A precision landing unmanned aerodynamic parachute

Abstract

The present invention relates to a precision landing unmanned aerodynamic parachute, which comprises a fuselage and a ram-air parachute. A first servo and a second servo are arranged at the rear end of the fuselage and are respectively connected to a first rocker arm and a second rocker arm. The ram-air parachute is connected to the ends of the first rocker arm and the second rocker arm. The ram-air parachute is simultaneously fixed on both sides of the fuselage frame. The fuselage is loaded with traveling wheels, which include a steering wheel, a first directional wheel and a second directional wheel, and are arranged in a three-point manner. The fuselage is loaded with a plurality of brushless motors, which provide the main power at the front end of the fuselage and the reverse thrust auxiliary power at the rear end of the fuselage through connecting propellers. A navigation and control system is carried on the fuselage, which specifically includes a flight controller and a GPS positioning device, a vision-assisted positioning device and a barometric altimeter electrically connected thereto. A power supply system is also included. The present invention has reverse thrust assistance, can greatly reduce the turning radius of the unmanned power parachute and improve the landing accuracy, and improve the accuracy of the power parachute.

Description

Technical Field

[0001] The present invention belongs to the technical field of powered paragliders, and particularly relates to a precision landing unmanned aerodynamic paraglider. Background Art

[0002] With the development of science and technology, intelligent control technology has become increasingly mature. Compared with traditional fixed-wing unmanned aerial vehicles and rotor unmanned aerial vehicles, an unmanned powered paraglider vehicle is a kind of maneuverable unmanned aerial vehicle developed on the basis of a controllable wing parachute and a traditional manned wing parachute. It can achieve long-term stable flight under large loads, and has the characteristics of low requirements for takeoff and landing conditions, excellent low-speed performance, simple structure, low manufacturing cost, and reusable. However, a conventional unmanned powered paraglider has only three control inputs, namely thrust and two downward pull amounts. The lift of the powered paraglider is mainly provided by the wing parachute, resulting in difficult control and slow movement of the powered paraglider. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the present invention provides a precision landing unmanned aerodynamic paraglider, which has a counter-thrust assistance, can greatly reduce the turning radius of the unmanned powered paraglider and improve the landing accuracy, and improve the accuracy of the powered paraglider.

[0004] A precision landing unmanned aerodynamic paraglider includes a fuselage and a ram-air wing parachute connected to the fuselage. A servo one and a servo two are arranged at the rear end of the fuselage. The output ends on the servo one and the servo two are respectively connected to a rocker arm one and a rocker arm two. The rocker arm one and the rocker arm two are symmetrically arranged with the center of the fuselage as the symmetry plane. The ram-air wing parachute is connected to the ends of the rocker arm one and the rocker arm two. The ram-air wing parachute is also fixed on both sides of the fuselage frame, that is, there are four fixing points between the ram-air wing parachute and the fuselage. A walking wheel is loaded on the fuselage. The walking wheel includes a steering wheel at the front and a directional wheel one and a directional wheel two at the rear. The steering wheel and the two walking wheels are arranged in a triangular three-point pattern. A plurality of brushless motors are loaded on the fuselage, and provide the main power at the front end of the fuselage and the counter-thrust auxiliary power at the rear end of the fuselage through connecting propellers. A navigation and control system is carried on the fuselage, specifically including a flight controller and a GPS positioning device, a vision-assisted positioning device, and a barometric altimeter electrically connected thereto. The servo one and the servo two are electrically connected to the flight controller, and the brushless motors are electrically connected to the flight controller through electric brushes. The powered paraglider also includes a power supply system.

[0005] The main body of the fuselage is a stainless steel frame structure and is a rigid structure.

[0006] The ram-air wing parachute is made of a flexible material and is made of nylon silk.

[0007] A brushless motor one that provides the main power, and two brushless motors two and three that provide reverse thrust auxiliary power are mounted on the fuselage. They are all fixed to the fuselage by bolts. The middle positions of brushless motor two and brushless motor three, the center of mass of the fuselage, and the output end of brushless motor one are on the same horizontal line; the brushless motor one that provides the main power is fixed to the fuselage frame at the tail of the fuselage through a motor mount. A propeller one is installed on the motor shaft of the brushless motor one, and a backward thrust is provided through the connected propeller one; the brushless motors two and three that provide reverse thrust auxiliary power are placed at the front end of the fuselage, and are placed at the left and right ends of the fuselage with the center of the fuselage as the symmetry plane. The output end of the brushless motor two is connected with a propeller two, and the output end of the brushless motor three is connected with a propeller three. The orientations of propeller two and propeller three are opposite to that of propeller one, that is, the thrust directions provided by brushless motor two, brushless motor three and brushless motor one are opposite.

