the canopy can be completely unfolded under the action of air flow while being ejected, and the rapid inflation is ensured; the whole structure is simple, after the folding is carried out only according to the folding lines on the surface of the canopy, when the inflatable canopy is unfolded, the unmanned aerial vehicle falls down to be equivalent to the rise of surrounding air flow, the whole folded canopy is quickly washed away along the opening of the canopy, and the whole unfolding time is not more than 1S; and the canopy is evenly unfolded and stable.
The stable folding and unfolding of the umbrella coat can be ensured when the umbrella coat is in a regular polygon (preferably a square); the number of the dividing lines is three or four, and the surface of the umbrella coat is divided into a plurality of subareas; if the canopy is square, the dividing line is located on the angular bisector, which makes the canopy easier to unfold.
Another object of the present invention is to provide a parachute which solves one or more of the above-mentioned technical problems.
The parachute comprising the parachute canopy folding structure comprises a parachute box, a gas trigger, a canopy and a parachute cable; the umbrella box comprises a box body and a box cover, and the box body is provided with a bottom and is not provided with a cover; the box cover is buckled above the box body; the gas trigger is arranged at the bottom of the box body, the canopy is arranged outside the gas trigger according to any folding structure, and a gas outlet of the gas trigger is opposite to the central area of the canopy; the organ pleat column is positioned around the air trigger, and the tail end of the umbrella cable penetrates out of the umbrella box.
The parachute ejection of the parachute is realized through the triggering of the gas trigger, and the response time of the parachute ejection is less than 1S.
The box body protects the stability of the folding structure of the canopy, so that any form can be adopted, but the periphery of the wrapping and attaching canopy is good, and the folding stability of the canopy can be ensured.
Preferably: the safety valve comprises a safety pin and a pin hole; the pin holes are respectively formed in the box body and the box cover, and the safety pin penetrates through the pin holes to enable the box cover and the box body to be locked.
The umbrella can be effectively prevented from being flicked due to the fact that the air trigger is touched by mistake, and workers are prevented from being accidentally injured.
Preferably: the box body includes end box and goes up the box, goes up the box and includes a plurality of minute box bodys, and each divides box body lower extreme to articulate on end box, makes to go up the box and expand with the multi-lamella form in end box top.
In order to reduce the ejection distance of the canopy, the upper part of the box body is provided with the upper box which can be unfolded in a multi-flap mode, so that the canopy can be quickly contacted with air at the moment of ejecting the umbrella, and the umbrella can be quickly inflated and unfolded.
Preferably: each branch box body is along the articulated department with the end box to the inside concave arc of box body to make last box form the cambered surface of indent along end box circumference.
In order to effectively reduce the space and ensure the folding state of the umbrella coat, the box bodies of the upper box are arranged into an arc shape so as to be better attached to the umbrella coat.
Preferably: the gas trigger is a miniature high-pressure gas cylinder. The simplest gas trigger adopts a miniature high-pressure gas cylinder, so that the installation and processing cost is low, and the universality is good.
It is a further object of the present invention to provide a descent system that solves one or more of the above mentioned technical problems.
The parachute system comprises a control module, a first detection module, a second detection module, an execution mechanism and a communication module. The first detection module is used for sending the flight state of the unmanned aerial vehicle to the control module; the second detection module is used for sending the power state of the unmanned aerial vehicle to the control module. The control module is used for judging the flight state of the unmanned aerial vehicle so as to send an instruction to the execution mechanism, and the execution mechanism is used for executing an opening instruction of the parachute. The control module is used for judging that the power state of the unmanned aerial vehicle closes the power supply of the unmanned aerial vehicle through the communication module so as to stop the propeller.
The landing system detects the state of the unmanned aerial vehicle through the detection module (sensor) at any time, sends the state to the control module for judgment at any time, and sends an instruction to the execution module and the unmanned aerial vehicle power supply when the unmanned aerial vehicle is judged to be in a stable state; let the canopy pop out from the umbrella box when closing unmanned aerial vehicle power and receiving the screw.
The first detection module comprises an acceleration sensor, an attitude sensor and a height sensor; or any other sensor which can be used for detecting the attitude of the unmanned aerial vehicle; the second detection module uses an ADC to monitor the power supply of the unmanned aircraft critical component in real time; the actuating mechanism receives the electric signal sent by the control module to complete the opening of the parachute; the main component of the control module is MCU, completes the information acquisition of each detection module of the parachute, and through the communication of the serial port and the unmanned aerial vehicle, through logic judgment, sends out an instruction to close the unmanned aerial vehicle power system under the condition that the parachute needs to be opened, and then triggers the actuating mechanism to open the parachute.
The short response time of the twisting of the paddle and the bouncing of the parachute can be effectively avoided, and the parachute is inflated quickly.
Another object of the present invention is to provide a drone that can solve one or more of the above technical problems.
