Parameter design method and device based on distance reducing device, equipment and medium

Abstract

The invention provides a parameter design method and device based on a distance reducing device, equipment and a medium. Comprising the steps that a preset power prediction model, a preset distance reducing device, an object to be air-dropped, the air-dropped height and the air-dropped pressure value corresponding to the object to be air-dropped and attribute information of the preset distance reducing device are determined, and the preset power prediction model conforms to a preset power rule; inputting the air-drop height, the air-drop pressure value and the attribute information of the preset distance reducing device into a preset power prediction model to obtain a prediction speed curve output by the preset power prediction model, and determining a predicted landing speed according to the prediction speed curve; comparing the predicted landing speed with a preset speed threshold value to obtain a comparison result, and determining a target air-drop height and a target air-drop pressure value according to the comparison result; air-dropping the object to be air-dropped according to the target air-dropping height, the target air-dropping pressure value and a preset distance reducing device; in this way, the air-drop precision and the air-drop efficiency during parachute landing are improved, and accurate control over the landing speed of the to-be-air-dropped object is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of parachute landing, and particularly to a parameter design method, device, equipment and medium based on a retractor. Background Art

[0002] Parachute landing is a technology and process that uses a parachute to safely land an object or a person from the air. The core principle is to generate resistance through the interaction between the parachute and the air, reduce the descending speed of the landing object, and make it land safely, thereby ensuring the landing smoothness and safety. It can be applied to military fields, aerospace fields, and scientific research and industrial fields, etc.

[0003] The existing parachute landing methods generally design the product components of the pneumatic muscle retractor, and at the same time, a ground contact sensor or a single height sensor is generally used to control the inflation moment.

[0004] However, the existing parachute landing methods have problems of low design accuracy of the retractor and difficulty in controlling the landing speed of the airdrop. Summary of the Invention

[0005] The present invention provides a parameter design method, device, equipment and medium based on a retractor, which is used to solve the problems of low design accuracy of the retractor and difficulty in controlling the landing speed of the airdrop existing in the existing parachute landing methods.

[0006] In a first aspect, the present invention provides a parameter design method based on a retractor, and the method includes: Determine a preset dynamic prediction model, a preset retractor and an object to be airdropped, and determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped and the attribute information of the preset retractor, and the dynamic prediction model conforms to the preset dynamic rules; Input the airdrop height, airdrop pressure value and attribute information into the dynamic prediction model, obtain the predicted speed curve output by the dynamic prediction model, and determine the predicted landing speed according to the predicted speed curve; Compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and determine the target airdrop height and target airdrop pressure value according to the comparison result; Airdrop the object to be airdropped according to the target airdrop height, target airdrop pressure value and preset retractor.

[0007] In some embodiments of the present invention, determining a preset dynamic prediction model, a preset retractor and an object to be airdropped, and determining the airdrop height, airdrop pressure value corresponding to the object to be airdropped and the attribute information of the preset retractor includes: Determine the dynamic rules of the preset retractor according to the simulated resistance, simulated contraction force and predicted airdrop speed of the preset retractor; Determine a preset dynamic prediction model according to the dynamic rules; Determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor.

[0008] In some embodiments of the present invention, according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor, determine the power rule of the preset retractor, including: Determine the simulated resistance according to the air density and the landing equipment area corresponding to the preset retractor; According to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor, determine the power rule of the preset retractor.

[0009] In some embodiments of the present invention, compare the predicted landing speed with the preset speed threshold to obtain a comparison result, and determine the target airdrop height and target airdrop pressure value according to the comparison result, including: Compare the numerical values of the predicted landing speed and the preset speed threshold to obtain a comparison result; If the comparison result is that the predicted landing speed does not exceed the preset speed threshold, determine that the airdrop height is the target airdrop height and the airdrop pressure value is the target airdrop pressure value; If the comparison result is that the predicted landing speed exceeds the preset speed threshold, based on the predicted speed curve, determine whether the predicted landing speed is the minimum speed in the predicted speed curve to obtain a judgment result; Determine the target airdrop height and target airdrop pressure value according to the judgment result.

[0010] In some embodiments of the present invention, determine the target airdrop height and target airdrop pressure value according to the judgment result, including: Determine the judgment result; If the judgment result is that the predicted landing speed is the minimum speed, determine the preset height coefficient value, and determine the target airdrop height according to the airdrop height and the height coefficient value, where the target airdrop height is greater than the airdrop height; If the judgment result is that the predicted landing speed is not the minimum speed, determine the preset pressure coefficient value, and determine the target airdrop pressure value according to the airdrop pressure value and the pressure coefficient value, where the target airdrop pressure value is greater than the airdrop pressure value.

[0011] In some embodiments of the present invention, airdrop the object to be airdropped according to the target airdrop height, target airdrop pressure value, and preset retractor, including: Based on the real-time height from the ground of the preset retractor, determine the size relationship between the real-time height from the ground and the target airdrop height; If the real-time height from the ground is less than the target airdrop height, inflate the preset retractor according to the target airdrop pressure value to obtain the target retractor, and airdrop the object to be airdropped according to the target retractor.

