阅读说明：本技术 一种空投系统着陆防翻装置 (Landing anti-overturning device of air-drop system ) 是由 万天军 庞桂林 周永明 张芃 李英武 艾文涛 于 2019-10-17 设计创作，主要内容包括：本发明公开了一种空投系统着陆防翻装置,包括防翻支架、高度及水平测定模块、定力电动收缆机构、地锚和控制器,防翻支架固设于空投货台上,定力电动收缆机构和高度及水平测定模块设置于防翻支架上,定力电动收缆机构通过定向防翻连接绳与地锚连接,高度及水平测定模块和定力电动收缆机构分别与控制器连接。结构简单,使用方便,适应性良好,且成本较低,适用于重型装备和贵重装备的空投着陆使用,能减小装备的受损概率,提高空投效率。(The invention discloses an air-drop system landing anti-overturning device which comprises an anti-overturning support, a height and level measuring module, a constant-force electric cable retracting mechanism, a ground anchor and a controller, wherein the anti-overturning support is fixedly arranged on an air-drop cargo platform, the constant-force electric cable retracting mechanism and the height and level measuring module are arranged on the anti-overturning support, the constant-force electric cable retracting mechanism is connected with the ground anchor through a directional anti-overturning connecting rope, and the height and level measuring module and the constant-force electric cable retracting mechanism are respectively connected with the controller. The air-drop landing device has the advantages of simple structure, convenience in use, good adaptability and lower cost, is suitable for the air-drop landing of heavy equipment and precious equipment, can reduce the damage probability of the equipment, and improves the air-drop efficiency.)

1. The landing anti-overturning device for the air-drop system is characterized by comprising an anti-overturning support, a height and level measuring module, a fixed-force electric cable retracting mechanism, a ground anchor and a controller, wherein the anti-overturning support is fixedly arranged on an air-drop cargo platform, the fixed-force electric cable retracting mechanism and the height and level measuring module are arranged on the anti-overturning support, the fixed-force electric cable retracting mechanism is connected with the ground anchor through a directional anti-overturning connecting rope, and the height and level measuring module and the fixed-force electric cable retracting mechanism are respectively connected with the controller.

2. The landing anti-overturn device for an air-drop system according to claim 1, characterized in that the constant-force electric cable retracting mechanism comprises a motor, a cable retracting disc and a locking mechanism, the cable retracting disc is sleeved on an output shaft of the motor, the locking mechanism is arranged at one side of the cable retracting disc, one end of the directional anti-overturn connecting rope is wound on the cable retracting disc, and the other end of the directional anti-overturn connecting rope is connected with a ground anchor.

3. The landing turn-over preventing device of an air-drop system according to claim 2, wherein a motor base is further connected between the motor and the turn-over preventing support, the motor base is provided with an inner cavity, the cable collecting disc is sleeved in the inner cavity of the motor base, and the locking mechanism is arranged on the motor base.

4. The landing anti-overturn device for an air-drop system according to claim 2, characterized in that a torque limiter is connected between the output shaft of the motor and the cable collecting plate.

5. The landing anti-overturn device for the air-drop system according to claim 2, characterized in that the locking mechanism comprises a ratchet wheel, a pawl and a driving mechanism, the ratchet wheel is arranged on the outer ring of the cable retracting plate, the pawl is arranged on one side of the ratchet wheel, the driving mechanism is connected with the pawl, the controller is connected with the driving mechanism, and the controller drives the pawl to act through the driving mechanism to lock or unlock the ratchet wheel.

6. The landing turn-over preventing device for the air drop system according to claim 5, wherein the driving mechanism comprises a reset pull rod and an electromagnetic actuator, the reset pull rod is connected with the pawl, the electromagnetic actuator is arranged on one side of the reset pull rod, the controller is connected with the electromagnetic actuator, and the controller controls the electromagnetic actuator to be powered on or powered off, so that the reset pull rod is actuated to actuate the pawl.

7. The landing turn-over preventing device for the air drop system according to claim 6, wherein the locking mechanism further comprises a tension spring and a tension spring seat, the pawl is arranged on the motor base through a rotating shaft and can rotate around the rotating shaft, one end of the pawl is hinged with the lower end of the reset pull rod, the other end of the pawl is connected with the tension spring seat through the tension spring, the tension spring seat is fixedly arranged on the motor base, the electromagnetic actuator is arranged on one side of the reset pull rod, and the tension spring drives the pawl to reset when the electromagnetic actuator does not actuate the reset pull rod, so that the pawl is separated from the ratchet.

