RU2761675C1 - Automated parachute cargo delivery system - Google Patents

Abstract

FIELD: delivery service.

SUBSTANCE: invention relates to controlled cargo parachute systems. The automated parachute cargo delivery system contains a controlled parachute system (PS), a cargo platform and includes a parachute system control system (PSCS) containing an aerobatic navigation system and executive servomechanisms, a flight task preparation module (FTPM), a remote operator module (ROM), a Follow Me control system (FMCS), a meteorological probe (MP). The PS, PSCS and the cargo platform are interconnected by means of fastening elements. The PSCS, FMCS, ROM, FTPM and MP are interconnected using a radio channel with the ability to work in a single data format.

EFFECT: invention is aimed at improving the accuracy of cargo landing in a given area, reducing the preparation time for the delivery of various goods in difficult weather conditions.

4 cl, 7 dwg

Description

The invention relates to aeronautical engineering, in particular to cargo guided parachute systems and is designed to deliver cargo of various dimensions for any purpose with a flight mass of 250 to 4000 kg by air to a given landing point from aircraft equipped with standard transport equipment from altitudes up to 8000 m above sea level.

A known system for dumping cargo from an aircraft [US Pat. No. 2576364 RF, IPC B64D 17/34. System and method for dumping cargo from an aircraft / Bohlen Carsten (FR), Bohlen Holger (DE); applicant and patentee Airbus Operations GMBH (DE), Airbus Sas (FR). - No. 2013117926/11; declared 11/10/2011; publ. 02/27/2016, Bul. No. 6], which contains a cargo parachute with a rope of the cargo parachute and actuation means designed to introduce the cargo parachute into the surrounding air flow behind the aircraft. A receiving device is located inside the aircraft, which receives a pulling force signal in the cargo parachute rope, said pulling force being measured by means of a force measuring device and transmitted by means of a transmitting device. The cargo parachuting system contains a cargo parachute with a cargo parachute rope and a first device for measuring the force in the rope. The aircraft contains a closable opening and a system. The group of inventions is aimed at assessing the correctness of the deployment of the cargo parachute in the air flow around the aircraft before the emergency disconnection of the parachute rope.

Known controlled parachute system [application No. 94005045 RF, IPC B64D 17/34, G05D 1/00. Controlled parachute system / Abramenko G.V., Krasnoshchekov A.Yu., Fokin S.S .; applicant and patentee of the Central Research Institute of Chemistry and Mechanics; - No. 94005045/09; declared 02/10/1994; publ. 20.01.1996.], Which contains a gliding parachute, a harness, a platform with a diagnostic unit, a detection unit, an on-board computer, an inertial navigation system and a container for controlling the parachute lines. The control is carried out by the command unit by creating control overloads by tightening the lines based on the analysis of information from the inertial navigation system and from the beacon detection unit located at the platform landing site. Information analysis is carried out by a detection unit located on the platform and connected to the command unit, one output of which is connected to the control unit, and the second output is connected by feedback to the detection unit. The on-board computer provides commands to turn on the inertial navigation system, the detection unit and the diagnostics unit in accordance with the specified time sequence of the flight of the parachute system with the diagnostics unit.

Known controlled parachute system, [US Pat. No. 2111898 RF, IPC B64D 17/34. Controlled parachute system / Abramenko G.V., Kraev S.V., Krasnoshchekov A.Yu., Fokin S.S .; applicant and patentee of the Central Research Institute of Chemistry and Mechanics; - No. 96118529/28; declared 09/17/1996; publ. 05/27/1998], containing a gliding parachute with a cargo platform, a series-connected beacon detection unit, a command unit, the second output of which is connected to the input of the beacon detection unit, and a parachute lines control unit. The controlled parachute system additionally contains a series-connected inertial navigation system, the second output of which is connected to the second input of the command block, a block for generating control signals for on / off and setting the initial conditions for the inertial navigation system, the second output of which is connected to the input of the inertial navigation system, the third output and the second input, respectively, with the second input and the second output of the beacon detection unit, and the unit for diagnostics of the Earth's surface area.

A controlled parachute system for cargo delivery was adopted as a prototype [US Pat. No. 2039680 RF, IPC B64D 17/34. Controlled parachute system for cargo delivery / Abramenko G.V., Kraev S.V., Krasnoshchekov A.Yu., Lifits A.L .; applicant and patentee of the Central Research Institute of Chemistry and Mechanics; - No. 93031300/23; declared 06/08/1993; publ. 20.07.1995.], Which contains a gliding parachute, harness, cargo platform and container for control of the parachute lines. The control is carried out by the command block by creating control overloads by tightening the slings based on the analysis of information about the beacon placed at the place of landing of the cargo. Information analysis is carried out by a detection unit located on the cargo platform, connected to the command unit, one output of which is connected to the control unit, and the other output by feedback to the detection unit.