[0012] In some embodiments of the present invention, based on the real-time ground clearance of a preset retractor, determining the magnitudes of the real-time ground clearance and the target airdrop height includes: Determine a target measurement point, and based on the target measurement point, determine a target coordinate system, where the target coordinate system includes a horizontal coordinate axis, a vertical coordinate axis, and a longitudinal coordinate axis; Determine the sensing device corresponding to the preset retractor, and based on the sensing device and the target measurement point, determine the measurement distance between the preset retractor and the target measurement point; Based on the sensing device, determine the angular values of the preset retractor and each coordinate axis in the target coordinate system, and based on each angular value and the measurement distance, determine the real-time ground clearance of the preset retractor.

[0013] In a second aspect, the present invention provides a parameter design device based on a retractor. The device includes: An information determination module, configured to determine a preset power prediction model, a preset retractor, and an object to be airdropped, and determine the airdrop height, airdrop pressure value, and attribute information of the preset retractor corresponding to the object to be airdropped, where the power prediction model conforms to a preset power rule; A speed determination module, configured to input the airdrop height, airdrop pressure value, and attribute information into the power prediction model, obtain a predicted speed curve output by the power prediction model, and based on the predicted speed curve, determine the predicted landing speed; A comparison module, configured to compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and based on the comparison result, determine the target airdrop height and the target airdrop pressure value; An airdrop module, configured to airdrop the object to be airdropped based on the target airdrop height, the target airdrop pressure value, and the preset retractor.

[0014] In a third aspect, the present invention provides a computer device, including: a processor, and a memory communicatively connected to the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method of the present invention.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium, in which program code is stored, and when the program code is executed by a processor, it is used to implement the method of the present invention.

[0016] The parameter design method, device, equipment, and medium based on a retractor provided by the present invention determine a preset power prediction model, a preset retractor, and an object to be airdropped, and determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor. The power prediction model conforms to the preset power rules. Input the airdrop height, airdrop pressure value, and attribute information into the power prediction model to obtain the predicted speed curve output by the power prediction model, and determine the predicted landing speed according to the predicted speed curve. Compare the predicted landing speed with the preset speed threshold to obtain a comparison result, and determine the target airdrop height and target airdrop pressure value according to the comparison result. Airdrop the object to be airdropped according to the target airdrop height, target airdrop pressure value, and preset retractor.

[0017] In this way, by determining the initial airdrop height and initial airdrop pressure value corresponding to the object to be airdropped, and determining the attribute information of the retractor used for airdropping, the predicted speed curve of the object to be airdropped during airdropping can be obtained through a power prediction model that conforms to the preset power rules, based on the initial airdrop pressure value, initial airdrop height, and attribute information, so as to determine the landing speed of the object to be airdropped. Then, by further comparing the landing speed with the preset speed threshold, the target airdrop height and target airdrop pressure value are determined, so as to airdrop the object to be airdropped in practical applications, improving the airdrop accuracy and airdrop efficiency, and achieving precise control of the landing speed of the object to be airdropped. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0019] Figure 1 It is a schematic flowchart of a parameter design method based on a retractor provided by an embodiment of the present invention; Figure 2 It is a schematic system diagram of a parameter design method based on a retractor provided by an embodiment of the present invention; Figure 3 It is a schematic design diagram of a parameter design method based on a retractor provided by an embodiment of the present invention; Figure 4 It is a schematic flowchart of another parameter design method based on a retractor provided by an embodiment of the present invention; Figure 5 It is a schematic attitude diagram of a parameter design method based on a retractor provided by an embodiment of the present invention; Figure 6 It is a schematic structural diagram of a parameter design device based on a retractor provided by an embodiment of the present invention; Figure 7Structural block diagram of a device for implementing a parameter design method based on a retractor according to an embodiment of the present invention. Detailed implementation mode

[0020] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0021] The technical solution of the present invention and how the technical solution of the present invention solves the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below with reference to the drawings.

[0022] Figure 1 Flow schematic diagram of a parameter design method based on a retractor provided for an embodiment of the present invention. As Figure 1 shown, the parameter design method based on the retractor may include the following steps: S110. Determine a preset power prediction model, a preset retractor, and an object to be airdropped, and determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and attribute information of the preset retractor. The power prediction model conforms to the preset power rule.

[0023] Among them, the object to be airdropped is the item that needs to be dropped during actual airdropping. The airdrop height and airdrop pressure value corresponding to the object to be airdropped can be understood as the initial airdrop height and initial airdrop pressure value. By inputting the initial airdrop height and initial airdrop pressure value into the power prediction model, the predicted speed curve output by the power prediction model can be obtained, so as to subsequently determine the target airdrop height and target airdrop pressure value according to the predicted speed curve, thereby realizing actual airdropping; the initial airdrop height and initial airdrop pressure value can be determined according to historical airdrop data or can be set by oneself.

[0024] The preset power prediction model is a model preset for predicting the speed of the object to be airdropped during airdropping. The power prediction model can be obtained by further determining the preset power rule subsequently. The power rule is a rule that conforms to dynamics and can be understood as a rule for describing the relationship between the change in the motion state of the object to be airdropped during airdropping and the force applied, and may include the principle of aerodynamics.