8. The landing anti-overturn device for the air-drop system of claim 1, wherein the height and level determination module comprises a satellite positioning module, an electronic compass and a millimeter wave radar, and the satellite positioning module, the electronic compass and the millimeter wave radar are respectively connected with the controller.

Technical Field

The invention relates to a landing anti-overturning device for an air-drop system.

Background

The landing of the air-drop system is greatly influenced by the change of environmental factors, and the change of a wind field, the terrain and the height of an air-drop site and the change of the gravity center of equipment interfere with the landing state of the air-drop system; and the attitude adjusting capability of the existing anti-overturning device is not matched with the environmental complexity, so that the air-drop system can overturn when landing, and the use of the air-drop system is limited to a certain extent.

The air drop system adopts passive anti-overturn stabilization technology at present, and comprises anti-overturn support stabilization technology and directional anti-overturn stabilization technology. The anti-overturning support stabilizing technology adopts an anti-overturning support structure to be installed and fixed on the cargo bed, the width of the side face of the cargo bed is widened during landing, and the cargo bed is prevented from being laterally overturned. After the ground anchor is adopted for grabbing the ground, the connecting rope is stressed and pulls the cargo bed to rotate to land in the downwind direction, and the landing in the windward direction and the direction finding is avoided.

The anti-overturning bracket (or the anti-overturning plate) does not occupy the width of a cargo bed when being installed, and the air-drop system is unfolded according to a working procedure after being air-dropped from the air-drop machine. The anti-overturn support (or the anti-overturn plate) increases the self weight of the system, increases the risk of the umbrella rope hook, and once the anti-overturn support (or the anti-overturn plate) is accidentally unfolded in advance in the cabin, serious flight accidents can be caused, so that the reliability requirement on the anti-overturn support (or the anti-overturn plate) is higher.

The landing of the air-drop system is greatly influenced by the change of environmental factors, and the change of a wind field, the terrain and the height of an air-drop site and the change of the gravity center of equipment interfere with the landing state of the air-drop system; and the attitude adjusting capability of the existing anti-overturning device is not matched with the environmental complexity, so that the air-drop system can overturn when landing, and the use of the air-drop system is limited to a certain extent.

The directional anti-overturning device adopts components such as a ground anchor, a directional anti-overturning connecting rope and the like, in the process of unfolding and stably descending the air drop system, the directional anti-overturning device is opened, the ground anchor and the connecting rope which are connected to a long shaft at the tail part of the equipment are thrown to the ground, the ground anchor catches the ground and tensions the connecting rope under the action of wind power after being landed, the equipment is rotated to land in the downwind direction, and the stable effect cannot be achieved due to the fact that the connecting rope is not tightened when wind power is small; meanwhile, the rotating state of the equipment cannot be sensed, the released connecting rope can hook the bottom edge of the rotating equipment when being tensioned, so that the ground anchor cannot pull the equipment to rotate along the long axial direction of the equipment, the long axial direction of the equipment is approximately vertical to the flying direction when landing, and the equipment is overturned.

The anti-overturn support stabilizing technology and the directional anti-overturn stabilizing technology have certain limitations and cannot adapt to an air-drop system in a complex environment.

Disclosure of Invention

The invention aims to solve the technical problem that in order to overcome the defects in the prior art, the invention provides the landing overturn-preventing device for the air-drop system, which has the advantages of simple structure, convenience in use, good adaptability and lower cost, is suitable for the air-drop landing of heavy equipment and precious equipment, can reduce the damage probability of the equipment, and improves the air-drop efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the landing anti-overturning device for the air-drop system comprises an anti-overturning support, a height and level measuring module, a constant-force electric cable winding mechanism, a ground anchor and a controller, wherein the anti-overturning support is fixedly arranged on an air-drop cargo platform, the constant-force electric cable winding mechanism and the height and level measuring module are arranged on the anti-overturning support, the constant-force electric cable winding mechanism is connected with the ground anchor through a directional anti-overturning connecting rope, and the height and level measuring module and the constant-force electric cable winding mechanism are respectively connected with the controller.