[0008] The visual auxiliary positioning device is fixed to the fuselage by a fixed frame through threaded connection. It includes a small servo one, a small servo two, a small servo three, a pan-tilt mount and a camera. The camera is fixed on the pan-tilt mount. After the camera recognizes the landing beacon, it will take pictures and transmit the information to the flight control. According to the rotation angles of the small servo one, the small servo two, the small servo three and the information provided by the barometric altimeter, the flight control obtains the relative position between the powered parachute and the landing beacon, so that the powered parachute can land more accurately; the barometric altimeter provides altitude information to the flight control according to the current air pressure and airspeed of the powered parachute. The remote controller and the ground station are responsible for the manual control of the unmanned powered parachute and observing the current information of the powered parachute.

[0009] The beneficial effects of the present invention are:

[0010] 1. Conventional unmanned powered parachutes only have three control inputs: thrust and two pull-down amounts. The lift of the powered parachute is mainly provided by the parachute wing, resulting in difficult control and slow movement of the powered parachute. On the basis of the existing conventional powered parachute, the present invention is provided with two brushless motors with reverse thrust assistance function. By driving the propellers, it has the reverse thrust assistance function, and the turning radius of the powered parachute in the air is reduced through the differential speed of the two brushless motors; in addition, during the landing process, the forward direction of the powered parachute can be better adjusted. The common reverse thrust of the two brushless motors with reverse thrust assistance function can reduce the lateral landing distance of the powered parachute, thereby improving the landing accuracy.

[0011] 2. The present invention is provided with a GPS positioning device and a camera. By means of "GPS + visual guidance", the situation that the landing error of conventional unmanned aerial vehicles is large due to large GPS errors is avoided.

[0012] 3. The present invention is a pure electric wheeled powered parachute, which solves the problems of large noise, large vibration and emission pollution of existing internal combustion engine powered parachutes, and reduces the operating cost of the powered parachute.

[0013] 4. The present invention has multiple application prospects including plant protection, logistics, aerial exploration, power line inspection, advertising, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the overall structure of the precision landing unmanned aerodynamic parachute provided by the present invention;

[0015] Figure 2 is a schematic diagram of the structure of the fuselage in the precision landing unmanned aerodynamic parachute provided by the present invention;

[0016] Figure 3 is Figure 2 the front view of;

[0017] Figure 4 is Figure 2 the side view of;

[0018] Among them,

[0019] 1 - fuselage, 2 - flight controller, 3 - GPS positioning device, 4 - barometric altimeter, 5 - steering wheel, 6 - directional wheel 1, 7 - directional wheel 2, 8 - propeller 1, 9 - propeller 2, 10 - propeller 3, 11 - brushless motor 1, 12 - brushless motor 2, 13 - brushless motor 3, 14 - servo 1, 15 - servo 2, 16 - rocker arm 1, 17 - rocker arm 2, 18 - parachute rope fixing point 1, 19 - parachute rope fixing point 2, 20 - camera, 21 - small servo 1, 22 - small servo 2, 23 - small servo 3, 24 - fixing bracket, 25 - power supply system, 26 - first section of the pan-tilt bracket, 27 - second section of the pan-tilt bracket, 28 - third section of the pan-tilt bracket. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to better explain the present invention for easy understanding, the technical solutions and effects of the present invention will be described in detail below with reference to the drawings through specific embodiments.

[0021] As Figures 1-4As shown in the figure, a precision landing unmanned aerodynamic parachute includes a fuselage 1 and a ram-air parachute connected to the fuselage 1. The main body of the fuselage 1 is a stainless-steel frame mechanism, which is a rigid structure. The ram-air parachute is made of flexible materials, and nylon silk is used in this embodiment. A servo one 14 and a servo two 15 are arranged at the rear end of the fuselage 1. The output ends of the servo one 14 and the servo two 15 are respectively connected to a rocker arm one 16 and a rocker arm two 17. The rocker arm one 16 and the rocker arm two 17 are symmetrically arranged with the center of the fuselage 1 as the symmetry plane. The ram-air parachute is connected to the ends of the rocker arm one 16 and the rocker arm two 17. The ram-air parachute is also fixed on both sides of the fuselage 1 frame of the fuselage 1, that is, there are four fixing points between the ram-air parachute and the fuselage 1, namely two "fixed points" and two "moving points". The two "fixed points" are two points fixed on the fuselage 1 frame, and the parachute rope fixing point one 18 and the parachute rope fixing point two 19 are as Figure 2 shown in the figure. The two "moving points" are two points fixed at the ends of the rocker arm one 16 and the rocker arm two 17.