[0025] The preset retractor is a pneumatic muscle retractor that has been pre-set. A pneumatic artificial muscle is an actuator driven by air pressure that can produce a motion effect similar to that of human muscles. Please refer to Figure 2 , Figure 2 which is a system schematic diagram of a parameter design method based on a retractor provided by an embodiment of the present invention. As Figure 2 shown, the parachute landing system based on a pneumatic muscle retractor generally consists of a parachute system, a pneumatic muscle retractor, a control system, and related sensors, airdropped objects, etc. The parachute is used to provide the main deceleration force to enable an object or a person to safely descend from the air; the pneumatic muscle retractor is installed between the parachute and the landing object (such as a drone or a person, etc.) and is responsible for contracting the ropes or structures of the parachute at the moment of landing or near landing; the control system precisely controls the actions of the pneumatic muscle retractor according to the information feedback by the sensors, such as height, speed, etc.; the airdropped object is the object that needs to be airdropped and landed.

[0026] Attribute information refers to the information used to describe the characteristics, properties, states, etc. of a certain object or thing. The attribute information of the retractor can include the theoretical contraction force characteristic parameters of the retractor, which can generally be found in the product manual or directly given by the manufacturer. The theoretical contraction force characteristic parameters can be used in the dynamic prediction model to output the predicted speed of the object to be airdropped.

[0027] Based on this, by determining the dynamic prediction model, the object to be airdropped and its corresponding airdrop height and airdrop pressure value, as well as the preset retractor and its corresponding attribute information, so that the subsequent dynamic prediction model can output a prediction curve of the speed of the object to be airdropped during the airdrop process according to the airdrop height, airdrop pressure value, and attribute information, so as to determine the predicted landing speed of the object to be airdropped, and then according to the comparison result of the magnitudes of the landing speed and the preset speed threshold, determine whether the currently predicted landing speed meets the landing requirements, so as to determine whether to adjust the initial airdrop height and airdrop pressure value, so as to obtain the target airdrop height and target airdrop pressure value, and complete the actual airdrop of the item.

[0028] S120. Input the airdrop height, airdrop pressure value, and attribute information into the dynamic prediction model to obtain the predicted speed curve output by the dynamic prediction model, and determine the predicted landing speed according to the predicted speed curve.

[0029] Among them, the predicted speed curve is the speed prediction curve output by the dynamic prediction model for the object to be airdropped during the airdrop process, and the predicted landing speed is the speed at which the object to be airdropped lands on the ground at the end of the airdrop determined by the dynamic prediction model. The predicted landing speed is the end speed of the curve in the predicted speed curve.

[0030] Based on this, through a dynamic prediction model that conforms to the kinetic rules, the predicted speed of the object to be airdropped during the airdrop process and its corresponding speed curve predicted by the model are determined, and the predicted landing speed is determined, so as to further determine whether the landing speed meets the actual requirements based on the landing speed and the preset speed threshold, and thus determine whether to adjust the airdrop height and the airdrop pressure value.

[0031] S130. Compare the predicted landing speed with the preset speed threshold to obtain a comparison result, and based on the comparison result, determine the target airdrop height and the target airdrop pressure value.

[0032] Among them, the preset speed threshold is a speed threshold that is preset and used to compare with the predicted landing speed. Based on the comparison result of the predicted landing speed and the preset speed threshold, it is further determined whether it is necessary to adjust the airdrop height and the airdrop pressure value.

[0033] The target airdrop height and the target airdrop pressure value are the height and pressure values that meet the actual airdrop requirements and are obtained after adjusting the initial airdrop height and the airdrop pressure value, and are used for the actual airdrop process of the object to be airdropped.

[0034] Based on this, by determining the comparison result of the predicted landing speed and the preset speed threshold, the target airdrop height and the target airdrop pressure value that meet the actual airdrop requirements of the object to be airdropped are obtained.

[0035] S140. Airdrop the object to be airdropped according to the target airdrop height, the target airdrop pressure value and the preset retractor.

[0036] Among them, the actual airdrop process can be understood as follows: after the airdropped object is thrown out, the parachute in the parachute landing system based on the pneumatic muscle retractor expands, and the airdropped object falls at a constant speed. When the height of the airdropped object from the ground is less than the designed inflation height, the air circuit quickly inflates the pneumatic muscle retractor with a given inflation pressure to generate a contraction force, so as to realize the landing of the object to be airdropped.

[0037] Based on this, by determining the target airdrop height and the target airdrop pressure value, the object to be airdropped is airdropped according to the retractor.

[0038] On the basis of the feasible implementation manner of the above S110, the present invention further provides steps for determining a preset dynamic prediction model, a preset retractor and an object to be airdropped, and determining the attribute information of the airdrop height, the airdrop pressure value and the preset retractor corresponding to the object to be airdropped, including: Determine the dynamic rule of the preset retractor according to the simulated resistance, the simulated contraction force and the predicted airdrop speed of the preset retractor; Determine the preset dynamic prediction model according to the dynamic rule; Determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor.