The unmanned aerial vehicle comprises any one of the unmanned aerial vehicles; the parachute is fixed at the unmanned aerial vehicle upper cover, and the umbrella hawser passes the umbrella box and is tied on the horn.
The invention has the technical effects that:
according to the invention, the inflation time of the umbrella body can be accelerated by the aid of the special parachute folding structure and the parachute gas cylinder which is used for assisting in ejecting the parachute, the inflation of the umbrella body is not carried out by the gas cylinder, but is carried out rapidly by the aid of the reverse ascending gas flow in the descending process, the special structure is not required, and the overall manufacturing cost is low; in addition, the parachute box is arranged in cooperation with the canopy folding structure and used for being installed on the unmanned aerial vehicle, and the parachute control system can effectively reduce the winding rate of the parachute body when the parachute is sprayed, shorten parachute bouncing time and accelerate inflation time of the parachute body. And the unmanned aerial vehicle who has furnished with this parachute and descending system is safe in utilization more guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic view of the construction of a canopy;
FIG. 2 is a schematic view of the canopy shown before it is folded;
FIG. 3 is a second schematic view of the canopy before it is folded;
FIG. 4 is a third schematic view of the canopy before it is folded;
FIG. 5 is a first schematic view of the parachute;
FIG. 6 is a schematic cross-sectional view of FIG. 5;
FIG. 7 is a schematic view of the use of FIG. 5;
fig. 8 is a flow chart diagram of the control system.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, the number of the umbrella cords is not limited. A folding structure of a parachute canopy; the umbrella coat comprises a central area A and a folding area B, and the folding area B is covered outside the central area A; a central point O is arranged in the central area A, and the canopy is a centrosymmetric umbrella cover about the central point O; the umbrella rope 13 is fixed at the edge of the umbrella cover.
The plurality of dividing lines 12 divide the folding area into a plurality of subareas outside the central area; the boundary 12 is radial outside the central area; a plurality of fold lines 11 in the shape of ' Chinese character ' hui ' are spread to the edge of the canopy on a folding area by taking a central area as the center, and the fold lines fold the canopy in each sub-area into organ pleats so that the canopy is folded into a plurality of organ pleat columns by taking dividing lines as axes; the accordion pleated column is then accordion folded to shorten its longitudinal length.
As shown in fig. 5-7; the parachute comprising the parachute canopy folding structure comprises a parachute box, a gas trigger, a canopy and a parachute cable; the umbrella box comprises a box body and a box cover 2, and the box body is provided with a bottom and is not provided with a cover; the box cover is buckled above the box body; the gas trigger is arranged at the bottom of the box body, the canopy 1 is arranged outside the gas trigger 6 according to the folding structure, and the gas outlet of the gas trigger is opposite to the central point of the canopy; one end of the umbrella cable is fixed on the edge of the umbrella cover, and the other end of the umbrella cable is fixed on the umbrella box.
Preferably: the safety valve comprises a safety pin 5 and a pin hole; the pin holes are respectively formed in the box body and the box cover, and the safety pin penetrates through the pin holes to enable the box cover and the box body to be locked.
Preferably: the box body includes end box 4 and last box 3, goes up the box and includes a plurality of minute box bodies, and each divides box body lower extreme to articulate on end box, makes last box expand with the multilobe form above end box.
Preferably: each branch box body is along the articulated department with the end box to the inside concave arc of box body to make last box form the cambered surface of indent along end box circumference.
Preferably: the gas trigger is a miniature high-pressure gas cylinder.
As shown in fig. 8, the parachute system including the parachute includes a control module, a first detection module, a second detection module, an actuator, and a communication module. The first detection module is used for sending the flight state of the unmanned aerial vehicle to the control module; the second detection module is used for sending the power state of the unmanned aerial vehicle to the control module. The control module is used for judging the flight state of the unmanned aerial vehicle so as to send an instruction to the execution mechanism, and the execution mechanism is used for executing an opening instruction of the parachute. The control module is used for judging that the power state of the unmanned aerial vehicle closes the power supply of the unmanned aerial vehicle through the communication module so as to stop the propeller.
The landing system detects the state of the unmanned aerial vehicle through the detection module (sensor) at any time, sends the state to the control module for judgment at any time, and sends an instruction to the execution module and the unmanned aerial vehicle power supply when the unmanned aerial vehicle is judged to be in a stable state; let the canopy pop out from the umbrella box when closing unmanned aerial vehicle power and receiving the screw.
The first detection module comprises an acceleration sensor, an attitude sensor and a height sensor; or any other sensor which can be used for detecting the attitude of the unmanned aerial vehicle; the second detection module uses an ADC to monitor the power supply of the unmanned aircraft critical component in real time; the actuating mechanism receives the electric signal sent by the control module to complete the opening of the parachute; the main component of the control module is MCU, completes the information acquisition of each detection module of the parachute, and through the communication of the serial port and the unmanned aerial vehicle, through logic judgment, sends out an instruction to close the unmanned aerial vehicle power system under the condition that the parachute needs to be opened, and then triggers the actuating mechanism to open the parachute.