According to the technical scheme, the fixed-force electric cable retracting mechanism comprises a motor, a cable retracting disc and a locking mechanism, wherein the cable retracting disc is sleeved on an output shaft of the motor, the locking mechanism is arranged on one side of the cable retracting disc, one end of a directional anti-overturning connecting rope is wound on the cable retracting disc, and the other end of the directional anti-overturning connecting rope is connected with a ground anchor; the motor drives the cable collecting disc to rotate, so that the directional anti-turnover connecting rope is collected and released, the distance between the air-drop cargo bed and the ground anchor is changed, and the locking mechanism is used for locking the cable collecting disc to prevent the cable collecting disc from rotating.

According to the technical scheme, the motor base is further connected between the motor and the anti-overturning support, the motor is fixedly arranged on the anti-overturning support through the motor base, the motor base is provided with an inner cavity, the cable collecting plate is sleeved in the inner cavity of the motor base to form a protection effect, and the locking mechanism is arranged on the motor base.

According to the technical scheme, a torque limiter is connected between the output shaft of the motor and the cable collecting plate.

According to the technical scheme, the locking mechanism comprises a ratchet wheel, a pawl and a driving mechanism, the ratchet wheel is arranged on the outer ring of the cable collecting plate, the pawl is arranged on one side of the ratchet wheel, the driving mechanism is connected with the pawl, the controller is connected with the driving mechanism, and the controller drives the pawl to act through the driving mechanism to lock or unlock the ratchet wheel.

According to the technical scheme, the driving mechanism comprises a reset pull rod and an electromagnetic actuator, the reset pull rod is connected with the pawl, the electromagnetic actuator is arranged on one side of the reset pull rod, the controller is connected with the electromagnetic actuator, and the controller controls the electromagnetic actuator to be powered on or powered off, so that the reset pull rod is actuated to enable the pawl to act.

According to the technical scheme, the locking mechanism further comprises a tension spring and a tension spring seat, the pawl is arranged on the motor base through a rotating shaft and can rotate around the rotating shaft, one end of the pawl is hinged with the lower end of the reset pull rod, the other end of the pawl is connected with the tension spring seat through the tension spring, the tension spring seat is fixedly arranged on the motor base, the electromagnetic actuator is arranged on one side of the reset pull rod, and the tension spring drives the pawl to reset when the electromagnetic actuator does not actuate the reset pull rod, so that the pawl is separated from the ratchet wheel.

According to the technical scheme, the height and level measuring module comprises a satellite positioning module, an electronic compass and a millimeter wave radar, and the satellite positioning module, the electronic compass and the millimeter wave radar are respectively connected with the controller; the satellite positioning module, the electronic compass and the millimeter wave radar are fixedly arranged on the anti-overturning bracket, the controller measures the relative height of the airdrop equipment from the ground through the millimeter wave radar, measures the horizontal movement direction of the equipment through the satellite positioning module, and measures the included angle between the long axis of the equipment and the true north through the electronic compass and simultaneously calculates the rotating angular speed of the long axis of the equipment.

According to the technical scheme, a driver is connected between the controller and the locking mechanism as well as between the controller and the motor.

The invention has the following beneficial effects:

the landing anti-overturning device for the air-drop system is simple in structure, convenient to use, good in adaptability, low in cost, suitable for air-drop landing of heavy equipment and precious equipment, capable of reducing damage probability of the equipment and improving air-drop efficiency.

Drawings

FIG. 1 is an elevation view of an air-drop system landing tip-out prevention device in an embodiment of the present invention;

FIG. 2 is a front view of an air-drop system landing tip-out prevention device in an embodiment of the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 2;

FIG. 4 is an electrical control schematic diagram of an air-drop system landing anti-rollover device in an embodiment of the present invention;

in the figure, 1-motor, 2-torque limiter, 3-motor base, 4-retracting plate, 5-ratchet wheel, 6-motor shaft sleeve, 7-tension spring seat, 8-tension spring, 9-pawl and 10-reset pull rod.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Referring to fig. 1 to 4, in an embodiment of the invention, an air-drop system landing anti-overturn device includes an anti-overturn bracket, a height and level measuring module, a constant-force electric cable retracting mechanism, a ground anchor and a controller, wherein the anti-overturn bracket is fixedly arranged on an air-drop cargo bed, the constant-force electric cable retracting mechanism and the height and level measuring module are arranged on the anti-overturn bracket, the constant-force electric cable retracting mechanism is connected with the ground anchor through a directional anti-overturn connecting rope, and the height and level measuring module and the constant-force electric cable retracting mechanism are respectively connected with the controller.