The disadvantages of analogs and the prototype are that they do not have sufficient efficiency, do not provide an accurate landing of goods at a given point, which leads to significant losses of goods, and requires preliminary placement of a beacon at the landing point, which increases the preparation time for the delivery of goods and creates risks of causing harm to life and health of persons preparing the delivery of goods in this way.

The technical result of the invention is to improve the accuracy of the landing of goods in a given area or on a site limited by small dimensions, to reduce the preparation time for the delivery of various goods (food, medicines, rescue equipment, weapons, etc.) in difficult weather conditions, during the day and at night. ...

This result is achieved by the fact that an automated parachute cargo delivery system containing a controlled parachute system (PS), a cargo platform, according to the invention, includes a parachute system control system (SUPS) containing a flight navigation system (inertial, satellite radio navigation system) and executive servomechanisms, a flight task preparation module (MPPZ), a remote operator module (WMO), a "Follow me" control system (MSMS), a meteorological probe (MZ), while the PS, SUPS and a cargo platform or parachute cargo harness (PGO) are interconnected by means of fastening elements, and SUPS, SUSM, WMO, MPPZ and MZ are interconnected using a radio channel with the ability to work in a single data format.

The cargo platform, if necessary, is made with the possibility of replacing it with a parachute cargo harness (PGO). The guided parachute system (PS) uses a wing-type parachute.

The invention is illustrated by drawings, where Fig. 1 shows a diagram of the interaction of SUPS, SUSM, WMO, MPPZ and MZ over the radio channel; in fig. 2 - parachute control system (SUPS), front view; in fig. 3 - parachute control system (SUPS), rear view; in fig. 4 - flight task preparation module (MPPZ); in fig. 5 - control system "Follow me" (SU "Follow me"); in fig. 6 - remote operator module (WMO); in fig. 7 - meteorological probe (MZ).

The automated parachute system (APS) for cargo delivery contains a controlled parachute system (PS) with a wing-type parachute 1 (not shown in the drawings), a cargo platform or, if necessary, a parachute cargo harness 2 (PGO) (not shown in the drawings), parachute system control system 3 (SUPS), containing flight and navigation system 4 (inertial, satellite radio navigation system) and actuating servomechanisms 5, flight task preparation module 6 (MPPZ), remote operator module 7 (WMO), control system "Follow me "8 (MSMS), meteorological probe 9 (MZ. PS, SUPS and cargo platform or PGO are interconnected by means of fastening elements. SUPS, MSMS, WMO, MPPZ and MZ are interconnected by means of a radio channel operating in a single data format ( Fig 1).

APS is a set of functional blocks that allow the delivery of cargo by air to a given landing point from an aircraft (AC) equipped with standard transport and landing equipment, from heights up to 8000 m above sea level.

PS 1, which is part of the APS, consists of a wing-type parachute, a corrugation device, assembly rings, a parachute container with a harness, a brake parachute chamber, a brake parachute canopy, a parachute link, a camera, a swivel, and a container opening link.

SUPS 3 has four attachment points made of steel for connecting the locks of the suspension system of attachment of PS 1. Based on the loads that arise at the moment of opening of PS 1 and landing of the APS, SUPS 3 contains a power central element. All SUPS 3 units and components are attached to this element. All SUPS components and units are covered with a fairing. In order to ensure tightness and protection, the fairing is made of fiberglass. A front view of SUPS 3 is shown in FIG. 2, rear view - in FIG. 3.

MPPZ 6 is an industrial rugged laptop designed to work outdoors at any time of the day or year, wearable (portable), transported by all modes of transport, providing the creation, storage, display and editing of flight tasks against the background of an electronic map (Fig. 4) ...

SUSM 8 is mounted on the operator's hand and is facing upward with a radio-transparent insert for high-quality operation of the satellite radio navigation system receiver. MSMS 8 contains a remote antenna for receiving information transmission from MSMS 3. The external view of MSMS 8 is shown in FIG. 5.

WMO 7 is manufactured for use by the operator in a wearable (portable) version. The body of the WMO 7 is hermetically sealed. The external view of the BMO 7 is shown in Fig. 6. The upper part of the WMO 7 housing contains the SUPS 3 controls and a radio-transparent fiberglass insert designed for the correct operation of the satellite radio navigation system 4. WMO 7 contains a rotary antenna for receiving and transmitting data from the SUPS 3. In the stowed position, the antenna is laid along the WMO 7 case. In the working position, the antenna is moved to a vertical position to ensure stable communication with the SUPS 3.

MZ 9 has a one-time use in this regard, the design is as simple and technological as possible. The appearance of the MH 9 is shown in Fig. 7. The upper part of the MZ 9 consists of two parts, made of lightweight material, fastened with a nylon tape. The lower part of MZ 9 is made of fiberglass to ensure radio transparency during operation of the transmitter antenna. MZ contains a 0.5 m ² lineless parachute to ensure its reliable descent.

The automated parachute cargo delivery system has a charger (ZU) for SUPS, MPPZ, WMO, SU "Follow me".