[0039] Among them, the simulated resistance, simulated contraction force, and predicted airdrop speed can be understood as the theoretical values in the dynamic rules corresponding to the retractor. For example, the dynamic rules can be the dynamic differential equations. Before the pneumatic muscle retractor is inflated, the object to be airdropped is mainly affected by the parachute resistance and its own gravity. During the operation of the retraction system, in addition to the parachute resistance and its own gravity, the object to be airdropped is also affected by the contraction force of the retraction system. Therefore, the dynamic differential equations of the parachute system can be determined: ; ; m is the mass of the object to be airdropped, x is the displacement of the object to be airdropped, t is the time, represents the acceleration of the object, that is, the second derivative of the displacement with respect to time, is the parachute resistance, that is, the simulated resistance, is the contraction force of the retractor, and g is the acceleration due to gravity.

[0040] The predicted airdrop speed is the speed value determined according to the displacement and time.

[0041] Based on this, through the principle of dynamics, the dynamic rules of the parachute system during the airdrop process are determined. Then, according to the dynamic rules, a preset dynamic prediction model is determined. After the dynamic prediction model obtains input values such as the airdrop height, airdrop pressure value, and attribute information, it can predict the airdrop speed of the object to be airdropped according to the corresponding dynamic rules, and then output the predicted speed curve.

[0042] On the basis of the feasible implementation manner of the above S110, the present invention further provides steps for determining the dynamic rules of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor, including: Determine the simulated resistance according to the air density and the area of the landing equipment corresponding to the preset retractor; Determine the dynamic rules of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor.

[0043] Among them, the air density is the density value corresponding to the air. Density is a characteristic of matter. For different types of matter, due to differences in their atomic structure, molecular composition, and chemical bonds at the microscopic level, their densities are different; the area of the landing equipment is the equipment area corresponding to the landing equipment in the parachute system, and the landing equipment can be a parachute.

[0044] Simulated resistance can be determined by determining, is the air density, is the nominal area of the parachute, is the parachute speed (i.e., the speed of the heavy object).

[0045] Based on this, through the area of the parachute, the air density, and the corresponding speed of the parachute in the parachute system, the simulated drag in the power rule is determined.

[0046] On the basis of the feasible implementation manner of the above S130, the present invention further provides steps of comparing the predicted landing speed with a preset speed threshold to obtain a comparison result, and determining a target airdrop height and a target airdrop pressure value according to the comparison result, including: Comparing the numerical values of the predicted landing speed and the preset speed threshold to obtain a comparison result; If the comparison result is that the predicted landing speed does not exceed the preset speed threshold, then determine the airdrop height as the target airdrop height and the airdrop pressure value as the target airdrop pressure value; If the comparison result is that the predicted landing speed exceeds the preset speed threshold, then based on the predicted speed curve, determine whether the predicted landing speed is the minimum speed in the predicted speed curve to obtain a judgment result; Determine the target airdrop height and the target airdrop pressure value according to the judgment result.

[0047] Among them, in the actual airdrop process, there are requirements for the landing speed of the object to be airdropped. If the landing speed is too fast, the impact force generated when the object to be airdropped collides with the ground will be very large, which is likely to cause damage to the object to be airdropped. For example, for some precision instrument devices, fragile materials, etc., too fast a landing speed may cause them to break, deform, or damage internal components due to the huge impact force at the moment of landing, thus losing their use value; while too slow a landing speed will affect the airdrop efficiency, and at the same time, the object to be airdropped is easily blown away from the target airdrop point. Therefore, it is necessary to control the landing speed of the object to be airdropped.

[0048] Based on this, determine the predicted landing speed of the object to be airdropped at the current airdrop height and airdrop pressure value through the predicted speed curve, and compare the predicted landing speed with the preset speed threshold. If the predicted landing speed does not exceed the preset speed threshold, that is, the landing speed meets the requirements, then the current airdrop height and airdrop pressure value can be directly determined as the target airdrop height and the target airdrop pressure value; if the predicted landing speed exceeds the preset speed threshold, that is, the landing speed does not meet the requirements, then the minimum airdrop speed in the predicted speed curve can be further determined, so as to subsequently determine the target airdrop height and the target airdrop pressure value that meet the actual requirements according to the minimum airdrop speed and the predicted landing speed.

[0049] On the basis of the feasible implementation manner of the above S130, the present invention further provides steps of determining the target airdrop height and the target airdrop pressure value according to the judgment result, including: Determine the judgment result; If the judgment result is that the predicted landing speed is the minimum speed, determine the preset height coefficient value, and based on the airdrop height and the height coefficient value, determine the target airdrop height, where the target airdrop height is greater than the airdrop height; If the judgment result is that the predicted landing speed is not the minimum speed, determine the preset pressure coefficient value, and based on the airdrop pressure value and the pressure coefficient value, determine the target airdrop pressure value, where the target airdrop pressure value is greater than the airdrop pressure value.