Furthermore, the fixed-force electric cable retracting mechanism comprises a motor 1, a cable retracting disc 4 and a locking mechanism, wherein the cable retracting disc 4 is sleeved on an output shaft of the motor 1, the locking mechanism is arranged on one side of the cable retracting disc 4, one end of the directional anti-overturning connecting rope is wound on the cable retracting disc 4, and the other end of the directional anti-overturning connecting rope is connected with a ground anchor; the motor 1 drives the cable collecting disc 4 to rotate, so that the directional anti-overturn connecting rope is collected and released, the distance between the air-drop cargo bed and the ground anchor is changed, and the locking mechanism is used for locking the cable collecting disc 4 and preventing the cable collecting disc 4 from rotating; the fixed-force electric cable retracting mechanism can unidirectionally and automatically tighten the directional anti-overturning connecting rope, and the directional anti-overturning connecting rope is stopped after the specified torque is reached, so that the defect that the motor 1 is burnt is avoided, and the fixed-force electric cable retracting mechanism is simple in structure and convenient to control.

Further, the directional anti-overturn connecting rope comprises a steel cable.

Further, a motor base 3 is connected between the motor 1 and the anti-turnover support, the motor 1 is fixedly arranged on the anti-turnover support through the motor base 3, the motor base 3 is provided with an inner cavity, the cable collecting plate 4 is sleeved in the inner cavity of the motor base 3 to form a protection effect, and the locking mechanism is arranged on the motor base 3.

Further, a torque limiter 2 is connected between the output shaft of the motor 1 and the cable retracting disk 4.

Furthermore, the locking mechanism comprises a ratchet wheel 5, a pawl 9 and a driving mechanism, the ratchet wheel 5 is arranged on the outer ring of the cable retracting plate 4, the pawl 9 is arranged on one side of the ratchet wheel 5, the driving mechanism is connected with the pawl 9, the controller is connected with the driving mechanism, and the controller drives the pawl 9 to act through the driving mechanism to lock or unlock the ratchet wheel 5.

Further, the driving mechanism comprises a reset pull rod 10 and an electromagnetic actuator, the reset pull rod 10 is connected with the pawl 9, the electromagnetic actuator is arranged on one side of the reset pull rod 10, the controller is connected with the electromagnetic actuator, and the controller controls the electromagnetic actuator to be powered on or powered off, so that the reset pull rod 10 is actuated to actuate the pawl 9.

Furthermore, the locking mechanism further comprises a tension spring 8 and a tension spring seat 7, the pawl 9 is arranged on the motor base 3 through a rotating shaft and can rotate around the rotating shaft, one end of the pawl 9 is hinged with the lower end of the reset pull rod 10, the other end of the pawl 9 is connected with the tension spring seat 7 through the tension spring 8, the tension spring seat 7 is fixedly arranged on the motor base 3, the electromagnetic actuator is arranged on one side of the reset pull rod 10, and the tension spring 8 drives the pawl 9 to reset when the electromagnetic actuator does not actuate the reset pull rod 10, so that the pawl 9 is separated from the ratchet wheel 5.

Furthermore, the height and level measuring module comprises a satellite positioning module, an electronic compass and a millimeter wave radar, and the satellite positioning module, the electronic compass and the millimeter wave radar are respectively connected with the controller; the satellite positioning module, the electronic compass and the millimeter wave radar are fixedly arranged on the anti-overturning bracket, the controller measures the relative height of the airdrop equipment from the ground through the millimeter wave radar, measures the horizontal movement direction of the equipment through the satellite positioning module, and measures the included angle between the long axis of the equipment and the true north through the electronic compass and simultaneously calculates the rotating angular speed of the long axis of the equipment.

Further, an output shaft of the motor 1 is connected with the cable collecting plate 4 through a motor shaft sleeve 6.

Further, a driver is connected between the controller and the locking mechanism and the motor 1.