The unmanned aerial vehicle comprises any one of the unmanned aerial vehicles; the parachute is fixed at the unmanned aerial vehicle upper cover, and the umbrella hawser passes the umbrella box and is tied on the horn.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A folding structure of a parachute canopy; the method is characterized in that: the umbrella comprises an umbrella coat and an umbrella rope, wherein the umbrella coat comprises a central area and a folding area, and the folding area is wrapped outside the central area; a central point is arranged in the central area, and the canopy is a centrosymmetric umbrella cover about the central point; the umbrella rope is fixed at the edge of the umbrella coat; the plurality of dividing lines divide the folding area into a plurality of subareas outside the central area; the boundary line is radial outside the central area; a plurality of fold lines in the shape of ' Chinese character ' hui ' spread towards the edge of the canopy on the folding area by taking the central area as the center, and the fold lines fold the canopy in each sub-area into organ pleats so that the canopy is folded into a plurality of organ pleat columns by taking dividing lines as axes; the accordion pleated column is then accordion folded to shorten its longitudinal length.
2. A parachute canopy folding structure according to claim 1; the method is characterized in that: the canopy is regular polygon.
3. A parachute canopy folding structure according to claim 2; the method is characterized in that: the dividing line is superposed with the angular bisector of the canopy.
4. Including any of the aforesaid parachute canopy beta structure's parachute, its characterized in that: comprises an umbrella box, a gas trigger, an umbrella cover and an umbrella cable; the umbrella box comprises a box body and a box cover, and the box body is provided with a bottom and is not provided with a cover; the box cover is buckled above the box body; the gas trigger is arranged at the bottom of the box body, the canopy is arranged outside the gas trigger according to any folding structure, and a gas outlet of the gas trigger is opposite to the central area of the canopy; the organ pleat column is positioned around the air trigger, and the tail end of the umbrella cable penetrates out of the umbrella box.
5. A parachute according to claim 4, wherein: the safety valve comprises a safety pin and a pin hole; the pin holes are respectively formed in the box body and the box cover, and the safety pin penetrates through the pin holes to enable the box cover and the box body to be locked.
6. A parachute according to claim 4 or 5, wherein: the box body includes end box and goes up the box, goes up the box and includes a plurality of minute box bodys, and each divides box body lower extreme to articulate on end box, makes to go up the box and expand with the multi-lamella form in end box top.
7. A parachute according to claim 6, wherein: each branch box body is along the articulated department with the end box to the inside concave arc of box body to make last box form the cambered surface of indent along end box circumference.
8. A parachute according to claim 4, wherein: the gas trigger is a miniature high-pressure gas cylinder.
9. The parachute system comprising the parachute is characterized in that: the device comprises a control module, a first detection module, a second detection module, an execution mechanism and a communication module;
the first detection module is used for sending the flight state of the unmanned aerial vehicle to the control module; the second detection module is used for sending the power state of the unmanned aerial vehicle to the control module; the control module is used for judging the flight state of the unmanned aerial vehicle to send an instruction to the execution mechanism, and the execution mechanism is used for executing an opening instruction of the parachute;
the control module is used for judging that the power state of the unmanned aerial vehicle closes the power supply of the unmanned aerial vehicle through the communication module so as to stop the propeller.
10. The unmanned aerial vehicle comprises any one of the unmanned aerial vehicles; the method is characterized in that: the parachute is fixed at the unmanned aerial vehicle upper cover, and the umbrella hawser passes the umbrella box and is tied on the horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010179014.XA CN111216900A (en) | 2020-03-15 | 2020-03-15 | Parachute canopy folding structure, parachute, landing system, unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010179014.XA CN111216900A (en) | 2020-03-15 | 2020-03-15 | Parachute canopy folding structure, parachute, landing system, unmanned aerial vehicle |
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| CN111216900A true CN111216900A (en) | 2020-06-02 |
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| CN202010179014.XA Pending CN111216900A (en) | 2020-03-15 | 2020-03-15 | Parachute canopy folding structure, parachute, landing system, unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022184086A1 (en) * | 2021-03-05 | 2022-09-09 | 上海正经科技有限公司 | Unmanned aerial vehicle system, and parachute module and folding structure, mold thereof and parachute opening method therefor |
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| DE102013102869A1 (en) * | 2013-03-20 | 2014-09-25 | Firma German Gyro Safety Aviation GmbH | Parachute rescue facility for a gyrocopter |
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| WO2022184086A1 (en) * | 2021-03-05 | 2022-09-09 | 上海正经科技有限公司 | Unmanned aerial vehicle system, and parachute module and folding structure, mold thereof and parachute opening method therefor |
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