Parachute intelligent landing system and method

Abstract

The invention belongs to the field of airborne landing and airdrop, and particularly relates to an intelligent landing system and method for a parachute. The operation method is difficult to carry out under the condition of high wind speed or poor visibility by depending on manual operation of the parachuting personnel, and the personnel often deviate from a landing area, so that safety risks are brought to the parachuting personnel. The invention provides an intelligent parachute landing system and method.The intelligent parachute landing system comprises main control ropes, manual control ropes, execution machines, an electric wire and a receiver, the execution machines are installed on the main control ropes on each side, the receiver is electrically connected with the execution machines on the two sides, and the manual control ropes are further connected to the main control ropes on the upper sides of the execution machines; the ground system comprises a general command station and a plurality of branch command stations, and the receiver is in wireless communication with the command stations. And the problems that the parachutists deviate from a landing point and interfere with one another after leaving the aircrafts are greatly reduced.

Description

Technical Field

[0001] The invention belongs to the field of airborne airdrop, and in particular relates to a parachute intelligent landing system and method. Background Art

[0002] Parachutes are essential for parachuting or airdropping in the military and civilian fields. The parachute's trajectory in the air and its landing position are often related to the safety of the parachutist or supplies.

[0003] During fixed-point skydiving, skydivers need to land in a certain area, and the landing trajectory of the skydiving is often affected by climate, altitude, etc. Currently, the control during skydiving often relies on manual control by the skydiver, which is difficult to perform in conditions of high wind speed or poor visibility. People often deviate from the landing area, posing a safety risk to the skydiver.

[0004] In addition, during cluster skydiving, the skydivers are too close to each other, causing their parachute bags to interfere with each other and even get entangled with each other, destroying the inflation structure of the parachute and seriously threatening the lives of the skydivers. Summary of the invention

[0005] In order to solve the current technical problems in this field, the present invention provides a parachute intelligent landing system and method. The command station personnel send parachute movement direction instructions through a handheld terminal, and send it to the parachute receiver through wireless transmission. The actuator performs the steering action to prevent the parachutists from deviating from the landing site or interfering with each other.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a parachute intelligent landing system, the landing system includes a parachute system and a ground system, wherein

[0007] The parachute system includes a main control rope, a manual control rope, an actuator, wires and a receiver. An actuator is installed on the main control rope on each side. The receiver is electrically connected to the actuators on both sides. A manual control rope is also connected to the main control rope on the upper side of each actuator. The ground system includes a general command station and several sub-command stations. Wireless communication is implemented between the receiver and the command station.

[0008] The receiver collects the landing positioning information, height information and distance information from obstacles and transmits it back to the command station. The command station intervenes in the landing process according to the judgment result and controls the actuator through the receiver to realize intelligent landing.

[0009] Advantageously, the receiver includes a microprocessor and an indicator light electrically connected to the microprocessor, an altitude sensor, an inertial navigation module, a Beidou navigation module, a distance sensor, a wireless communication module, a storage module and a power module.

[0010] Advantageously, the actuator includes a microprocessor and a stepping motor electrically connected to the microprocessor.

[0011] Advantageously, the receiver is electrically connected to the actuators on both sides through wires, and the actuators receive signals and power from the receiver.

[0012] Advantageously, the main command station and several sub-command stations are handheld terminals including wireless communication modules, the central terminal is arranged in the ground command room, and the subordinate terminals are arranged on the aircraft and near the landing field as needed.

[0013] Advantageously, a hand pull ring is provided at the lower end of the manual operating rope.

[0014] The present invention also provides a parachute intelligent landing method, using the above-mentioned parachute intelligent landing system, the method comprises the following steps:

[0015] S1. After the parachutist or the cargo leaves the aircraft, the receiver detects the altitude information, positioning information and distance information from obstacles of the parachutist or the cargo, and transmits it back to the command station;

[0016] S2. The command station personnel determine whether it is necessary to intervene in the landing process based on experience or prediction results. If intervention is required, step S3 is executed; otherwise, the landing continues;

[0017] S3. The command station sends an intervention command to the receiver, and the receiver transmits the steering command to the execution machine, and returns to step S2.

[0018] Advantageously, in step S2, the command station personnel make a comprehensive judgment based on experience as to whether the parachutist or the materials are at risk of deviating from the landing area or colliding with obstacles; or input the collected data into a deep learning network for training to obtain prediction results to assist the command station personnel in making risk judgments.