The working principle of the invention is as follows:

in order to solve the problems of spin of heavy equipment in a landing stage, failure of the conventional anti-rollover technology at a specific wind speed and the like, the novel anti-rollover device has strong adaptability and high reliability and can help an air-drop system to perform posture adjustment. The anti-overturning device measures the relative height of equipment from the ground by using a millimeter wave radar, measures the horizontal movement direction of the equipment by using a satellite positioning module, measures the included angle between the long axis of the equipment and the due north by using an electronic compass and simultaneously calculates the angular velocity of the rotation of the long axis of the equipment, when the equipment falls to a set height, a locking mechanism on a turntable of a motor 1 is opened according to the angular velocity and the classification of the included angle between the long axis of the equipment and the horizontal movement direction of the equipment, the motor 1 is started to rotate reversely, a steel cable is released, and a ground anchor connected with the tail end of the steel cable; after the ground anchor falls to the ground, a locking mechanism on a rotating disc of the motor 1 is closed (only the motor 1 is allowed to rotate positively at the moment), the motor 1 is started to rotate positively, a loose steel cable is tightened, the ground anchor is dragged behind the ground anchor along the long axis direction of the ground anchor in the process of flying forwards along with wind, so that the self length axis of the ground anchor is basically coincided with the flying direction of the ground anchor when the ground anchor lands, and the anti-overturning performance of the air-drop equipment when the air-drop equipment lands is improved.

A landing anti-overturn device of an air-drop system utilizes a millimeter wave radar to measure the relative height of an air-drop device from the ground, utilizes a satellite positioning module to measure the horizontal movement direction of the device, utilizes an electronic compass to measure the included angle between the long axis of the device and the true north and simultaneously calculate the angular velocity of the rotation of the long axis of the device, when the device lands to a set height, a controller controls a driver to open a locking mechanism on a turntable of a motor 1 according to the classification of the angular velocity and the included angle between the long axis of the device and the horizontal movement direction of the device, starts the motor 1 to rotate reversely, releases a steel cable, and a ground anchor connected with the tail end of the; after the ground anchor falls to the ground, a locking mechanism on a rotating disc of the motor 1 is closed (only the motor 1 is allowed to rotate positively at the moment), the motor 1 is started to rotate positively, a loose steel cable is tightened, the ground anchor is dragged behind the ground anchor along the long axis direction of the ground anchor in the process of flying forwards along with wind, so that the self length axis of the ground anchor is basically coincided with the flying direction of the ground anchor when the ground anchor lands, and the anti-overturning performance of the air-drop equipment when the air-drop equipment lands is improved.

The satellite positioning module, the electronic compass and the millimeter wave radar all adopt mature modules, the satellite positioning module can be in a single GPS, single Beidou and single GLONASS positioning mode and can also be in any combination, the electronic compass can adopt a three-dimensional magnetic resistance sensor, the millimeter wave radar can adopt a 77GHz radio wave radar sensor, and RS232 interface communication is adopted between the electronic compass and the controller. Two paths of driving are arranged in the driver, one path is an H-bridge driving circuit and is used for driving the positive and negative rotation of the direct current brush motor 1; one path is a switch driving circuit and is used for driving the electromagnet of the locking mechanism to suck and release so as to drive the locking mechanism to be closed (only allowing the motor 1 to rotate forwards) and lifted (the motor 1 can rotate forwards or reversely). The controller and the driver are controlled by level signals. The motor 1 consists of a motor body, a speed reducer and a torque limiter, the torque limiter is connected with a turntable, a groove for winding a steel cable is arranged on the inner side of the turntable, a gear with radian is arranged on the outer side of the turntable, and a locking mechanism is connected with the gear on the outer side of the turntable (as shown in figure 2); when the locking mechanism is lifted up, the motor 1 can rotate forwards and backwards, when the locking mechanism is closed, the motor 1 can only rotate forwards, and meanwhile, if the external dragging force is too large, the motor body and the speed reducer can keep rotating forwards, and the torque limiter and the rotary disc keep static so as to prevent the motor 1 from being burnt out due to rotation blockage. The motor 1 tightens or releases the steel cable by the forward rotation or the reverse rotation of the turntable, and the tail end of the 200m steel cable is connected with a three-jaw type ground anchor of 55 Kg.

