Powered supplemental controlled descent method for parachute target, target controlled descent method and system

Abstract

The application belongs to the technical field of air transportation, and particularly relates to a power supplement controllable landing method for parachute landing targets, a target controllable landing method and a system. The power supplement method for parachute landing targets comprises the following steps: acquiring movement information of the parachute landing target; power systems intersect and dock with the parachute landing target; and according to task requirements, the power systems and the parachute landing target adopt a power recombination mode to reasonably allocate power resources and drive the target to move to a desired position or land in a desired state. The application can make the air target with recovery have the advantages of light weight and precise controllability of the parachute landing method, so that the system is highly efficient in the use of flight weight. The application provides a safe landing method for the parachute landing object, so that the parachute landing object can land in a safe landing area, avoids potential threats to the parachute landing object caused by a harsh landing environment, and makes the parachute landing object immune to adverse effects such as destructive impact and overturning.

Description

Technical Field

[0001] This invention belongs to the field of air transport technology, specifically relating to a power-assisted controlled landing method, a target controlled landing method and system for parachute-dropped targets. Background Technology

[0002] Aircraft, including rockets, airplanes, and helicopters, are extremely weight-sensitive tools. This is manifested in their large self-weight load; the load's impact on the overall system weight has a leverage effect, often requiring an aircraft several to hundreds of times its own weight for a single load. This is why aircraft often utilize onboard parachutes with a very low self-weight-to-load ratio to achieve inaccurate landings. Furthermore, to reduce weight, these aircraft often lack high-strength airframes, making them prone to deformation, damage, or even complete destruction upon impact. Since their operation is primarily aerial, loss of power or control often results in catastrophic consequences. Another manifestation of this weight sensitivity is the often stringent requirements regarding the weight and size of the targets they carry.

[0003] Currently, the main landing methods for the aforementioned aircraft and their transport targets are: controlled landing using their own power and uncontrolled landing using parachutes. Parachutes are widely used for airdropping personnel and supplies because they are often very lightweight relative to the suspended target. However, for aircraft, parachutes are often a last resort when a malfunction occurs; despite the cushioning effect of the parachute, landing often results in damage to the aircraft.

[0004] For rockets, since the rocket body is a high-value target, parachute landing often fails to preserve the recovered rocket body, thus limiting its application prospects. Self-propelled landing means lifting the necessary fuel and propulsion system into outer space, resulting in significant resource waste due to this "dead weight," and is also technically challenging. In short, due to its very high self-weight-to-load ratio, self-propelled recovery incurs substantial costs. Parachute landing can only mitigate the impact of the rocket body on ground objects to a certain extent, offering little benefit in preserving the rocket itself.

[0005] Aircraft and helicopters often face the risk of crashing when their power systems, airframes, or control systems malfunction. Due to cost and design considerations, only a very small number of small aircraft use parachuting to protect their occupants. However, this method of using parachutes also has limitations. For example, in rugged terrain such as mountains or water, the difficulty in controlling the landing site makes it challenging to provide effective protection for the occupants.

[0006] For aircraft-launched parachute drops, the lack of effective control means often results in the dropped target not reaching its destination accurately, significantly reducing delivery efficiency. Sometimes, the receiving personnel may fail to receive the target. In extreme cases, the dropped target may even be landed in unrecoverable locations, such as on water or in valleys, causing losses. Furthermore, the applicability of traditional parachute drops is extremely limited.

[0007] From another perspective, the use of parachutes by the aforementioned aircraft and their payloads also demonstrates their sensitivity to weight. Summary of the Invention

[0008] To address the aforementioned technical problems, embodiments of the present invention provide a powered supplementary controllable landing method for parachute-dropped targets, a target controllable landing method and a powered supplementary system, and a target controllable landing system.

[0009] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0010] The first aspect of this invention discloses a powered supplementary controlled landing method for a parachute target, the method comprising:

[0011] Obtain the motion information of the parachute target and determine the desired state required for the dynamic system to intersect with it;

[0012] The propulsion system intersects and docks with the parachute target;

[0013] According to mission requirements, the power system and the parachute target adopt a power reconfiguration method to rationally allocate power resources and drive the target to move to the desired position or land in the desired state;

[0014] The power system includes a drive unit that provides controllable driving force to the target.

[0015] In some implementations, the power reconfiguration includes docking the power system with the parachute target, and jettisoning or retrieving the parachute after docking.

[0016] In some implementations, the power reconfiguration includes optimizing the structure and / or composition of the power system once or multiple times in accordance with mission requirements.

[0017] In some implementation schemes, after the propulsion system docks with the parachute target, adjustments are made according to mission requirements. These adjustments include changing the relative pose of the propulsion system and the target in the target's body coordinate system, and / or changing the relative pose of the propulsion system and the target in the global coordinate system.

[0018] In some implementation schemes, power reconfiguration and adjustment can occur as many times and in the order required, depending on the task requirements.

[0019] In some implementation schemes, the structure and / or composition of the power system are optimized according to mission requirements before the power system docks with the parachute target.

[0020] The second aspect of this invention discloses a method for controlled landing of a target based on parachute descent and power augmentation, the method comprising:

[0021] During the parachute descent phase, the target's status is controlled using a parachute descent method.

[0022] During the power replenishment phase, the aforementioned power replenishment controllable landing method is used to carry out this phase, enabling the target to move to the desired position in the desired state, or to land in the desired state.

[0023] The third aspect of this invention discloses a power augmentation system for a parachute-dropped target, comprising at least one power augmentation unit; and

[0024] A state observation system, used to acquire the state information of a target; and

[0025] The control system is electrically connected to the power supplement unit and the condition monitoring system.

[0026] in,

[0027] The power replenishment unit includes a power system that provides controllable power to the target's state, comprising a power replenishment aircraft; and a docking device for docking the power system with the target, which is mounted on the power system.

[0028] A power augmentation aircraft is an aircraft or a combination of multiple aircraft powered by a power drive unit.

[0029] In some embodiments, the power system further includes a dedicated power system comprising at least one power drive unit, and the power drive units are connected to each other and to the power augmentation aircraft via connectors; the connector between the dedicated power system and the power augmentation aircraft is controllable.

[0030] In some embodiments, the power system further includes a booster system, which includes at least one power drive unit, and the power drive units are connected to each other and the booster system to the power supplementary aircraft via connectors.

[0031] In some implementations, the power system employs a drive device with bidirectional or multidirectional power drive capability, or a combination of several such drive devices.

[0032] In some embodiments, the docking device includes a load-bearing docking device, which includes a carrier; or

[0033] The load-bearing docking device includes a load-bearing body, on which fastening devices for fixing the target are provided.

[0034] In some embodiments, the docking device includes a mating docking device, which includes a locking mechanism and a docking member disposed on the target and mating with the locking mechanism.

[0035] In some implementations, the state observation system includes devices for acquiring the target state; or

[0036] A state observation system includes equipment for acquiring the state of a target system and the state of a dynamic system; or

[0037] A state observation system includes equipment for the state of the dynamic system and the motion state of the target relative to the dynamic system.

[0038] In some implementations, the control system includes a controller located on the power augmentation system, or a controller located outside the power augmentation system, or a combination thereof.

[0039] The fourth aspect of this invention discloses a target-controlled landing system based on parachute descent and power augmentation, comprising at least one parachute and the aforementioned power augmentation system.

[0040] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0041] More efficient. This application enables recovered aerial targets to combine the advantages of lightweight and precise control of parachute landing methods, making the system highly efficient in utilizing flight weight. From an energy efficiency perspective, rocket launch and recovery systems using this method avoid carrying a large amount of "dead weight," including recovered fuel and landing gear. This significantly improves rocket fuel utilization and, consequently, the overall performance of the rocket. From a time efficiency perspective, this method allows for the rapid recovery of scattered parachute targets to a single location, thus reducing the time-consuming work of ground personnel in collecting parachute targets.

[0042] Safer. It provides a safe landing method for parachutes, allowing them to land in safe areas and avoiding potential threats from harsh landing environments. Furthermore, the controlled descent motion protects the parachutes from destructive impacts and overturning. The same applies to the targets and personnel carried, thus protecting both personnel and target safety.