[0022] The aerodynamic parachute is a wheeled powered parachute. The fuselage 1 is equipped with traveling wheels, including a steering wheel 5 at the front, and a directional wheel one 6 and a directional wheel two 7 at the rear. The steering wheel 5 and the two traveling wheels are arranged in a triangular three-point pattern. The traveling wheels ensure that the unmanned powered parachute has a good takeoff direction during the takeoff stage, avoiding situations such as being unable to take off or having an unsuccessful takeoff due to roadblocks, mud pits and other sections.

[0023] A plurality of brushless motors are mounted on the fuselage 1, providing main power at the front end of the fuselage 1 and reverse thrust auxiliary power at the rear end of the fuselage 1 by connecting propellers. In this embodiment, a brushless motor one 11 for providing main power, two brushless motors two 12 and three 13 for providing reverse thrust auxiliary power are mounted on the fuselage 1, all fixed to the fuselage 1 by bolts. The middle positions of the brushless motor two 12 and the brushless motor three 13, the center of mass of the fuselage 1 and the output end of the brushless motor one 11 are on the same horizontal line. The brushless motor two 12 and the brushless motor three 13 provide differential speed or the same rotational speed, respectively providing an auxiliary effect during the turning process and the landing process of the powered paraglider. The brushless motor one 11 for providing main power is fixed to the frame of the rear fuselage 1 by a motor bracket. A propeller one 8 is mounted on the motor shaft of the brushless motor one 11, providing a backward thrust through the connection of the propeller one 8, so that the powered paraglider generates a forward speed in the air, thereby providing an upward lift for the ram-air parachute through the pressure difference between the upper and lower surfaces of the ram-air parachute. The brushless motor one 11, the servo one 14 and the servo two 15 provide the amount of the parachute rope pulled down for the ram-air parachute. The brushless motor two 12 and the brushless motor three 13 for providing reverse thrust auxiliary power are placed at the front end of the fuselage 1, placed at the left and right ends of the fuselage 1 with the center of the fuselage 1 as the symmetry plane. The output end of the brushless motor two 12 is connected with a propeller two 9, and the output end of the brushless motor three 13 is connected with a propeller three 10. The propeller two 9 and the propeller three 10 are opposite in orientation to the propeller one 8, that is, the thrust directions provided by the brushless motor two 12, the brushless motor three 13 and the brushless motor one 11 are opposite. During the turning stage of the powered paraglider, through the differential speed between the brushless motor two 12 and the brushless motor three 13, a thrust contrast is generated to cooperate with the amount of the parachute rope pulled down provided by the brushless motor one 11, the servo one 14 and the servo two 15, so that the turning radius of the powered paraglider is reduced; similarly, during the landing stage, the differential speed of the brushless motor two 12 and the brushless motor three 13 is adjusted to quickly correct the landing direction; the brushless motor two 12 and the brushless motor three 13 are adjusted to the same rotational speed, generating a reverse thrust opposite to that of the brushless motor one 11, so that the horizontal landing distance of the powered paraglider is reduced, avoiding the situation that the powered paraglider moves slowly and crosses the original set landing point affected by the wind.

[0024] A navigation and control system is carried on the fuselage 1, specifically including a flight controller 2 and a GPS positioning device 3, a visual assist positioning device, and an air pressure altimeter 4 that are electrically connected thereto. A first servo 14 and a second servo 15 are electrically connected to the flight controller 2. A first brushless motor 11, a second brushless motor 12, and a third brushless motor 13 are electrically connected to the flight controller 2 through electric brushes. The flight controller 2 sends PWM signals to the first servo 14 and the second servo 15. The first servo 14 and the second servo 15 receive the signals and rotate, so that the first rocker arm 16 and the second rocker arm 17 complete swinging, pulling the parachute ropes to complete the downward pull of the trailing edge of the ram-air parachute. The greater the swinging amplitude of the first rocker arm 16 and the second rocker arm 17, the greater the downward pull amount of the ram-air parachute. The flight controller 2 controls the first servo 14 and the second servo 15 to control the first rocker arm 16 and the second rocker arm 17 to realize pulling the parachute ropes, which is equivalent to manually controlling the downward pull amount in a conventional powered parachute to make the powered parachute complete deceleration, turning, and landing actions. The remote controller and the ground station are connected to the flight controller 2 through a data link to achieve communication connection and are controlled by an operator at the ground end. The magnetic compass in the GPS positioning device measures the three-axis angular velocity and provides the longitude, latitude, and speed information of the geographical location where the powered parachute is located. The air pressure altimeter 4 provides airspeed and altitude information. The visual assist positioning device provides an estimation of the relative position between the powered parachute and the landing beacon.