[0019] Advantageously, if the receiver detects that the parachutist or the cargo has deviated from the designated landing area, or the distance L between the parachutist and the obstacle is less than the safe distance, the intervention command from the command station is directly cut off, and a steering command is issued to the actuator.

[0020] Advantageously, in the case of a parachutist, if ground intervention or direct control of the receiver cannot return to the designated landing area, or the distance L between the parachutist and the obstacle is not less than the safe distance, the parachutist controls the manual control rope for landing control.

[0021] The beneficial effect of the present invention is that, compared with the prior art, the intelligent parachute landing system and method of the present invention greatly reduces the problems of parachutists deviating from the landing point after leaving the aircraft and parachutists interfering with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a connection diagram of the parachute system;

[0023] Figure 2 This is a schematic diagram of the communication network. DETAILED DESCRIPTION

[0024] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without creative labor are all within the scope of protection of the present invention.

[0025] The parachute intelligent landing system of the present invention includes an on-parachute system and a ground system. Figure 1 The schematic diagram of the parachute system connection shown includes a main control rope 1, a manual control rope 2, an actuator 3, a wire 4, a receiver 5 and a hand pull ring 6. The receiver 5 is hung at the lower end of the main control rope 1, and an actuator 3 is installed on each side of the main control rope 1. The receiver 5 is electrically connected to the actuators 3 on both sides through the wire 4. A manual control rope 2 is also connected to the main control rope 1 on the upper side of each actuator 3, and its lower end has a hand pull ring 6 to allow manual control by the parachutist.

[0026] The receiver 5 includes a microprocessor and an indicator light electrically connected to the microprocessor, an altitude sensor, an inertial navigation module, a Beidou navigation module, a distance sensor, a wireless communication module, a storage module and a power module.

[0027] The actuator 3 includes a microprocessor and a stepper motor electrically connected to the microprocessor. The actuator 3 receives signals and power from the receiver 5. The left main control rope 1 is controlled by the left actuator 3, and the right main control rope 1 is controlled by the right actuator 3. Since the actuator 3 is below the connection position of the manual control rope 2, it does not affect the manual operation of the parachutist. The actuators 3 on both sides are controlled by the same receiver 5.

[0028] See also Figure 2 The communication network diagram shown shows the composition of the ground system, including a main command station and several sub-command stations. The sub-command stations in the embodiment include command station 1, command station 2, ..., command station N, and wireless communication is adopted between the receiver and the command station.

[0029] The entity of the command station is a handheld terminal including a wireless communication module. The handheld terminal is classified into a central terminal and a slave terminal. The central terminal is set in the ground command room, and the slave terminals can be set on the aircraft and near the landing site as needed.

[0030] The receiver 5 communicates wirelessly with the command station via spread spectrum communication. When the indicator light on the receiver 5 turns green, it means that the actuator 3 is working normally. When the green indicator module on the handheld terminal turns on, it means that the command station and the receiver 5 are communicating normally.

[0031] This embodiment also provides a parachute intelligent landing method, comprising the following steps:

[0032] S1. After the parachutist or the cargo leaves the aircraft, the receiver 5 in the parachute system detects the altitude information, location information and distance information from obstacles of the parachutist or the cargo, and transmits it back to the command station.

[0033] The parachutist's positioning information and longitude and latitude information are obtained through the inertial navigation module and Beidou navigation module, the altitude information of the parachutist or materials is obtained through the altitude sensor, and the distance information to the surrounding obstacles is obtained through the distance sensor. The altitude information, positioning information and distance information to the surrounding obstacles are transmitted back to the command station via wireless transmission. The main command station or sub-command station is selected according to the settings.

[0034] S2. The command station personnel determine whether it is necessary to intervene in the landing process based on experience or prediction results. If intervention is required, the command station sends an intervention instruction to the receiver 5 via wireless transmission, and the receiver 5 transmits the steering instruction to the actuator 3; if no intervention is required, the landing continues.

[0035] Command station personnel can directly judge based on experience whether the parachutists or supplies are at risk of deviating from the landing area or colliding with obstacles. They can also input the collected data into a deep learning network for training to obtain prediction results to assist command station personnel in making judgments.