[0043] More precise. This application provides a precise landing method for parachuted objects, effectively avoiding the inherent inaccuracies of traditional parachute landing methods. For objects that must return to a designated recovery point, this application can prevent mission failure. In addition to precise control over the recovery or landing location, this application enables precise control over the recovery or landing maneuvers, providing a gentle landing for the recovered target, resulting in minimal stress and better protection.

[0044] More flexible. The method proposed in this application can provide multiple flexible power configurations for parachute targets. Different power sources can be added to the parachute targets to achieve different performance levels and meet different mission requirements for different application scenarios. For example, for long-distance recovery, a ram-air parachute combined with a supplementary propeller power method can be used to achieve efficient long-distance recovery and landing. For high-altitude recovery targets, a rotor can be added at high altitude to utilize potential energy for autorotation landing.

[0045] High cost-effectiveness. For recovery applications, the absence of "dead weight" in the flying target significantly improves the transport efficiency of the aircraft. This is especially true for systems like rockets, which have very long lift-off distances; eliminating "dead weight" has a tremendous impact on improving the system's cost-effectiveness. Attached Figure Description

[0046] Figure 1 This is a block diagram of the power supplement system structure according to one aspect of this disclosure;

[0047] Figure 2 This is a block diagram of the power mode I structure of a power system according to one aspect of this disclosure;

[0048] Figure 3 This is a block diagram of the dynamic mode II structure of the power system according to one aspect of this disclosure;

[0049] Figure 4 This is a block diagram of the power mode III structure of the power system according to one aspect of this disclosure;

[0050] Figure 5 This is a block diagram of the power mode IV structure of a power system according to one aspect of this disclosure;

[0051] Figure 6 This is a block diagram of the dynamic mode V structure of a dynamic system according to one aspect of this disclosure;

[0052] Figure 7-14 This is a schematic diagram of the structure of an embodiment of the docking device according to the present disclosure;

[0053] Figure 15-26 This is a schematic diagram of an embodiment of the method and system according to the present disclosure.

[0054] In the picture:

[0055] 1-Target, 2-Parachute, 21-Parachute control device, 3-Power supplementation system, 4-Power supplementation unit, 5-Power system, 6-Dock device, 7-Status observation system, 8-Control system;

[0056] 51-Powered supplementary aircraft; 52-Dedicated power system; 53-Booster system; 54-Connector;

[0057] 611-Bearing docking device, 6101-Bearing body, 6102-Baffle;

[0058] 612-Bearing docking device, 6103-Disc-shaped carrier, 6104-Hook and loop fastener;

[0059] 621-Matching docking device, 6201-Support, 6202-Robotic arm, 6203-Dock connector, 6204-Ball-shaped docking component;

[0060] 622-Matching docking device, 6205-Annular bracket, 6206-Locking block, 6207-Dock ring;

[0061] 623-Matching docking device, 6208-Receiver, 6209-Locking mechanism, 6210-Bracket, 6211-Dock component, 6212-Flexible component;

[0062] 624-Matching docking device; 6213-Robotic arm; 6214-Dock connector; 6215-Ball-shaped docking component;

[0063] 625 - Mating docking device; 6216 - Dating device; 6217 - Ball-shaped docking component;

[0064] 626-Matching docking device, 6218-Bracket, 6219-Clamp, 6220-Single-bar type docking component;

[0065] 63-Transfer device, 6301-Guide rail, 6302-Slider;

[0066] 11-Target aircraft;

[0067] 41-Power Supplement Unit, 5a-Power System, 511-Multirotor Aircraft, 521-Buffer Boost Rocket, 531-Boost Rocket;

[0068] 12-Supplies;

[0069] 5b - Power system, 5121 - Helicopter, 211 - Parachute retractor, 5122 - Vertical takeoff and landing aircraft;

[0070] 13 - Arrow body to be recovered;

[0071] 5c - Power system; 513 - Helicopter;

[0072] 5d - Power system, 51401 - Multi-rotor helicopter, 51402 - Rocket propulsion device;

[0073] 5e - power system, 515 - helicopter, 522 - jet engine;

[0074] 42 - Power replenishment unit, 5f - Power system, 516 - Helicopter;

[0075] 5G - power system, 517 - helicopter;

[0076] 5h - power system, 518 - aircraft. Detailed Implementation

[0077] The present invention will be further explained below with reference to specific implementation schemes, but this explanation does not limit the invention. The structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention. At the same time, terms such as "upper," "lower," "front," "rear," and "middle" used in this specification are only for clarity of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention.

[0078] Please see Figure 1 As shown, this application discloses a power supplementation system for a parachute target, which adds or supplements power to the target, or provides the target with independent descent power, enabling the parachute target to be recovered / landed in a controlled manner. The power supplementation system 3 includes a power system 5, which provides controllable power to the target; a docking device 6, which is used to dock the power system with the target, establishing a mechanical connection between them, and is mounted on the power system 5; a state observation system 7, which acquires the target's state information; and a control system 8, which, based on the information fed back from the state observation system 7 and the state information of the power system 5, controls the power system 5 to converge with the target and dock with the target through the docking device 6, and controls the target to move to a desired position in a desired state. The control system 8 is electrically connected to the power system 5, the docking device 6, and the state observation system 7.

[0079] The power system 5 has multiple power composition modes, including power mode I, such as... Figure 2As shown, the power system 5 includes a power supplementary aircraft 51, which is an aircraft or a combination of multiple aircraft powered by a power drive device, and has sufficient motion capability and control precision to meet the requirements of efficient and reliable docking between the power system 5 and the target.

[0080] Power Mode II, such as Figure 3 As shown, in some embodiments, the propulsion system 5 includes a power augmentation vehicle 51 in propulsion mode I and a dedicated propulsion system 52, the dedicated propulsion system 52 having comprehensive performance suitable for mission requirements. For example, in missions requiring a high thrust-to-weight ratio, the dedicated propulsion system 52 can be selected as a suitably sized solid rocket. The dedicated propulsion system 52 includes at least one propulsion drive unit, which can be selected according to different missions, as well as combinations of multiple drive units. The propulsion drive units within the dedicated propulsion system 52 are connected to each other, and to the power augmentation vehicle, via connectors 54. At least the connector 54 between the dedicated propulsion system 52 and the power augmentation vehicle 51 is controllable, allowing the devices at both ends of the connector 54 to engage or disengage.

[0081] Of course, if the dedicated propulsion system 52 and the power augmentation vehicle 51 remain permanently connected throughout the entire mission, this configuration can be considered as propulsion mode I. In this case, the connector 54 between the dedicated propulsion system 52 and the power augmentation vehicle 51 will be considered a component of propulsion mode I.

[0082] Power Mode III, such as Figure 4 As shown, in some embodiments, the power system 5 includes a dedicated power system 52 in power mode II, or only includes a portion of the power of the dedicated power system 52 in power mode II.

[0083] Power Mode IV, such as Figure 5 As shown, in some embodiments, the propulsion system 5 includes a power supplementary aircraft 51 and a booster system 53 in propulsion mode I. Its function is to provide the propulsion system 5 with certain flight performance suitable for completing the mission. For example, using a booster rocket as the booster system 53 allows the propulsion system 5 to quickly rendezvous with the target. The booster system 53 includes at least one propulsion drive unit, which selects different propulsion drive unit adaptation schemes according to different missions. The propulsion drive units within the booster system 53 are connected to each other, and the booster system 53 is connected to the power supplementary aircraft 51, via a controllable connector 54. At least the connector 54 between the booster system 53 and the power supplementary aircraft 51 has controllability, allowing the devices at both ends of the connector 54 to engage or disengage. The booster system 53 detaches from the other parts of the propulsion system 5 before docking with the target. After detachment, the booster system 53 does not re-participate in subsequent missions.

[0084] Power mode V, such as Figure 6 As shown, in some embodiments, the propulsion system includes a power supplementary aircraft 51 in propulsion mode I, a dedicated propulsion system 52 in propulsion mode II, and a booster system 53 in propulsion mode IV. The power supplementary aircraft 51, the dedicated propulsion system 52, and the booster system 53 are connected by a controllable connector 54, which allows the devices at both ends of the connector 54 to engage or disengage.