[0050] Among them, the preset height coefficient value is a coefficient value that is preset and used to adjust the initial airdrop height to obtain the target airdrop height. For example, it can be 1.2. The preset pressure coefficient value is a coefficient value that is preset and used to adjust the initial airdrop pressure value to obtain the target airdrop pressure value. For example, it can be 3.5.

[0051] Based on this, by determining whether the landing speed is the minimum speed during the entire airdrop process, if the landing speed is the minimum speed during the airdrop process, at this time, the contraction force of the pneumatic muscle retractor still has a greater effect, and the speed at the landing moment is still in the decreasing process. At this time, the inflation height can be increased to make the landing speed reach near the minimum value; if the landing speed is not the minimum speed during the airdrop process, that is, the speed has experienced a process of first decreasing and then increasing, it is due to the too high design of the inflation height and the contraction force of the pneumatic muscle retractor has begun to decrease. At this time, the inflation pressure should be considered to be increased to increase the contraction force, that is, the pressure value is increased through the preset pressure coefficient value to determine the target airdrop pressure value.

[0052] Please refer to Figure 3 , Figure 3 which is a design schematic diagram of a parameter design method based on a retractor provided by an embodiment of the present invention; as Figure 3 shown, perform iterative design on the inflation parameters or re-select the pneumatic muscle retractor. The specific method is as follows: (1) If the landing speed of the initial simulation meets the requirements, the current model of the retractor can be selected and designed according to the current inflation height and inflation pressure; (2) If not, compare with the simulation speed curve to judge whether the airdropped object reaches near the minimum speed at the landing moment: (a) If the landing speed of the airdropped object is not near the minimum speed, there are two cases: First, if the speed has experienced a process of decreasing first and then increasing (i.e., the speed has reached the minimum during the falling process), it is due to the too high design of the inflation height and the contraction force of the pneumatic muscle retractor has begun to decrease. At this time, observe whether the minimum speed during the falling process meets the landing requirements. If it meets, only need to reduce the inflation height to make the minimum speed appear at the landing moment; if it does not meet, it means that at this inflation pressure, the maximum effect of the pneumatic muscle retractor can only decelerate the airdropped object to this minimum speed. At this time, consider increasing the inflation pressure to increase the contraction force to reduce the minimum speed. If the inflation pressure is increased until the maximum allowable internal pressure of the pneumatic muscle retractor and still cannot meet the requirements, then the pneumatic muscle retractor needs to be reselected; Second, if the speed only has a decreasing process, it is because the contraction force of the pneumatic muscle retractor still has a greater effect at this time and the speed at the landing moment is still in the decreasing process. At this time, the inflation height can be increased to make the landing speed reach near the minimum value; (b) If the landing speed has reached near the minimum, it means that at this inflation pressure, the maximum effect of the pneumatic muscle retractor can only decelerate the airdropped object to this minimum speed. At this time, consider increasing the inflation pressure to increase the contraction force; if the inflation pressure is increased until the maximum allowable internal pressure of the pneumatic muscle retractor and still cannot meet the requirements, then the pneumatic muscle retractor needs to be reselected.

[0053] Through the above iterative process, finally select the appropriate pneumatic muscle retractor and its corresponding inflation height and inflation pressure .

[0054] In some embodiments of the present invention, by determining the initial airdrop height and the initial airdrop pressure value corresponding to the object to be airdropped, and determining the attribute information of the retractor used for airdropping, thus through a power prediction model that conforms to the preset power rule, obtain the predicted speed curve of the object to be airdropped during the airdrop process output by the power prediction model according to the initial airdrop pressure value, the initial airdrop height and the attribute information, so as to determine the landing speed of the object to be airdropped, and then by further comparing the landing speed and the preset speed threshold, determine the target airdrop height and the target airdrop pressure value, so as to airdrop the object to be airdropped in actual applications.

[0055] In this way, by combining airdropping with dynamic simulation, a systematic design process for the inflation parameters of the parachute landing system based on the pneumatic muscle retractor is proposed, a simplified dynamic simulation model of the parachute landing system based on the pneumatic muscle retractor is developed, and an iterative design method for inflation parameters and a selection scheme for the pneumatic muscle retractor are proposed based on this model, which improves the airdrop accuracy and airdrop efficiency and realizes the precise control of the landing speed of the object to be airdropped.

[0056] Figure 4This is a schematic flow chart of another parameter design method based on a retractor provided by an embodiment of the present invention. As Figure 4 shown, the parameter design method based on the retractor may include the following steps: S410. Determine a preset dynamic prediction model, a preset retractor, and an object to be airdropped, and determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor. The dynamic prediction model conforms to the preset dynamic rules.

[0057] S420. Input the airdrop height, airdrop pressure value, and attribute information into the dynamic prediction model to obtain a predicted speed curve output by the dynamic prediction model, and determine the predicted landing speed according to the predicted speed curve.

[0058] S430. Compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and determine the target airdrop height and the target airdrop pressure value according to the comparison result.

[0059] In some embodiments of the present invention, the specific implementation manners of steps S410 to S430 may refer to the content in the foregoing embodiments, and will not be elaborated herein.