[0025] The visual assist positioning device is fixed on the fuselage 1 through threaded connection by a fixing bracket 24, and includes a first small servo 21, a second small servo 22, a third small servo 23, a pan-tilt bracket, and a camera 20. The camera 20 is fixed on the pan-tilt bracket. The pan-tilt bracket is divided into three sections, all of which are L-shaped. The third small servo 23 is fixed on the fixing bracket 24, and its output shaft is fixedly connected to the three sections 28 of the pan-tilt bracket, driving the three sections 28 of the pan-tilt bracket to rotate in the XY plane through the rotation of the output shaft of the third small servo 23. The second small servo 22 is fixed on the three sections 28 of the pan-tilt bracket, and its output shaft is fixed on the two sections 27 of the pan-tilt bracket, causing the two sections 27 of the pan-tilt bracket to rotate in the YZ plane through the rotation of the output shaft of the second small servo 22. The first small servo 21 is fixed to the two sections 27 of the pan-tilt bracket, and its output shaft is fixed to the one section 26 of the pan-tilt bracket, causing the one section 26 of the pan-tilt bracket to rotate in the XZ plane through the rotation of the output shaft of the first small servo 21. The first small servo 21, the second small servo 22, and the third small servo 23 are electrically connected to the flight controller 2, driving the rotation of the pan-tilt bracket, so that the camera 20 can focus on any direction in space. After the camera 20 recognizes the landing beacon, it will take a picture and transmit the information to the flight controller 2. According to the rotation angles of the first small servo 21, the second small servo 22, and the third small servo 23 and the information provided by the air pressure altimeter 4, the flight controller 2 obtains the relative position between the powered parachute and the landing beacon, enabling the powered parachute to land more accurately. The air pressure altimeter 4 provides altitude information to the flight controller 2 based on the current air pressure and airspeed of the powered parachute. The remote controller and the ground station are responsible for the manual control of the unmanned powered parachute and observing the current information of the powered parachute.

[0026] The powered paraglider further includes a power supply system 25, which supplies power to the flight controller 2, GPS positioning device 3, barometric altimeter 4, brushless motor 11, brushless motor 12, brushless motor 13, servo 14, servo 15, small servo 21, small servo 22, small servo 23, and camera 20. This device is driven in a pure electric manner. In this embodiment, the power supply system 25 is a 24V lithium battery and the distribution board and bec transformer connected thereto.

[0027] During the powered paraglider flight phase, the power source is only the thrust provided by the brushless motor 11. Speed is generated by the thrust. The shape of the ram-air parachute is similar to that of an airplane wing, and an upward lift is generated when there is speed. During the turning phase, on the one hand, the swing amplitudes of the rocker arm 16 and the rocker arm 17 are driven by the servo 14 and the servo 15 to affect the shape of the trailing edge of the parachute, enabling the powered paraglider to complete the turning action. On the other hand, a steering force is provided by the differential speed of the brushless motor 12 and the brushless motor 13 to assist the powered paraglider in completing the turning action. Specifically, when the powered paraglider turns left, the rotational speed of the brushless motor 12 is higher than that of the brushless motor 13. Since the positions where the brushless motor 12 and the brushless motor 13 provide thrust are not on the same line as the center of mass of the fuselage 1, the brushless motor 13 does not work, and the brushless motor 12 drives the propeller 2 9 to rotate, which will provide a centripetal force to the trolley. Looking down from the top of the powered paraglider, a centripetal force in the counterclockwise direction is provided, making the turning of the powered paraglider faster and the turning radius smaller. Similarly, when turning right, it is the opposite, that is, the brushless motor 12 does not work, and the brushless motor 13 drives the propeller 3 10 to rotate. During the landing phase, the powered paraglider relies on the GPS positioning device to transmit the landing point information to the flight control. The flight control transmits it to the ground station through a data link. A person sets a predefined route at the ground station and flies to near the landing point according to the predefined route. However, due to the large error of the GPS positioning device, there is a deviation between the landing point planned on the ground station and the actual landing beacon position. Therefore, a visual guidance method is adopted to reduce the positioning error, that is, the camera takes a picture of the landing beacon and transmits it to the flight control. The flight control transmits it to the ground station through a data link. A person frames the landing beacon through the picture transmitted to the ground station and transmits it back to the flight control through the data link. The flight control judges the relative position estimation between the powered paraglider and the landing beacon based on the rotation amounts of the upper shafts of the small servos 1, small servo 2, and small servo 3 in the visual auxiliary positioning device and the altitude information measured by the barometric altimeter, and performs target tracking on the landing beacon to achieve precise landing. Adjusting the landing direction is similar to the turning phase in this regard. The rotational speed of the brushless motor 11 is reduced or directly reduced to zero. The servo 14 and the servo 15 cause the rocker arm 16 and the rocker arm 17 to complete the downward pull simultaneously, pulling the suspension lines at the trailing edge of the ram-air parachute and changing the shape of the ram-air parachute, thereby decelerating the powered paraglider by increasing the resistance. At the same time, the brushless motor 12 and the brushless motor 13 provide the same rotational speed, generating a force opposite to the action of the brushless motor 11 to increase the resistance of the fuselage 1, shortening the landing distance of the powered paraglider and avoiding the situation where the existing powered paraglider decelerates too slowly and crosses the landing point.