[0085] The connector 54 described above uses a common connection mechanism or device, and is only used to achieve the engagement and fixation or separation and release of the devices at both ends. Its implementation scheme is a conventional design, and will not be described in detail here.

[0086] The actuator of the power drive unit can take the form of all feasible forms in the prior art, including but not limited to: propellers, ducted propellers, air-jet engines, rocket actuators, and combinations thereof. The power source of the actuator can take the form of all feasible power sources in the prior art, including but not limited to: electric motors, piston engines, air-jet engines, rocket engines, and combined engines. The actuator layout can take the form of all feasible layouts, including but not limited to: single rotor with tail rotor, coaxial twin rotor, tandem / parallel twin rotor, cross rotor, multi-rotor, or other configurations depending on power requirements.

[0087] The dedicated power system 52 is an aircraft or controllable power unit powered by the aforementioned power drive device for a specific mission, or a combination of multiple aircraft or controllable power units.

[0088] In some embodiments, the propulsion system 5 employs a bidirectional drive device or a combination of such drive devices. For example, a propulsion system using a coaxial twin-propeller drive device can achieve upward and downward driving force directions relative to its own body. The advantage of using bidirectional propulsion is that when the relative orientation of the target and the propulsion system needs to be flexibly adjusted / arranged, its driving direction can be controlled to adapt to changes in relative orientation. For example, after the propulsion system docks with a slender target below it, the slender target can be adjusted to be positioned below the propulsion system, and the driving force of the propulsion system changes direction relative to itself to ensure that the combined system remains force-balanced. Furthermore, in some applications, multidirectional drive devices or combinations thereof can be used to achieve more flexible control. For example, if the drive device is a rocket propulsion system, an engine with lateral thrust injection in the main thrust direction can be used to provide rolling and tilting torques to the target and the combined propulsion system, thereby better adjusting the attitude.

[0089] In some embodiments, the power system 5 and the docking device 6 thereon constitute a power replenishment unit 4. The power replenishment system 3 includes a plurality of power replenishment units 4, which work together to perform tasks and complete the power replenishment of the target.

[0090] The docking device of this application adopts different docking methods according to different applications, namely load-bearing type and mating type.

[0091] The load-bearing docking devices 611 and 612 dock with the target by lifting it up. Typically, these docking devices have a load-bearing body to accommodate the target, which then falls into the load-bearing body.

[0092] The mating docking devices 621-626 have mating parts on the target that mate with the docking device. These mating docking devices include rigid docking, quasi-rigid docking, and flexible docking methods. The terms "rigid" and "flexible" are relative and not strictly defined. Different solutions are used for the docking part between the docking device and the target depending on the application; for example, it can dock with the bottom, middle, or top of the target. If the docking part is the middle or top of the target, the docking device can be fitted over the outside of the target.

[0093] For the docking device, the following implementation schemes are provided.

[0094] Embodiment 1 of the docking device in this application, such as Figure 7 As shown, the docking device 611 uses a load-bearing method to dock with the target. The load-bearing docking device 611 includes a load-bearing body 6101, on which a plurality of baffles 6102 are provided, distributed along the circumference of the load-bearing body 6101. The baffles 6102 are turned outwards, giving the load-bearing body 6101 a larger tolerance when receiving the target. In some embodiments, the baffles 6102 have a controllable flipping capability. Before docking with the target, the baffles 6102 are in an outward-flipped state, giving the docking device a larger tolerance when docking with the target. When the target falls onto the load-bearing body 6101, the baffles 6102 flip inwards, fixing the target onto the load-bearing body 6101.

[0095] Embodiment 2 of the docking device in this application, such as Figure 8 As shown, the docking device 612 uses a carrier-type docking method to connect with the target. The carrier-type docking device 612 includes a disc-shaped carrier 6103, on which are provided magnetic or Velcro-like adhesive elements 6104 for engaging with the target. This docking device can be applied to targets with ferrous or adhesive outer packaging. Alternatively, ferrous or adhesive packaging materials can be used to specifically package the target, or matching magnetic or Velcro-like adhesive elements can be provided on the target's outer packaging.

[0096] Embodiment 3 of the docking device of this application, such as Figure 9As shown, a rigid docking implementation scheme is adopted for docking with the target. Three robotic arms are used to compensate for the large tolerance between the target and the power system, enabling precise docking. After docking, the robotic arms can be adjusted to the required state of the system and locked by a specific mechanism, making the robotic arms structural components that can transmit greater forces. Specifically, the rigid docking device 621 includes a support 6201, on which several robotic arms 6202 are distributed. The free end of each robotic arm 6202 is equipped with a flared docking device 6203, which contains a locking mechanism. The target is equipped with a ball-headed docking component 6204 that mates with the docking device 6203.

[0097] Embodiment 4 of the docking device in this application, such as Figure 10 As shown, a mating rigid docking scheme is adopted to dock with the target. The mating docking device 622 includes an annular support 6205, on which a plurality of locking blocks 6206 with driving capability are distributed. The target is provided with a docking ring 6207 that cooperates with the locking blocks 6206, and the locking blocks 6206 and the docking ring 6207 are engaged.

[0098] Embodiment 5 of the docking device in this application, such as Figure 11 As shown, a quasi-rigid docking implementation scheme is adopted for docking with the target. The docking device 623 includes a funnel-shaped receiving body 6208 with openings at both ends. The smaller opening end of the receiving body 6208 is provided with a clamping locking mechanism 6209, and the smaller opening end of the receiving body 6208 is provided with a bracket 6210, which is connected to the power system 5. The target is provided with an inverted funnel-shaped docking member 6211 that cooperates with the receiving body 6208. The end of the docking member 6211 is provided with a slender flexible member 6212. When the docking device docks with the target, the funnel-shaped receiving body 6208 provides the docking device with a large tolerance. The flexible member 6212 passes through the smaller opening of the receiving body and connects with the locking mechanism 6209. The locking mechanism 6209 pulls the flexible member 6212 to dock and lock the docking device with the target.

[0099] Embodiment 6 of the docking device of this application, such as Figure 12As shown, a quasi-rigid docking scheme is adopted for docking with the target. If the target is a rocket body, to avoid the nozzle, the docking device can be fitted onto the outside of the target to achieve middle and upper docking. Specifically, in this embodiment, the aircraft adopts a ring structure, and the quasi-rigid docking device 624 includes a robotic arm 6213. The free end of the robotic arm 6213 is provided with a trumpet-shaped docking device 6214, and the docking device 6214 is provided with a locking mechanism. The target is provided with a ball-shaped docking part 6215 that mates with the docking device 6214. After docking, the robotic arm 6213 is locked to protect the actuator. Several quasi-rigid docking devices 624 are distributed on the ring structure of the aircraft, and the target is also provided with the same number of docking parts 6215 as the docking devices 624.

[0100] Embodiment 7 of the docking device of this application, such as Figure 13 As shown, a cooperative flexible docking implementation scheme is used for docking with the target. In this embodiment, a single spherical docking scheme is adopted, and the aircraft adopts a coaxial twin-propeller configuration. The cooperative docking device 625 includes a flared docking head 6216, which is equipped with a locking mechanism. The docking head 6216 is mounted on the fuselage along the axis of the twin propellers. The target is equipped with a spherical docking member 6217 that mates with the docking head 6216. Typically, the docking member 6217 is positioned below the target. Using this embodiment, three rotational degrees of freedom remain after docking.

[0101] Embodiment 8 of the docking device of this application, such as Figure 14 As shown, a flexible docking implementation scheme is used to dock with the target. This embodiment employs a single-bar docking scheme, with a single-bar docking component 6220 mounted on the target. The docking device 626 includes a bracket 6218, on which a clamp 6219 with controllable opening and closing capability is mounted to cooperate with the single-bar docking component 6220. Using this embodiment to dock with the target, one rotational degree of freedom remains after docking.

[0102] For rigid docking, the propulsion system can operate from any position that ensures controllable flight—below, in the middle, or above the target. The positions of the target and propulsion system can also be adjusted according to actual needs. For example, if the propulsion system is below the target during docking, the target can be moved below the propulsion system using control methods, thus creating a configuration where the propulsion system is suspended above the target.