The controller obtains height information h and heading information (included angle between the airdrop equipment and the north direction) alpha of the satellite positioning module, obtains the pointing direction beta (included angle between the airdrop equipment and the north direction) of a long shaft of the airdrop equipment through the electronic compass, calculates the angular speed upsilon of the rotation of the long shaft of the airdrop equipment according to the change of the pointing direction, and can obtain the included angle theta between the heading of the airdrop equipment and the pointing direction of the long shaft of the airdrop equipment according to alpha and beta. The controller obtains relative height information delta H of the airdrop equipment to the ground through a millimeter wave radar, monitors the relative height information delta H in real time (and monitors the height information H measured by a satellite positioning module at the same time), and when the delta H, the upsilon and the theta meet the condition of 'a landing anti-overturn method of an airdrop system', the controller lifts a locking mechanism through a switch driving circuit of a driver and drives a motor 1 to reversely rotate through an 'H' -bridge driving circuit to release a steel cable; the controller calculates the landing time of the air-drop equipment according to a landing anti-rollover method of an air-drop system, the landing time is up, the controller stops driving the H-bridge driving circuit to enable the motor 1 to stop rotating reversely, then the locking mechanism is closed through the switch driving circuit of the driver, finally the H-bridge driving circuit is driven to enable the motor 1 to start rotating forwards, the steel cable is tightened, and finally the ground anchor is dragged behind the air-drop equipment along the long axis direction of the air-drop equipment in the process of flying forwards along with wind, so that the long axis direction of the air-drop equipment is basically coincided with the flying direction of the air-drop equipment when the air-drop equipment lands, and the anti-rollover performance of the air-drop equipment when the air-drop equipment lands is improved.

The working process of the invention comprises the following steps:

1) releasing the ground anchor connected to the air-drop cargo platform in the air by selecting the machine, wherein the cargo platform is connected with the ground anchor through a steel cable;

2) after the ground anchor lands, the loose steel cable is tightened until the cargo platform falls to the ground;

3) the cargo or the cargo bed is dragged by the friction force between the ground anchor and the ground, so that the long axis direction of the cargo bed is opposite to the flying direction of the cargo bed.

Furthermore, a fixed-force electric cable retracting mechanism is arranged on the air-drop cargo bed and is connected with the ground anchor through a steel cable;

the electric constant-force cable winding mechanism comprises a motor 1, a winch and a locking mechanism, wherein the winch is sleeved on an output shaft of the motor 1, the locking mechanism is arranged on one side of the winch, one end of a steel cable is wound on the winch, and the other end of the steel cable is connected with a ground anchor.

Further, in the step 1), the specific process of releasing the ground anchor by air selection refers to:

a) when the airdrop cargo bed descends to the height H from the ground, the ground anchor is released immediately;

b) starting motor 1 to rotate anticlockwise, releasing steel cable on winch and releasing timeWherein V_{Electric machine}Speed of releasing cable for rotation of motor 1, V_{Vertical falling speed of parachute}The vertical falling speed of the parachute;

c) after the release time is over, the motor 1 stops rotating anticlockwise, the locking mechanism is started to lock the winch, and the winch is prevented from rotating anticlockwise.

Further, in the step 2), the specific process of tightening the loose steel cable until the cargo platform falls to the ground is as follows: the starting motor 1 rotates clockwise, and the steel cable loosened in the falling process of the air-drop cargo bed is tightened in real time through the winch until the cargo bed falls to the ground, and the motor 1 stops rotating.

Further, in said step a),

when ω is counterclockwise α > β, satisfying 45 ° < α - β <270 °,

thenReleasing the ground anchor;

when ω is counterclockwise β > α, satisfying 90 ° < β - α <315 °,

thenReleasing the ground anchor;

when ω clockwise β > α, satisfies 45 ° < β - α <270 °,

thenReleasing the ground anchor;

when ω is clockwise α > β, satisfying 90 ° < α - β <315 °,

thenReleasing the ground anchor;

when omega is 0 and meets 60 degrees < | alpha-beta | less than 300 degrees, H is less than 320, and the ground anchor is released;

when H is less than 80, the ground anchor is released immediately, in the above formula, omega is the rotating angular speed of the long axis of the air-drop cargo bed, alpha is the horizontal moving direction of the air-drop cargo bed, beta is the included angle between the long axis of the air-drop cargo bed and the true north, and V is_{Electric machine}Releasing the cable speed for motor rotation, V_{Vertical falling speed of parachute}The vertical falling speed of the parachute.

The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.