The automated parachute cargo delivery system works as follows.

In accordance with the tasks set, PS 2 is controlled by the control system module, which is part of SUPS 3, by influencing the controls of the parachute canopy by tightening the parachute lines based on the analysis and processing of information about the landing point of the automated parachute system APS entered by the operator when using the MPPZ 6, the values of metrological indicators obtained from the MH 9 or entered by the operator when using the MPPZ 6, or the operation of the CS "Follow me" 8 or during the manual control of the SUPS 8 using the WMO 7, the flight navigation parameters of the APS flight by the navigation complex, which is based on lies a strapdown inertial navigation system 4, corrected by signals from satellite radio navigation systems GPS and GLONASS.

APS provides control of PS 1 in three ways (in three modes): flight in automatic control mode, automatic flight in "Follow me" mode, flight in operator control mode.

APS functions as follows:

- specialists authorized for operation carry out preparation of the SUPS 3 for landing in order to fulfill the assigned tasks;

- the operator SUPS 3 enters the flight task into the MPPZ 6;

- APS is mounted on an aircraft to deliver the APS to the landing point. SUPS 3, when performing tasks, is used in conjunction with PS 1 and a cargo platform or UPGO 2;

- the pilot brings the flying area to the landing area and makes an approach according to the flight assignment;

- when the design characteristics are reached, the APS is dropped;

- after separation of the APS from the aircraft, SUPS 3 performs work according to the selected operating mode:

a) during the flight, APS SUPS 3 operates in automatic mode;

b) if necessary and based on the tasks set, it is possible to change the operating mode of the SUPS 3 in the case of using the SUSM 8, fixed on the operator's hand, while the SUPS 3 in flight will aim at the flying operator and follow him until the end of the flight, while the maximum rapprochement of the APS with the flying operator 50 m;

c) if necessary and based on the tasks set, it is possible to change the operating mode of SUPS 3 in the case of using WMO 7. An operator on the ground can control SUPS 3 in manual mode by moving the controls of the parachute system PS 1 with servo mechanisms over the radio channel;

- after performing an automatic approach and landing, SUPS 3 ends its work by turning off the power automatically.

Flight in automatic control mode is the main mode of operation of the SUPS 3, during which the flight parameters of the APS are calculated for each section of the given route, and is carried out by the control system module, which is part of the SUPS 3, acting on the control elements of the parachute of the "wing" type included in composition of the aircraft 1. Control is carried out on the basis of the APS landing point preset by the operator, based on the cone of capabilities built by the software, using the MPPZ 6 and the analysis of information on weather conditions received from the MZ 9 and GPS and GLONASS navigation systems, and an inertial navigation system in in case of unavailability of GPS and GLONASS navigation systems. Navigation systems GPS and GLONASS, and inertial navigation system 4 are part of SUPS 3. Information analysis is carried out by special software.

Automatic flight in the "Follow me" mode is carried out by the control system module, which is part of SUPS 3, acting on the control elements of the wing parachute, which is part of the controlled parachute system PS 1. The control unit controls PS 1 based on data analysis, obtained with the SUSM 3, placed on the parachutist on the basis of a special software algorithm, in such a way that the controlled parachute system completely repeats all the maneuvers of the parachutist following in front of the automated parachute system APS for cargo delivery.

Flight in the operator control mode is carried out by the control system module, which is part of the SUPS 3, acting on the control elements of the wing parachute, which is part of the controlled parachute system. In this mode, the control unit controls the PS 1 on the basis of commands received from the WMO 7, which is controlled by the operator.

Tests and mathematical modeling have confirmed the effectiveness of the proposed invention with the achievement of the above technical result.

The proposed automated parachute cargo delivery system provides accurate delivery of cargo of various dimensions for any purpose weighing from 250 to 4000 kg by air to a given landing point, without the need for preliminary reconnaissance of the terrain and placing additional equipment at the landing point, from heights up to 8000 m above sea level in three ways (in three modes): flight in automatic control mode, automatic flight in "Follow me" mode, flight in operator control mode using a reliable, durable and easy-to-use automated parachute cargo delivery system.

Claims (3)

1. An automated parachute cargo delivery system containing a controlled parachute system (PS), a cargo platform, characterized in that it includes a parachute system control system (SUPS), containing a flight navigation system and executive servomechanisms, a flight task preparation module (MPPZ) , remote operator module (WMO), control system "Follow me" (CMS), meteorological probe (MZ), while the SS, SUPS and the cargo platform or parachute cargo harness (PGO) are interconnected by means of fastening elements, and the SUPS , SUSM, WMO, MPPZ and MZ are interconnected using a radio channel with the ability to work in a single data format. 2. The automated parachute cargo delivery system according to claim 1, characterized in that a wing-type parachute is used as a parachute. 3. The automated parachute cargo delivery system according to claim 1, characterized in that it is configured to replace the cargo platform with a parachute cargo harness (PGO).

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