[0103] For quasi-rigid docking, the propulsion system can operate from any position below, in the middle of, or above the target where controllable flight is possible. The positions of the target and propulsion system can also be adjusted according to actual needs. For example, if the propulsion system is below the target during docking, the target can be moved below the propulsion system using control methods, thus creating a configuration where the propulsion system is suspended above the target.

[0104] For flexible docking methods, if the propulsion system is located below the target, the target is often in a statically unstable state. That is, without active control of the propulsion system, the target will overturn under the influence of minor disturbances and gravity, making it impossible to maintain a stable state. While active inverted pendulum control can maintain the relative positional relationship between the propulsion system and the target, it is often extremely costly and impractical. In the case where the propulsion system is below, a more preferable approach is to actively control the target to position it below the propulsion system, thereby achieving static stability and facilitating subsequent control and recovery operations.

[0105] For systems that can achieve a statically stable state after docking, it is possible to maintain the relative orientation relationship at the time of docking.

[0106] A state observation system is used to determine the motion state of a target. This system can be flexibly positioned for convenient state observation. This includes, but is not limited to, locations on powered supplementary aircraft, dedicated propulsion systems, other parts of the propulsion supplementary system, and combinations thereof. In addition to devices that directly acquire the relative state of the observed object, the state observation system also includes various sensors, including inertial sensors on the propulsion system, and combinations thereof.

[0107] In some embodiments, the state observation system also includes a variety of sensors, including inertial sensors on the target, and combinations thereof, as well as a combination of devices and algorithms that fuse multi-sensor information from both the power system and the target through communication between the power system and the target to obtain better state observation capabilities.

[0108] In some embodiments, the state observation system may also include a differential positioning system, ground radar, etc.

[0109] In some embodiments, the target is provided with marker points, which facilitate identification and measurement by the state observation system. Preferably, the marker points are set on the docking parts or docking portions of the target to obtain more accurate motion state information of the docking portions.

[0110] The control system can be located on the power system or other suitable location, or it can be distributed across various components of the system. The control algorithm can employ centralized computation by a single master controller or distributed computation by multiple controllers. The control system can acquire state information from each component of the power augmentation system, obtain target state information through observation systems or third-party information sources, and control each component of the power augmentation system at various stages of task execution.

[0111] In some embodiments, a parachute control device is provided on the target, and the parachute control device is electrically connected to the control system. Parachute control here includes disconnecting the parachute from the target, manipulating the parachute to achieve specific power requirements, retracting the parachute to eliminate its original aerodynamic forces, and changing the parachute type or structure to alter its power. The above-mentioned parachute control objectives are all prior art; therefore, the specific structure of the parachute control device will not be described in detail here.

[0112] Another aspect of this application discloses a target-controlled landing system based on parachute descent and power augmentation, comprising a parachute and the aforementioned power augmentation system. According to the mission settings, the target is dropped upon reaching a predetermined airspace or state. After moving through the air to a certain stage of the mission, the target enters the landing procedure, and is recovered using the target-controlled landing system of this application. Upon reaching the designated area or state, the target deploys its parachute, and the power augmentation system activates its power system in a timely manner to rendezvous and dock with the target, controlling the target to move to the desired location in the desired state, or to land in the desired state.

[0113] In some embodiments, the parachute can be manipulated to become part of a controllable power system, particularly a ram-air parachute.

[0114] This disclosure proposes a power-assisted controllable landing method for parachute targets. This method provides controllability to the parachute target or enhances its controllability through a power system, enabling the target to move to a desired position in a desired state, or to land in a desired state.

[0115] Step 1: Obtain the motion information of the parachute target and calculate the intersection point or intersection area.

[0116] Based on mission requirements, and combining the target's motion information and the dynamic performance of the power system, the point where the target and the target intersect in space can be determined; this point is called the rendezvous point. The mission requirements include, but are not limited to, minimum fuel consumption, minimum time consumption, minimum distance traveled, and comprehensive indicators combining the aforementioned metrics. The rendezvous point can usually be obtained using optimal control methods. Considering factors such as necessary safety distance, sensor accuracy, and the observation range of the observation equipment, the rendezvous point can be expanded into a reasonable area using algorithms; this is called the rendezvous region.

[0117] A state observation system acquires relative motion information between a target and a dynamic system and calculates the intersection region, or infers target motion information and calculates the intersection region. The state observation system may be a navigation and positioning system with global coordinate or motion state acquisition capabilities, along with necessary communication means, such as GPS / differential GPS / integrated navigation systems and wireless communication. A state observation system may also be a unidirectional detection device or means between the dynamic system and the target, such as radar or optical observation equipment. Alternatively, a state observation system may involve one party providing a specific physical signal, and the other party using appropriate equipment and methods to infer the motion state of the signal provider based on the changes in the physical signal; for example, a target emits a signal of a specific wavelength during descent, and a ground observation system determines its motion state through the Doppler effect. A state observation system can be a combination and deep fusion of the above methods.

[0118] In some embodiments, the relative distance between the propulsion system and the target is relatively large before the propulsion system actively approaches the target. At this distance, it is difficult for the propulsion system to accurately observe the target's motion state. Typically, the target's motion information can be obtained through information provided by a third party or based on motion state information actively emitted by the target.

[0119] In some embodiments, the trajectory and timing of the parachute target can be estimated based on the mission plan, and close-range observation can be conducted based on this estimated time and intersection area to obtain the target's accurate movement status.

[0120] Step 2: The propulsion system moves toward the rendezvous point or rendezvous area to rendezvous with the parachute target.

[0121] By combining the target's motion information with the dynamic performance of the propulsion system, the required trajectory for the intersection is calculated. If necessary, the trajectory can be adjusted in real-time based on the target and propulsion system's real-time status information. Alternatively, more simply, only the desired motion state of the propulsion system is given. The propulsion system then departs from its starting point and gradually approaches the target according to the plan.

[0122] In some embodiments, the motion trajectory is calculated based on the location of the delivery area and some necessary information. For example, the specific coordinates at the time of delivery, the motion state of the target at the time of delivery, meteorological information, etc., are used to calculate the intersecting motion trajectories based on mathematical models, databases, and solution methods.

[0123] In some embodiments, where the target's trajectory is not known in advance, the intersection area can be determined online based on the parachute target's motion state obtained online, combined with the motion capability of the propulsion system. The propulsion system then operates based on the online-determined trajectory.

[0124] In some embodiments, the composition of the propulsion system is optimized according to mission requirements. For example, if the propulsion system needs to reach the expected rendezvous point at a very high speed, a special combination of propulsion systems can be used to accelerate the rendezvous. For instance, a propulsion system employing a booster system. Specific modes include propulsion mode IV and propulsion mode V of the aforementioned propulsion systems. The booster system typically detaches from the other parts of the propulsion system before docking.

[0125] In some embodiments, to achieve rapid rendezvous between the propulsion system and the target, the propulsion system can be carried by an aircraft and wait in advance near the rendezvous area. When the rendezvous and docking mission is triggered, it departs from the aircraft it is carrying and arrives at the nearest rendezvous area.

[0126] In some embodiments, the propulsion system flies in formation with the parachute target based on data from the state observation system. In some embodiments, for docking operations, if the state observation system has the capability to acquire global coordinates or motion status and its accuracy is sufficiently high, such as a differential GPS system in high-tolerance operational missions, then this global positioning device can also be used for docking operations.

[0127] In some embodiments, the state observation system lacks global coordinate or motion state acquisition capabilities, or its accuracy is insufficient. Therefore, a phased, progressive process is needed to improve relative positioning accuracy through a combination of systems to achieve the high-precision observation required for docking. For example, the state observation system can be implemented in a two-stage manner, combining ground-based radar detection with an airborne high-precision optical observation system of the propulsion system. Specifically, the ground-based radar conducts continuous detection; upon detecting the target, the propulsion system flies towards the calculated rendezvous area. When the target enters the airborne optical observation system of the propulsion system, the propulsion system accurately determines the relative motion state between the target and the target based on the optical observation system, providing a basis for docking. The radar detection phase in this implementation can also be achieved by a global positioning system. In most cases, according to reasonable mission planning, the target should be within the observation range of the airborne optical observation system when the two systems rendezvous. If direct observation is not possible after rendezvous, the target can be brought into the measurement range of the airborne optical observation system by adjusting its own state, the state of the airborne optical observation system, or both simultaneously. The propulsion system acquires the precise state of the target; based on this state, the propulsion system flies in close formation with the target, bringing the docking components or docking parts on the target into the operational range of the propulsion system for docking.