[0060] S440. Based on the real-time height from the ground of the preset retractor, determine the magnitude relationship between the real-time height from the ground and the target airdrop height.

[0061] Wherein, the real-time height from the ground is the real-time height from the ground of the object to be airdropped during the actual airdrop process. For example, the object to be airdropped may be dropped at a height of 50 meters from the ground, and the real-time height from the ground is the real-time height of the object to be airdropped from the ground during the dropping process.

[0062] Based on this, by determining the magnitude relationship between the real-time height from the ground and the target airdrop height, when the real-time height from the ground of the object to be airdropped is less than the target airdrop height, that is, when the object is relatively close to the ground and the parachute landing system needs to be used for landing control, the speed is controlled by the target airdrop pressure value.

[0063] S450. If the real-time height from the ground is less than the target airdrop height, inflate the preset retractor according to the target airdrop pressure value to obtain a target retractor, and airdrop the object to be airdropped according to the target retractor.

[0064] Wherein, the target retractor is the retractor after pressure adjustment according to the target airdrop pressure value.

[0065] Based on this, when the height sensor measures that the height from the ground is less than the designed inflation height after that, the controller controls the solenoid valve to open, and the gas source passes through the pressure reducing valve and the solenoid valve according to the given inflation pressure Quickly inflate the pneumatic muscle retractor to generate a contraction force, thereby controlling the landing speed of the object to be airdropped. When the pressure sensor detects that the pressure exceeds the set value, the controller controls the solenoid valve to close and the air source stops inflating.

[0066] Based on the feasible implementation of the above S440, the present invention further provides steps for judging the size of the real-time ground clearance height and the target airdrop height based on the preset real-time ground clearance height of the retractor, including: Determine the target measurement point, and based on the target measurement point, determine the target coordinate system, which includes a horizontal coordinate axis, a vertical coordinate axis, and a longitudinal coordinate axis; Determine the sensing device corresponding to the preset retractor, and based on the sensing device and the target measurement point, determine the measurement distance between the preset retractor and the target measurement point; Based on the sensing device, determine the angle values of the preset retractor and each coordinate axis in the target coordinate system, and based on each angle value and the measurement distance, determine the real-time ground clearance height of the preset retractor.

[0067] Among them, the target measurement point is the measurement point used to determine the distance from the retractor. The target coordinate axes include a horizontal coordinate axis, a vertical coordinate axis, and a longitudinal coordinate axis. By determining the angle information of the retractor in the target coordinate axes and the measurement distance from the target measurement point, the real-time ground clearance height is determined; the sensing device includes a height sensor and a gyroscope, and the gyroscope is a device used to measure angles and maintain direction.

[0068] Please refer to Figure 5 , Figure 5 which is the attitude schematic diagram of a parameter design method based on a retractor provided by an embodiment of the present invention; as Figure 5 shown, the target coordinate system is the space coordinate system composed of the X-axis, Y-axis, and Z-axis. L is the straight-line distance from the ground measured by the height sensor, and H is the actual ground clearance height of the current airdropped object. The angle between the straight line of the projection of L on the Y-Z plane and the Z-axis is defined as the pitch angle Pitch, and the angle between the straight line of L on the X-Z plane and the Z-axis is defined as the roll angle Roll. Draw the straight line c of the projection of L on the X-Y plane, the length of its X-axis component is a, and the length of its Y-axis component is b, and the following length relationship formulas can be obtained: ; ; ; ; Combining the foregoing formulas, the formula for calculating the ground clearance height by combining the gyroscope and the height sensor data can be derived as follows: ; The pitch angle and roll angle are both measured by a gyroscope. Tan is the tangent function, which is one of the trigonometric functions.

[0069] The criterion for the airdropped object to touch the ground is as follows: The data of the height sensor and the gyroscope are filtered to 20 Hz. When the data of the height sensor and the gyroscope do not change within 0.5 s, it is considered that the airdropped object has touched the ground.

[0070] In some embodiments of the present invention, the height above the ground is calculated by combining the data of the gyroscope and the height sensor, so as to determine the real-time height of the object to be airdropped from the ground during the actual airdrop process. Then, according to the real-time height and the target airdrop height, the moment to pressurize the distance reducer is determined, so as to control the landing speed of the object to be airdropped.

[0071] In this way, the problem that the airdropped object with a long suspension is swung by the wind and the height measurement is inaccurate is effectively avoided. Based on the comprehensive signal processing and calculation of the gyroscope and the height sensor, the cost is reduced, and the accuracy and possibility of calculating the height of the object to be airdropped and the landing and grounding speed are improved.

[0072] Figure 6 The following is a schematic structural diagram of a parameter design device 600 based on a distance reducer provided by an embodiment of the present invention. As Figure 6 shown, the parameter design device 600 based on the distance reducer includes: an information determination module 610, a speed determination module 620, a comparison module 630, and an airdrop module 640; where: The information determination module 610 is configured to determine a preset dynamic prediction model, a preset distance reducer, and an object to be airdropped, and determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset distance reducer. The dynamic prediction model conforms to the preset dynamic rules; The speed determination module 620 is configured to input the airdrop height, airdrop pressure value, and attribute information into the dynamic prediction model, obtain the predicted speed curve output by the dynamic prediction model, and determine the predicted landing speed according to the predicted speed curve; The comparison module 630 is configured to compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and determine the target airdrop height and the target airdrop pressure value according to the comparison result; The airdrop module 640 is configured to airdrop the object to be airdropped according to the target airdrop height, the target airdrop pressure value, and the preset distance reducer.