[0036] If the receiver 5 detects that the parachutist or the material has deviated from the designated landing area, or the distance L between the parachutist and the obstacle is less than the safe distance, the receiver 5 directly cuts off the intervention command of the command station, directly determines the deflection direction to be executed and transmits it to the execution machine 3, until the parachutist or the material returns to the designated landing area, or the distance L between the parachutist or the material and the obstacle is not less than the safe distance. At this time, the receiver 5 issues a no-turn command.

[0037] After the actuator 3 receives the steering command signal, the stepper motor rotates a certain angle; after the receiver 5 receives the no steering command from the receiver 3, the stepper motor restores the deflection angle of 0°.

[0038] In the case of a parachutist, if ground intervention or direct control of the receiver cannot bring the parachutist back to the designated landing area, or the distance L between the parachutist and the obstacle is not less than the safe distance, the parachutist controls the manual control rope 2 to control the landing.

[0039] In one embodiment, the rated number of networked receivers 5 is 200, leaving room for expansion, which can be expanded to 1,000 in extreme cases. Each receiver 5 has a unique communication address, and the distance between the corresponding command station location and the receiver is no more than 2,000 meters.

[0040] The present invention provides double protection, avoiding the problems of deviation from the parachuting area and mutual interference between parachutists in the prior art.

Claims

1. A parachute intelligent landing system, characterized in that: The landing system includes a parachute system and a ground system. The parachute system comprises a main control rope (1), a manual control rope (2), an actuator (3) and a receiver (5), wherein an actuator (3) is installed on the main control rope (1) on each side, the receiver (5) is electrically connected to the actuators (3) on both sides, and a manual control rope (2) is also connected to the main control rope (1) on the upper side of each actuator (3); the ground system comprises a main command station and a plurality of sub-command stations, and wireless communication is performed between the receiver (5) and the command station; The receiver (5) collects the landing positioning information, height information and distance information from obstacles and transmits them back to the command station. The command station intervenes in the landing process according to the judgment result and controls the execution machine (3) through the receiver (5) to realize intelligent landing.

2. The parachute intelligent landing system according to claim 1, characterized in that: The receiver (5) comprises a microprocessor and an indicator light electrically connected to the microprocessor, an altitude sensor, an inertial navigation module, a Beidou navigation module, a distance sensor, a wireless communication module, a storage module and a power module.

3. The intelligent parachute landing system according to claim 1, characterized in that: The actuator (3) comprises a microprocessor and a stepping motor electrically connected to the microprocessor.

4. The parachute intelligent landing system according to claim 1, characterized in that: The receiver (5) is electrically connected to the actuators (3) on both sides through electric wires (4), and the actuators (3) receive signals and power from the receiver (5).

5. The parachute intelligent landing system according to claim 1, characterized in that: The general command station and several sub-command stations are handheld terminals including wireless communication modules. The central terminal is arranged in the ground command room, and the subordinate terminals are arranged on the aircraft and near the landing site as needed.

6. The parachute intelligent landing system according to claim 1, characterized in that: A hand pull ring (6) is provided at the lower end of the manual operating rope (2).

7. A parachute intelligent landing method, using the parachute intelligent landing system according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: S1. After the parachutist or the cargo leaves the aircraft, the receiver (5) detects the altitude information, positioning information and distance information from obstacles of the parachutist or the cargo, and transmits it back to the command station; S2. The control station personnel determine whether it is necessary to intervene in the landing process based on experience or prediction results. If intervention is required, step S3 is executed; otherwise, the landing continues; S3, the command station sends an intervention command to the receiver (5), and the receiver (5) transmits the steering command to the execution machine (3), and returns to step S2.

8. The intelligent parachute landing method according to claim 7, characterized in that: In step S2, the command station personnel comprehensively judge whether the parachutist or the materials are at risk of deviating from the landing area or colliding with obstacles based on their experience; or input the collected data into a deep learning network for training to obtain prediction results to assist the command station personnel in making risk judgments.

9. The intelligent parachute landing method according to claim 7, characterized in that: If the receiver (5) detects that the parachutist or the cargo has deviated from the designated landing area, or the distance L between the parachutist and the obstacle is less than the safe distance, the intervention command from the command station is directly cut off, and a steering command is sent to the execution machine (3).

10. The intelligent parachute landing method according to claim 7, characterized in that: In the case of a parachutist, if ground intervention or direct control by the receiver cannot return to the designated landing area, or the distance L between the parachutist and the obstacle is not less than the safe distance, the parachutist controls the manual control rope (2) to control the landing.

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