[0128] Step 3: The power system docks with the parachute target.

[0129] After obtaining the precise relative motion state of the target, the propulsion system moves to a suitable relative position according to the docking plan to facilitate subsequent docking operations. For example, if the docking device of the target is located at its bottom, the propulsion system should move to the bottom of the target and bring the docking device close to the corresponding position on the target.

[0130] During the docking process, the power system should select an appropriate motion path based on the measurement range and adjustment capability of the condition observation system to ensure effective observation of the target by the condition observation system during docking.

[0131] Simultaneously, before the docking operation begins, the propulsion system should maintain a safe distance from the target to prevent collisions caused by sudden disturbances. In the event of needing to exit the docking operation, maintaining a safe distance will facilitate smooth separation should the mission be temporarily cancelled.

[0132] In some embodiments, when multiple propulsion systems are docked with a target, each propulsion system should move to its respective docking position so that docking operations can be performed simultaneously if necessary.

[0133] In some embodiments, where the motion capability and accuracy of the power system are sufficient to meet the docking tolerance, docking / engagement between the two can be achieved by directly docking the power system with the target. This method is suitable for situations where the power system has very high dynamic control capability and motion accuracy.

[0134] In some embodiments, where direct docking / joining is not feasible, a high-tolerance guided approach is often used to achieve docking / joining between the power system and the target. This approach can be used for most flexible connection methods.

[0135] In some embodiments, when the motion capability of the power system is insufficient to directly compensate for the difference in motion states between the two, an active high-dynamic docking method can be used to achieve precise docking. For example, a robotic arm can be used to achieve high-dynamic docking.

[0136] In some embodiments, when the relative state of the two docking devices decreases sufficiently, the locking device of the docking device is activated, locking the two docking devices together. After locking, the degrees of freedom between the two docking devices depend on the characteristics of the docking devices. For a purely rigid dock, the degrees of freedom between them are zero. For a suspension rope-type flexible dock, the number of docking degrees of freedom between them is five. For a ball-and-ball dock, the number of degrees of freedom between them is three.

[0137] Based on the ratio of power systems to targets, docking can be categorized into one-to-one docking and many-to-one docking. One-to-one docking refers to one power system docking with one target, while many-to-one docking refers to multiple power systems docking with one target.

[0138] Regarding the docking position, based on the stable state during the target parachute descent, the docking point's orientation on the target body is considered. It can generally be simply categorized as below, lower, middle, and upper. Below refers to directly beneath the target body. Lower, middle, and upper refer to the lower, middle, and upper parts of the target body's side. The propulsion system can select the docking point and combination of docking points based on mission requirements, its own mobility, and docking flexibility.

[0139] The docking method can be either load-bearing docking or mating docking, depending on the mission. The difference between load-bearing docking and mating docking is that mating docking requires the installation of connecting parts on the target that mate with the docking device of the power system.

[0140] The load-bearing docking system uses a tray-type docking device, which docks with the target from below. Typically, this type of docking device includes a controllable clamping module that grips the target. Once the target falls onto the tray, the clamping module clamps the target, enhancing the bond between the target and the tray.

[0141] Matching docking can be divided into flexible docking, quasi-rigid docking, and rigid docking.

[0142] Flexible docking: The power system and the target are connected via flexible components. Common flexible connections include lifting-type connections using a single flexible component and coordinated retraction-type connections using multiple flexible components.

[0143] Rigid docking: The power system and the target are connected by rigid components. After the connection, there are no degrees of freedom between the two.

[0144] Quasi-rigid docking: The power system and the target are connected by rigid or flexible components. After the connection, the two still have degrees of freedom, but from the control perspective, they can be regarded as a rigid body or a rigid body with little change in parameters.

[0145] Step 4: Recombination of the power system and the parachute target's power.

[0146] The purpose of dynamic reconfiguration is to provide the target with the controllable motion capability required for the mission.

[0147] The restructuring of the power system includes:

[0148] 1) Add a propulsion system for the parachute-dropped target;

[0149] 2) Modify the structure and composition of the power system based on the docked system;

[0150] 3) Change the power and dynamic characteristics of the umbrella, or remove the umbrella;

[0151] 4) To provide additional power sources for the target, such as fuel and electricity;

[0152] 5) Combinations of the above content.

[0153] 1) is to establish a mechanical connection between the power system and the target through docking, so that the power system can apply force to the target independently or in conjunction with the umbrella to achieve control.

[0154] 2) To obtain the desired dynamic performance by changing the structure of the power system or the combination of the power system and the target after the power system is connected to the target. And, if necessary, to obtain a more streamlined system composition by removing unnecessary subsequent parts.

[0155] In some embodiments, the propulsion system is provided with a dedicated propulsion system tailored to the characteristics of the target. After docking, the power augmentation vehicle can detach from the docking device and the target, thereby driving the target using only the dedicated propulsion system to achieve better control.

[0156] In some embodiments, a specific power component of the propulsion system is in a compressed state, requiring a small outer envelope size before docking to improve the system's flight performance. After docking, to provide better dynamic performance to the target, the specific power component can be deployed to a suitable state to obtain a larger driving torque relative to the center of mass of the docked body, thereby achieving better attitude control.

[0157] 3) After the power system is connected to the target, the power (energy) source is supplemented to the target through pipelines, electrical connections and other means.

[0158] In some embodiments, the power system carries the fuel required by the target. When the power system docks with the target, the fuel pipeline simultaneously docks with the corresponding docking component on the target. After confirming correct docking, the power system refuels the target. After refueling the target, the power system can detach from the target, allowing the target to move independently using its own drive system. Alternatively, after refueling the target, the power system can maintain its connection with the target. Both power units work together to drive the target's movement.

[0159] 4) Change the power of the umbrella: remove the power of the umbrella, change the power of the umbrella by changing the umbrella type or the form of the umbrella, or retain the power of the umbrella.

[0160] The following are the ways to release the umbrella:

[0161] (1) Disconnect the parachute from the target. For example, discard the parachute lines or cut the parachute lines. (2) Change the form of the parachute to make it lose its original aerodynamic characteristics. For example, use equipment to retract the parachute onto the target, thus losing the parachute's aerodynamic capabilities. (3) Damage the parachute to make it lose its original aerodynamic characteristics. For example, burn the parachute or open the pre-set holes on the parachute. Retain the parachute's power while using a power system to provide power to the target body. A typical application of this type is that the retained parachute type is a ram-air parachute, and the supplementary power system can form a wing-powered system with the ram-air parachute, thereby driving the target body to move in the form of a paraglider. In this case, it is often necessary for the target to have a controller to control the parachute in order to obtain a better control effect. When necessary, the power of the parachute can also be deactivated as needed.

[0162] Step 5: By controlling the recombined power system, control the target to move to the desired position in the desired state, or to land in the desired state.

[0163] Taking the rescue of an aerial parachute landing vehicle as an example, the primary objective of the mission is to ensure the safety of the personnel inside the vehicle, while the secondary objective is to ensure the structural safety of the vehicle. In this case, the landing site is uncertain, and the primary objective is to achieve the aforementioned goals. The propulsion system can screen feasible landing sites based on offline ground information and obtain real-time information on the actual conditions of the candidate landing sites through its onboard state observation system. Combining the dynamic performance, motion state, and environmental information of the target after the propulsion is supplemented, the optimal landing site is selected. Furthermore, the optimal drive combination scheme and specific control scheme are selected based on the actual situation.

[0164] For rocket recovery missions, the recovery location is known. After the propulsion system docks with the target, a suitable trajectory or route is determined based on the system's motion state, remaining energy, distance to the recovery location, and environmental information. A reasonable propulsion combination is then used to propel the rocket to the recovery location, and, if necessary, to cooperate with ground recovery equipment to complete the rocket's recovery.