[0073] In the embodiment of the present invention, the information determination module 610 may also be specifically configured to: Determine the dynamic rules of the preset distance reducer according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset distance reducer; Determine the preset dynamic prediction model according to the dynamic rules; Determine the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor.

[0074] In an embodiment of the present invention, the information determination module 610 may further be specifically configured to: Determine the simulated resistance according to the air density and the landing equipment area corresponding to the preset retractor; Determine the power rule of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor.

[0075] In an embodiment of the present invention, the comparison module 630 may further be specifically configured to: Compare the numerical magnitudes of the predicted landing speed and the preset speed threshold to obtain a comparison result; If the comparison result is that the predicted landing speed does not exceed the preset speed threshold, determine the airdrop height as the target airdrop height and the airdrop pressure value as the target airdrop pressure value; If the comparison result is that the predicted landing speed exceeds the preset speed threshold, based on the predicted speed curve, determine whether the predicted landing speed is the minimum speed in the predicted speed curve to obtain a judgment result; Determine the target airdrop height and the target airdrop pressure value according to the judgment result.

[0076] In an embodiment of the present invention, the comparison module 630 may further be specifically configured to: Determine the judgment result; If the judgment result is that the predicted landing speed is the minimum speed, determine the preset height coefficient value, and determine the target airdrop height according to the airdrop height and the height coefficient value, where the target airdrop height is greater than the airdrop height; If the judgment result is that the predicted landing speed is not the minimum speed, determine the preset pressure coefficient value, and determine the target airdrop pressure value according to the airdrop pressure value and the pressure coefficient value, where the target airdrop pressure value is greater than the airdrop pressure value.

[0077] In an embodiment of the present invention, the airdrop module 640 may further be specifically configured to: Based on the real-time height from the ground of the preset retractor, determine the magnitude relationship between the real-time height from the ground and the target airdrop height; If the real-time height from the ground is less than the target airdrop height, inflate the preset retractor according to the target airdrop pressure value to obtain a target retractor, and airdrop the object to be airdropped according to the target retractor.

[0078] In an embodiment of the present invention, the airdrop module 640 may further be specifically configured to: Determine the target measurement point, and determine the target coordinate system according to the target measurement point, where the target coordinate system includes a horizontal coordinate axis, a vertical coordinate axis, and a longitudinal coordinate axis; Determine the sensing device corresponding to the preset retractor, and determine the measurement distance between the preset retractor and the target measurement point according to the sensing device and the target measurement point; Determine the angular values of each coordinate axis of the preset retractor and the target coordinate system according to the sensing device, and determine the real-time ground clearance of the preset retractor according to each angular value and the measurement distance.

[0079] Figure 7 This is a schematic structural diagram of the device provided in the embodiment of the present invention. As Figure 7 shown, the device 700 includes: The device 700 may include a processor 701 with one or more processing cores, a memory 702 with one or more computer-readable storage media, a communication component 703 and other components. Among them, the processor 701, the memory 702 and the communication component 703 are connected through a bus 704.

[0080] In a specific implementation process, at least one processor 701 executes the computer execution instructions stored in the memory 702, so that at least one processor 701 executes the above-mentioned parameter design method based on the retractor.

[0081] For the specific implementation process of the processor 701, reference can be made to the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0082] Further, the processor may be a central processing unit (English: Central Processing Unit, abbreviated: CPU), or may also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated: DSP), application-specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated: ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0083] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0084] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, the buses in the drawings of the present invention are not limited to only one bus or one type of bus.

[0085] In some embodiments, a computer program product is further provided, including a computer program or instructions, which, when executed by a processor, implement the steps in any one of the above-mentioned retractor-based parameter design methods.

[0086] For the specific implementation of each of the above operations, reference may be made to the previous embodiments and will not be elaborated herein.

[0087] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling relevant hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0088] Therefore, an embodiment of the present invention provides a computer-readable storage medium, in which multiple program codes are stored. The program codes can be loaded by a processor to execute the steps in any one of the retractor-based parameter design methods provided by the embodiments of the present invention.

[0089] Among them, the storage medium can include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disc, etc.

[0090] According to one aspect of the present invention, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.

[0091] Since the instructions stored in the storage medium can execute the steps in any one of the retractor-based parameter design methods provided by the embodiments of the present invention, the beneficial effects that can be achieved by any one of the retractor-based parameter design methods provided by the embodiments of the present invention can be realized. For details, reference may be made to the previous embodiments and will not be elaborated herein.