Claims

1. A precision landing unmanned aerodynamic parachute, characterized in that: It includes a fuselage and a ram-air parafoil connected to the fuselage. A servo one and a servo two are arranged at the rear end of the fuselage. The output ends on the servo one and the servo two are respectively connected to a rocker arm one and a rocker arm two. The rocker arm one and the rocker arm two are symmetrically arranged with the center of the fuselage as the symmetry plane. The ram-air parafoil is connected to the ends of the rocker arm one and the rocker arm two. The ram-air parafoil is also fixed on both sides of the fuselage frame, that is, there are four fixing points between the ram-air parafoil and the fuselage. A walking wheel is loaded on the fuselage. The walking wheel includes a steering wheel at the front and a directional wheel one and a directional wheel two at the rear. The steering wheel and the two walking wheels are arranged in a triangular three-point pattern. A plurality of brushless motors are loaded on the fuselage, providing the main power at the front end of the fuselage and the reverse thrust auxiliary power at the rear end of the fuselage through connecting propellers. A navigation and control system is carried on the fuselage, specifically including a flight controller and a GPS positioning device, a vision-assisted positioning device, and a barometric altimeter electrically connected thereto. The servo one and the servo two are electrically connected to the flight controller, and the brushless motors are electrically connected to the flight controller through electric brushes. The powered paraglider also includes a power supply system. A brushless motor one providing the main power, two brushless motors two and three providing the reverse thrust auxiliary power are loaded on the fuselage, and are all fixed on the fuselage by bolts. The middle positions of the brushless motor two and the brushless motor three, the center of mass of the fuselage, and the output end of the brushless motor one are on the same horizontal line. The brushless motor one providing the main power is fixed on the fuselage frame at the tail of the fuselage through a motor mount. A propeller one is installed on the motor shaft of the brushless motor one, providing a backward thrust through the connecting propeller one. The brushless motor two and the brushless motor three providing the reverse thrust auxiliary power are placed at the front end of the fuselage, and are placed at the left and right ends of the fuselage with the center of the fuselage as the symmetry plane. The output end of the brushless motor two is connected to a propeller two, and the output end of the brushless motor three is connected to a propeller three. The propeller two and the propeller three are in the opposite direction to the propeller one, that is, the thrust directions provided by the brushless motor two, the brushless motor three and the brushless motor one are opposite. The vision-assisted positioning device is fixed on the fuselage by threaded connection through a fixing frame, and includes a small servo one, a small servo two, a small servo three, a pan-tilt head frame and a camera. The camera is fixed on the pan-tilt head frame. After the camera recognizes the landing beacon, it will take a picture and transmit the information to the flight controller. According to the rotation angles of the small servo one, the small servo two and the small servo three and the information provided by the barometric altimeter, the flight controller obtains the relative position between the powered paraglider and the landing beacon, enabling the powered paraglider to land more accurately. The barometric altimeter provides altitude information to the flight controller based on the current air pressure and airspeed of the powered paraglider. The remote controller and the ground station are responsible for the manual control of the unmanned powered paraglider and observing the current information of the powered paraglider.

2. The precision landing unmanned aerodynamic parachute according to claim 1, characterized in that: The main body of the fuselage is a stainless steel frame structure, which is a rigid structure.

3. The precision landing unmanned aerodynamic parachute according to claim 1, characterized in that: The ram-air parafoil is made of flexible material and is made of nylon silk.

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