[0165] To further optimize the above-mentioned power replenishment and recovery method, step 4 is divided into two stages: power reorganization and adjustment. Step 4 can be regarded as the power reorganization stage.

[0166] The adjustment process includes:

[0167] If the state of the target and propulsion system meets the dynamic requirements after docking, no adjustment is needed. If, at some stage after docking, the flight state of the target and propulsion system needs to be adjusted, the combined entity should be adjusted to a flight state suitable for flight requirements. If the result of the propulsion reconfiguration is the target itself, then the aforementioned "combined entity" refers only to the target itself. After adjustment, the combined entity should still be able to obtain effective propulsion. For example, for state adjustments involving vertical reversal of the target body, the propulsion system can use propellers with positive and negative angles of attack so that it can still provide the system with driving force to overcome gravity after the vertical reversal.

[0168] In some embodiments, after the power system docks with the target, it can be transferred along a preset transfer device to a more advantageous position, providing better control performance for the target. For example, on a slender cylindrical target, the power system moves from bottom to top along the length of the cylinder, so that the center of mass is located below the power system, thereby enabling the combined system to achieve static stability.

[0169] After docking, the power reconfiguration and adjustment phases can occur as many times and in the required order, depending on mission requirements. This provides a flexible configuration scheme for the subsequent controlled landing and recovery of the target.

[0170] For flexible connections, it's typically necessary to determine whether adjustments are needed based on the dynamic stability characteristics of the system after connection. For example, in the case of bottom docking, the relative positions of the upper and lower parts usually need to be adjusted to achieve a more stable dynamic state. For multi-machine coordinated operation, where the connection point is above the center of gravity, adjustments are generally not required.

[0171] For rigid connections, the need for adjustment can be determined based on the dynamic stability of the entire system after connection and the actual application scenario. For example, in the case of bottom docking, if the propulsion system can stably control the docked system, the state can remain unchanged. Conversely, if the landing assistance equipment requires the target body to be below the propulsion system during landing, the state can be adjusted.

[0172] The controllable landing method for targets based on parachute descent and power augmentation disclosed in this application includes a parachute descent phase and a power augmentation phase. The parachute descent phase refers to controlling the initial motion state of the target in the air using a parachute, while the power augmentation phase uses the aforementioned power augmentation recovery method for parachute-descent targets to control the later motion state of the target.

[0173] The parachute drop phase includes:

[0174] According to the overall control plan, the target starts from the initial location, moves to the designated release area, and is released, thus entering the release state.

[0175] The target is falling from the sky; deploy the parachute at the appropriate time.

[0176] The target can carry more than one type or set of parachutes to allow for more flexible deployment of parachute power. For example, in a conventional parachute landing, the main parachute and pilot parachute work together.

[0177] In some embodiments, the umbrella carried by the target may have its own controller to provide a degree of control. For example, a stamped umbrella.

[0178] In some embodiments, the target transmits its own motion status information in real time after deployment, including global coordinate information and attitude information. For example, a positioning device is installed on the target to obtain coordinate information. An inertial navigation system is installed on the target to obtain the target's attitude. A communication device is also required for information transmission.

[0179] In some embodiments, after deployment, the target can emit detectable information so that it can be detected, located, and tracked. Examples include optical information, such as a high-brightness visible light lamp or an invisible light lamp; acoustic signals with specific wavelengths and specific variation patterns; and radio signals with specific wavelengths and specific variation patterns.

[0180] In some embodiments, the target has a high degree of detectability, such as by installing a Luneburg lens.

[0181] The target enters a deceleration and descent phase, moving towards the target convergence area.

[0182] The power replenishment phase is as follows:

[0183] The above-mentioned power-assisted controlled landing method for parachute targets is used to achieve the mission of this stage, enabling the target to move to the desired position in the desired state, or to land in the desired state.

[0184] The present application provides several embodiments of a power augmentation system for a parachute target and a power augmentation controlled landing method for a parachute target.

[0185] Example 1: As Figure 15 , 16 As shown, this describes rescuing an aircraft in an emergency.

[0186] The target is a parachute-deployed aircraft 11, which can be an aircraft awaiting rescue or a parachute-deployed return capsule. This solution and system can maximize the safety of the onboard passengers and the target aircraft 11.

[0187] An emergency rescue system, primarily based on this system, is established within the jurisdiction. The components of the power replenishment system 3 are as follows: Power system 5a consists of a large multi-rotor aircraft 511 and a booster rocket 521. The booster rocket 521 is primarily used to provide sufficient thrust to power system 5a to achieve the high speeds required for emergency response. The multi-rotor aircraft 511 also features a buffer booster rocket 531, which provides significant reverse thrust at a relatively low cost before the aircraft to be rescued lands, mitigating the impact on the multi-rotor aircraft 511 and its passengers. To provide a large buffer thrust at the moment of landing; the docking device 623 is implemented in embodiment 5, the locking mechanism 6209 in the docking device 623 is a roller winch, and the flexible part 6212 on the target docking part is a guide rope; the status observation system consists of a radar system set on the ground and an airborne visual observation system set on the multi-rotor aircraft 511; the control system consists of a main controller set on the ground rescue system and a controller set on the multi-rotor aircraft 511.

[0188] In this embodiment, a power replenishment unit 41 is composed of multiple power systems 5a and docking devices 623 mounted thereon. The multiple power replenishment units 41 work together to perform the task of replenishing the power of the target aircraft 11.

[0189] The emergency rescue system received the distress signal, and the ground radar of the status observation system scanned the airspace where the target aircraft 11 was located, obtaining the motion status information of the target aircraft 11.

[0190] Based on the target aircraft 11's motion state information acquired by radar and considering the motion capabilities of the propulsion system 5a, the main controller of the control system calculates the spatial coordinates and other motion states of the intersection point between the propulsion system 5a and the target aircraft 11, according to the principle of time optimization. Simultaneously, it calculates the time-optimal trajectory of the propulsion system 5a towards the intersection point. The main controller sends the calculation results to the controller on the propulsion system and issues a command to start the mission. When necessary, this calculation is performed by the propulsion system's controller.

[0191] According to the planned trajectory, propulsion system 5a, powered by booster rocket 531 and its own propulsion, rapidly reaches the vicinity of the rendezvous point, updating the planned trajectory and adjusting control outputs as needed. The onboard visual observation system of propulsion system 5a detects the target spacecraft 11. Booster rocket 531 separates from the rest of propulsion system 5a. The remaining parts of propulsion system 5a continue towards the rendezvous point with target spacecraft 11. When sufficient distance is reached from target spacecraft 11, the onboard status observation system of propulsion system 5a measures the motion status information of the docking components on target spacecraft 11, particularly their position and velocity relative to the propulsion system.

[0192] As agreed, the target aircraft 11 has extended flexible components 6212 at several locations on its fuselage. Based on the motion information and other status information of the target aircraft 11 observed by the airborne visual observation system, the power system 5a selects a docking point with the target aircraft 11 and moves to the vicinity of the docking point under its own power, so that the docking device 623 carried by the power system 5a approaches the docking component of the target aircraft 11.

[0193] The propulsion system 5a selects a suitable path to fly to the vicinity of the docking part below the target aircraft 11. It docks with the flexible part 6212 through its own dynamic performance, and quickly docks with the flexible part 6212 through the locking mechanism 6209, so that the mating surfaces of the docking devices at both ends are engaged and locked. In this way, the initial power reconfiguration is achieved.

[0194] The propulsion system 5a uses its own global positioning information, combined with offline geographic data and real-time meteorological information, to find a suitable alternate landing area. It also utilizes the status observation system to conduct online observation and evaluation of the alternate landing area for the target aircraft 11. Finally, it selects a landing area with safe landing conditions.

[0195] The power system 5a applies force to the target aircraft 11, causing the parachuting target aircraft 11 to avoid dangerous ground areas and guide it to the selected landing area.

[0196] As the aircraft approaches landing, the power system 5a uses the driving force of its own multi-rotor aircraft 511 to adjust the attitude of the target aircraft 11 in order to reduce the damage to the crew and the aircraft structure when the target aircraft 11 lands.