[0092] Other embodiments of the present invention will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the invention, which follow the general principles of the invention and include known common general knowledge or conventional technical means in the technical field not disclosed in the present invention. The specification and examples are only illustrative, and the true scope and spirit of the present invention are pointed out by the above claims.

[0093] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A parameter design method based on a retractor, characterized in that, The method includes: Determine a preset dynamic prediction model, a preset retractor, and an object to be airdropped, as well as the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor, where the preset dynamic prediction model conforms to a preset dynamic rule; Input the airdrop height, the airdrop pressure value, and the attribute information of the preset retractor into the preset dynamic prediction model to obtain a predicted speed curve output by the preset dynamic prediction model, and determine a predicted landing speed according to the predicted speed curve; Compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and determine a target airdrop height and a target airdrop pressure value according to the comparison result; Airdrop the object to be airdropped according to the target airdrop height, the target airdrop pressure value, and the preset retractor.

2. The method according to claim 1, characterized in that The determination of the preset dynamic prediction model, the preset retractor, and the object to be airdropped, as well as the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor, includes: Determine the dynamic rule of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor; Determine the preset dynamic prediction model according to the dynamic rule; Determine the preset retractor and the object to be airdropped, as well as the airdrop height, airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor.

3. The method according to claim 2, wherein The determination of the dynamic rule of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor includes: Determine the simulated resistance according to the air density and the area of the landing equipment corresponding to the preset retractor; Determine the dynamic rule of the preset retractor according to the simulated resistance, simulated contraction force, and predicted airdrop speed of the preset retractor.

4. The method according to claim 1, wherein The comparison of the predicted landing speed with the preset speed threshold to obtain a comparison result, and the determination of the target airdrop height and the target airdrop pressure value according to the comparison result includes: Compare the numerical magnitudes of the predicted landing speed and the preset speed threshold to obtain the comparison result; If the comparison result is that the predicted landing speed does not exceed the preset speed threshold, then determine the airdrop height as the target airdrop height and the airdrop pressure value as the target airdrop pressure value; If the comparison result is that the predicted landing speed exceeds the preset speed threshold, then based on the predicted speed curve, determine whether the predicted landing speed is the minimum speed in the predicted speed curve to obtain a determination result; Determine the target airdrop height and the target airdrop pressure value according to the determination result.

5. The method according to claim 4, wherein The determination of the target airdrop height and the target airdrop pressure value according to the determination result includes: Determine the determination result; If the determination result is that the predicted landing speed is the minimum speed, then determine a preset height coefficient value, and determine the target airdrop height according to the airdrop height and the preset height coefficient value, where the target airdrop height is greater than the airdrop height; If the judgment result is that the predicted landing speed is not the minimum speed, determine a preset pressure coefficient value, and determine the target airdrop pressure value according to the airdrop pressure value and the preset pressure coefficient value, where the target airdrop pressure value is greater than the airdrop pressure value.

6. The method according to claim 1, wherein The airdropping the object to be airdropped according to the target airdrop height, the target airdrop pressure value and the preset retractor includes: Based on the real-time ground clearance of the preset retractor, judge the magnitude of the real-time ground clearance and the target airdrop height; If the real-time ground clearance is less than the target airdrop height, inflate the preset retractor according to the target airdrop pressure value to obtain a target retractor, and airdrop the object to be airdropped according to the target retractor.

7. The method according to claim 6, wherein The judging the magnitude of the real-time ground clearance and the target airdrop height based on the real-time ground clearance of the preset retractor includes: Determine a target measurement point, and determine a target coordinate system according to the target measurement point, where the target coordinate system includes a horizontal coordinate axis, a vertical coordinate axis and a longitudinal coordinate axis; Determine the sensing device corresponding to the preset retractor, and determine the measurement distance between the preset retractor and the target measurement point according to the sensing device and the target measurement point; According to the sensing device, determine the angle values between the preset retractor and each of the coordinate axes in the target coordinate system, and determine the real-time ground clearance of the preset retractor according to each of the angle values and the measurement distance.

8. A parameter design device based on a retractor, characterized in that, The device includes: An information determination module, configured to determine a preset dynamic prediction model, a preset retractor and an object to be airdropped, as well as the airdrop height, the airdrop pressure value corresponding to the object to be airdropped, and the attribute information of the preset retractor, where the preset dynamic prediction model conforms to a preset dynamic rule; A speed determination module, configured to input the airdrop height, the airdrop pressure value and the attribute information of the preset retractor into the preset dynamic prediction model, obtain a predicted speed curve output by the preset dynamic prediction model, and determine a predicted landing speed according to the predicted speed curve; A comparison module, configured to compare the predicted landing speed with a preset speed threshold to obtain a comparison result, and determine a target airdrop height and a target airdrop pressure value according to the comparison result; An airdrop module, configured to airdrop the object to be airdropped according to the target airdrop height, the target airdrop pressure value and the preset retractor.

9. A device, characterized in that, Includes: One or more processors; A memory; One or more programs, where one or more programs are stored in the memory and configured to be executed by one or more processors, and one or more programs are configured to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Program code is stored in a computer-readable storage medium, and the program code can be called by a processor to execute the method according to any one of claims 1 to 7.

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