[0197] According to the buffer design, the buffer booster rocket 521 is activated to provide buffer force to the aircraft to be rescued within a short distance from the ground before the target aircraft 11 lands, so that the target aircraft 11 will be subjected to minimal impact when it lands.

[0198] The structure of the propulsion system 5a in this embodiment is as follows: a power supplementary aircraft 51 consisting of a multi-rotor aircraft 511 and a buffer booster rocket 521, and a booster system 53 consisting of a booster rocket 531. In some specific application scenarios, the propulsion can be further reconfigured based on the above scheme. For example, when the target aircraft 11 is about to land, the multi-rotor aircraft 511 separates from the buffer booster rocket 521. In this case, the propulsion system 5a is reconfigured as follows: using the buffer booster rocket 531 as a dedicated propulsion system 52, using the multi-rotor aircraft 511 as a power supplementary aircraft 51, and using the booster rocket 531 as a booster system 53.

[0199] In some embodiments, the dedicated propulsion system includes one or more buffer booster rockets, which are docked to one or more locations on the target aircraft. A short distance before the target aircraft touches down, the buffer booster rockets are activated to provide the torque and buffering force required for attitude adjustment, ensuring the safety of the aircraft and its crew.

[0200] In a scenario involving the rescue of the return capsule, if parachute 2 prevents the capsule from being towed to a safe landing point, parachute 2 can be jettisoned as a further power reconfiguration. Powered by propulsion system 5a, the return capsule possesses high maneuverability, enabling it to reach a safe landing point.

[0201] Example 2: Receiving air-dropped supplies.

[0202] This power replenishment system and method can achieve precise reception of airdropped supplies 12. Since the only requirement for supplies 12 is parachute landing, it is beneficial for bulk transportation of supplies 12 on transport aircraft.

[0203] like Figure 7 As shown, the power replenishment aircraft 51 is an unmanned helicopter 5121, and the helicopter 5121 carries a docking device 611, which is implemented according to the docking device embodiment 1. The supplies 12 are dropped in a preset airspace at a specified time and enter the parachute landing state.

[0204] The 5b propulsion system conducts long-distance observations or aerial patrols according to designated times and airspace.

[0205] Once material 12 was identified, helicopter 5121 flew toward material 12, met it, and docked with it.

[0206] The small parachute retractor 211 on the supplies 12 retracts the parachute into the retractor 211, thereby eliminating the aerodynamic force of the parachute 2.

[0207] Helicopter 5121 carried supplies 12 and delivered them precisely to their destination.

[0208] In some cases, both the receiving helicopter and the supplies are equipped with differential GPS modules and wireless communication modules, allowing them to obtain each other's coordinates wirelessly. The high-precision data from the differential GPS serves as the basis for the receiving operation.

[0209] In some cases, such as Figure 8 As shown, the docking device 612 of the helicopter 5121 is implemented using docking device embodiment 2. The docking device and the target 612 are bonded together with Velcro 6104 to ensure the reliability of the connection.

[0210] In some cases, such as Figure 13As shown, for some slender materials, the docking device 625 on the helicopter 5121 can be implemented using docking device embodiment 7. Since there are three remaining degrees of freedom after docking, it is a flexible docking. The helicopter 5121 can move the material 12 below it through maneuvering. The helicopter 5121 continues to provide effective thrust to the material 12 by adjusting its rotor pitch.

[0211] In some cases, such as Figure 17 As shown, to balance deployment convenience and rendezvous timeliness, the powered replenishment aircraft 51 adopts the form of a vertical takeoff and landing (VTOL) aircraft 5122. After rendezvous with the material 12, the VTOL aircraft 5122 can switch to VTOL mode to dock with the material 12. Alternatively, if the control precision is sufficient, it can use fixed-wing flight mode to complete the docking with the material 12.

[0212] The present application provides several embodiments of a target controllable landing system and a target controllable landing method based on parachute and power augmentation.

[0213] Example 3: Rocket recovery. The overall mission is to ensure that the rocket body can land at a designated location undamaged after launch for subsequent use.

[0214] This system and method can preserve the rocket body. Compared to launch-and-dump schemes, this system and method significantly reduce rocket launch costs. Compared to rocket recovery schemes that rely on their own fuel and propulsion for recovery, this system and method saves a significant amount of fuel, thus greatly reducing rocket size. Moreover, since the supplementary system can provide the rocket with landing gear, it can further reduce the rocket's additional load, or, from another perspective, increase the rocket's effective payload.

[0215] Please see Figure 18 As shown, the power replenishment aircraft is a large multi-rotor helicopter or a coaxial twin-rotor helicopter, referred to here as helicopter 513. The docking device 621 is implemented according to docking device embodiment 3. The robotic arm 6202 has a locking function to prevent stress on the robotic arm 6202 actuator after docking. The status observation device includes ground radar, an optical tracking system, and GPS sensors or integrated navigation systems and communication devices with global positioning capabilities mounted on the recoverable rocket body 13 and helicopter 513.

[0216] As part of the rocket system, the recoverable rocket body 13 is launched into the air along with the other parts of the rocket. After the fuel is exhausted, it separates from the other parts and enters a state of unpowered jettisoning.

[0217] The recoverable rocket body is equipped with a parachute and a parachute control device 21. After entering the atmosphere at a certain altitude, the parachute control device 21 opens the parachute 2, initiating a parachute descent. The lower part of the recoverable rocket body 13 is equipped with three ball-shaped docking parts 6204.

[0218] The recoverable rocket body 13 transmits its global motion status information, especially its position and speed, to the outside world in real time via wireless communication.

[0219] The status observation system monitors the motion status information emitted by the recoverable rocket body 13 in real time. When necessary, active detection methods can be employed, including real-time scanning by ground radar and precise tracking by an optical tracking system after acquiring preliminary information about the recoverable rocket body. The main controller of the control system calculates the intersection point or intersection area based on the acquired information about the recoverable rocket body, and simultaneously calculates the motion trajectory of the propulsion system. The calculation results are then sent to the propulsion system controller, which issues a real-time command to begin the mission. This calculation is performed by the propulsion system controller when required.

[0220] The propulsion system 5C can depart from the recovery point or choose other suitable locations, such as an airspace near the descent path of the rocket body 13 to be recovered. For example, at high altitude in the parachute drop area, the propulsion system 5C is mounted on the aircraft, which stands by near the drop area. Upon receiving the mission start command, the propulsion system 5C departs from its carrier aircraft and flies to the rendezvous point.

[0221] During the docking process, the propulsion system 5c can adjust its trajectory based on the real-time motion information of the recoverable rocket body 13. When the propulsion system 5c is close enough to the recoverable rocket body 3, the onboard status observation system of the propulsion system 5c measures the motion status information of the docking parts on the recoverable rocket body 513, especially the position and velocity information relative to the propulsion system 5c. The helicopter 513 moves to the area below the parachuted recoverable rocket body 13 and completes the docking.

[0222] The recoverable rocket body 13 releases parachute 2, and the helicopter 513 uses maneuvering to detach the recoverable rocket body from the parachute and enter the landing path.

[0223] If necessary, the helicopter 513 can maneuver the rocket body 13 to be recovered to its lower position to achieve static stability of the entire system, improve controllability during the movement, and complete the adjustment maneuver.

[0224] After the rocket body 13 is moved to the recovery location, the landing gear of the helicopter 513 touches the ground and supports the rocket body to be recovered.

[0225] Regarding the scenario where helicopter 513 departs from a high altitude, helicopter 513 can utilize its high-altitude advantage to employ a combination of autorotation landing and autonomous landing. The potential energy of helicopter 513 and the recoverable rocket body 13 at high altitude is converted into the kinetic energy of the propeller, thereby significantly reducing the energy required by the propulsion system.

[0226] Example 4, please refer to Figure 19 As shown in Example 3, in this example, the power system 5d can be composed of a multi-rotor helicopter 51401 and a rocket propulsion device 51402. After docking is completed, the parachute control device releases the parachute, and the multi-rotor helicopter 51401 carries the rocket body 13 to be recovered to the recovery location. The rocket propulsion device 51402 utilizes its high thrust-to-weight ratio to provide thrust to overcome the weight of the rocket body 13 to be recovered. The multi-rotor helicopter 51401 can mainly adjust the attitude of the rocket body 13 to be recovered, thereby making reasonable use of the flight weight of the power system 5d.

[0227] Example 5, please refer to Figure 20 , 21 As shown, based on Embodiment 3, the dedicated power system 52 employs a small jet engine 522. The power system 5e includes a combination of the dedicated jet engine 522 and the helicopter 515. The docking device 621 employs the two-stage combined docking device of the robotic arm and rigid docking described in Embodiment 3. This embodiment is generally the same as Embodiment 3; only the different parts are described here.

[0228] Helicopter 515 and jet engine 522 meet with the recoverable rocket body 13. The rigid docking component mounted on jet engine 522 has a small tolerance, making it impossible for helicopter 515 to achieve rigid docking with its own control precision. A robotic arm 6202 is used to achieve docking with a larger tolerance. The robotic arm 6202 is then controlled to guide the rigid docking component until it reaches the tolerance range, at which point the component docks and locks in place. The parachute is then deployed at the appropriate time. Helicopter 515 separates from jet engine 522. Subsequent recovery / landing operations are completed by jet engine 522.

[0229] Of course, if necessary, the helicopter 515 and the jet engine 522 can remain connected, working together to complete the subsequent recovery / landing operations. In this case, the combination of the helicopter 515 and the jet engine 522 can be considered as a power supplementary aircraft 51.

[0230] If needed, multiple jet engines (522) can be installed and distributed around the rocket body, thereby improving torque output and enhancing attitude control. Furthermore, the distance between the jet engines and the center is adjustable, allowing for a wider operational range.

[0231] Example 6, please refer to Figure 22 As shown, for rocket recovery in Embodiment 3, the propulsion system 5f can be a power supplement unit 42 composed of multiple helicopters 516 and docking devices 624. The advantage of using multiple helicopters 516 is that the recovery of large rocket bodies can be achieved through the coordinated transport of multiple helicopters 516. The spherical docking parts 6215 on the rocket body 13 to be recovered are distributed on the circumference of the rocket body 13. The docking devices 624 installed on the helicopters 516 are implemented according to the docking device embodiment 6. After a suitable number of helicopters 516 meet the rocket body 13 to be recovered, they move to the vicinity of their respective docking parts and bring their docking devices close to the corresponding docking parts. According to the preset docking scheme and algorithm, docking is completed in a timely manner. After parachute disengagement, multiple helicopters 516 use a coordinated transport method to bring the rocket body 13 to be recovered back to the recovery point.

[0232] Example 7, please refer to Figure 23 , 24 As shown, for rocket recovery in Embodiment 3, the supplementary power vehicle 51 in the propulsion system 5g is a helicopter 517, and the docking method can be implemented using the docking device in Embodiment 7. After the helicopter 517 docks with the rocket body 13 to be recovered, the helicopter 517 can maneuver the rocket body 13 to be recovered to move below the helicopter 517, so that the entire system has static stability, improves the controllability during the movement process, and completes the adjustment action.

[0233] Example 8, please refer to Figure 25 , 26 As shown, this is for the recovery of slender targets, such as the rocket in the above embodiment. The spacecraft 518 adopts a ring structure, and the docking method between the propulsion system 5h and the target 1 can be implemented using docking device embodiment 6. A transfer device 63 is provided on the target 1. The transfer device 63 includes a guide rail 6301 along the length direction of the target 1 and a slider 6302 slidably disposed on the guide rail 6301. The docking member 6215 is installed on the slider 6302. After the propulsion system 5h docks with the target 1, it can be transferred to a more advantageous position along the preset transfer device 63 to provide better control performance for the target 1. Therefore, the propulsion system 5h moves from below to above along the length direction of the target 1, so that the center of mass is located below the propulsion system 5h, so that the combined whole obtains static stability characteristics.

[0234] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A power-assisted controlled landing method for parachute-dropped targets, characterized in that, The method includes: Obtain the motion information of the parachute target and determine the desired state required for the dynamic system to intersect with it; The propulsion system intersects and docks with the parachute target; According to mission requirements, the power system and the parachute target adopt a power reconfiguration method to rationally allocate power resources and drive the target to move to the desired position or land in the desired state; The power system includes a drive unit that provides controllable driving force to the target.

2. The power-assisted controllable landing method according to claim 1, characterized in that: The aforementioned power reconfiguration includes docking the power system with the parachute target.

3. The power-assisted controllable landing method according to claim 1, characterized in that: The aforementioned power reconfiguration includes, after docking, jettisoning or retracting the parachute according to mission requirements.

4. The power-assisted controllable landing method according to claim 1, characterized in that: The aforementioned power reconfiguration includes optimizing the structure and / or composition of the power system once or multiple times in accordance with mission requirements.

5. The power-assisted controlled landing method according to any one of claims 1 to 4, characterized in that: After the propulsion system docks with the parachute target, adjustments are also required according to mission requirements. These adjustments include changing the relative pose of the propulsion system and the target in the target's body coordinate system, and / or changing the relative pose of the propulsion system and the target in the global coordinate system.

6. The power-assisted controllable landing method according to claim 5, characterized in that: Depending on the task requirements, power reorganization and adjustment can occur as many times and in the required order.

7. The power-assisted controllable landing method according to claim 1 or 6, characterized in that: Before the power system docks with the parachute target, the structure and / or composition of the power system should be optimized according to mission requirements.

8. A method for controlled landing of a target based on parachute descent and powered landing, characterized in that, The method includes: During the parachute descent phase, the target's status is controlled using a parachute descent method. In the power replenishment phase, the power replenishment controllable landing method according to any one of claims 1 to 7 is used to enable the target to move to the desired position in the desired state, or to land in the desired state.

9. A power replenishment system (3) for parachute-dropped targets, characterized in that: Includes at least one power supplement unit (4, 41, 42); and A state observation system, used to acquire the state information of a target; and The control system is electrically connected to the power supplement unit (41, 42) and the condition observation system; in, The power replenishment unit (41, 42) includes a power system (5; 5a-5h) that provides controllable power to the target's state, comprising a power replenishment aircraft (51); and a docking device (6; 611, 612; 621-626) for docking the power system (5; 5a-5h) with the target (1; 11-13), which is mounted on the power system (5; 5a-5h); A power augmentation aircraft is an aircraft or a combination of multiple aircraft powered by a power drive unit.

10. The power supplementation system according to claim 9, characterized in that: The power system also includes a dedicated power system (52), which includes at least one power drive device. The power drive devices are connected to each other and the dedicated power system (52) is connected to the power supplement aircraft (51) via a connector (54). The connector between the dedicated power system and the power supplement aircraft allows the devices at both ends to be engaged or disengaged.

11. The power supplementation system according to claim 9 or 10, characterized in that: The power system also includes a booster system (53), which includes at least one power drive unit. The power drive units are connected to each other and the booster system (53) and the power supplement aircraft (51) via a connector (54). The connector between the booster system (53) and the power supplement aircraft allows the devices at both ends to be engaged or disengaged.

12. The power supplementation system according to claim 9, characterized in that: The power system employs a drive device with bidirectional or multidirectional power driving capability, or a combination of several such drive devices.

13. The power supplementation system according to claim 9, characterized in that: The docking device includes a load-bearing docking device (611, 612), which includes a load-bearing body; or The load-bearing docking device includes a load-bearing body, on which fastening devices for fixing the target are provided.

14. The power supplementation system according to claim 9, characterized in that: The docking device includes a mating docking device (621-626), which includes a locking mechanism and a docking component disposed on the target and mating with the locking mechanism.

15. The power supplementation system according to claim 9, characterized in that: The state observation system includes devices for acquiring the state of a target; or A state observation system includes equipment for acquiring the state of a target system and the state of a dynamic system; or A state observation system includes equipment for the state of the dynamic system and the motion state of the target relative to the dynamic system.

16. The power supplementation system according to claim 9, characterized in that: The control system includes a controller installed on the power enhancement system, or a controller outside the power enhancement system, or a combination thereof.

17. A target controllable landing system based on parachute descent and power augmentation, characterized in that: It includes at least one parachute (2) and a power supplementation system (3) as described in any one of claims 9 to 16.

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