PARACHUTE OPKNTNO DRVTCES
The invention relates to parachute opening devices and in particular to automatic
parachute opening devices.
Parachutes are normally transported in a container and are deployed from the
container to support a load during descent from an altitude. In the context of this
specification, the term "load" includes both a person and an inanimate load. There are
a number of ways of opening the container to deploy the parachute; for example, the
container may be opened by withdrawal of a pin holding the container closed or a
guillotine may cut one or more cords holding the container closed. Where the load is
a person, the container may be opened by the person pulling a cord or actuating a
guillotine. In the case of an inanimate load, or sometimes with people, the container
may be opened by use of a static line attached to, for example, an aircraft from which
the load is dropped.
In the case of a manually opened container, the person carrying the parachute waits
until an appropriate height and then opens the container to deploy the parachute.
There can be occasions, however, where opening does not take place at the correct
height, or does not take place at all under the control of the person. For example, the
person may loose consciousness. In the case of an inanimate load, it may be preferred
not to use a static line to open the container.
There is also the problem that the parachute may not deploy correctly, whether
released by a person or by a static line. For this reason, parachute containers also
include a reserve parachute which can be deployed in the event of non-functioning or
malfunctioning of the main parachute. It is, however, possible that, for example, in
the case of unconsciousness of a person using the parachute, the reserve is also not
deployed, or is not deployed in sufficient time to decelerate the load before ground
level.
According to the invention, there is provided an automatic parachute opening device
for use with a pack containing a first parachute and a second parachute and carried by
a load, the device comprising a first actuator for connection to a first release
mechanism for the first parachute, a second actuator for connection to a second release
mechanism for the second parachute, and a control system, the control system
detecting when the load has a rate of descent at a predetermined height above ground
level above a predetermined rate of descent and operating the second actuator
mechanism on said detection.
In this way, the device deploys the second parachute if the first parachute has not been
deployed, on the basis of the rate of descent of the load.
The following is a more detailed description of an embodiment of the invention, by way of example, reference being made to the accompanying drawings in which:-
Figure 1 is a plan view from above of a first form of automatic parachute opening device in an uncocked position,
Figure 2 is a similar view to Figure 1 but showing the first form of the device partially cocked,
Figure 3 is a similar view to Figures 1 and 2 but showing the first form of the device fully cocked,
Figure 4 is a block diagram of a circuit board incorporated in the first form of the
device of Figures 1 to 3,
Figure 5 is a plan view from above of a second form of automatic parachute opening device prior to cocking,
Figure 6 is a similar view to Figure 5 but showing the second form of the device in a cocked position, and
Figure 7 is a similar view to Figure 6 but showing the second form of the device after firing.
Referring first to Figure 1, the first form of the device comprises a nickel plated
aluminium alloy casing 10 which, as seen in Figure 1, is generally square in plan
view. The casing has a rectangular back plate 11 surrounded by an upstanding
peripheral wall 12. The wall 12 includes parallel side sections 13a, 13b, a front section
14 and a rear section 15. The casing 10 is closed by a front plate which is the same
shape as the back plate but which, in Figures 1 to 3, is removed to reveal the internal
components of the casing. An electrically conductive O-ring is located between the
casing 10 and the front plate.
The casing defines a bore 16 extending from a blind end along one side section 13a
of the wall 12 and having an open end through the front section 14 of the wall 12. A
tube 17 is coaxial with this bore 16 and projects from the casing 10 at the open end of
the bore 16. The end of the tube 17 remote from the casing 10 is closed by an end cap
52. The bore 16 contains a coil spring 18 and a piston and rod assembly 20. The
spring 19 extends between the end cap 52 and a shoulder of the piston and rod
assembly 20. The rod 20 of the assembly extends axially through the spring 18. The
end of the rod remote from this connection projects from the spring 18 along the tube
19. Thus, by pulling the piston and rod assembly 20 in a direction out of the tube 17,
a spring 18 can be compressed against the end cap 52 and the end of the spring 18
within the bore 16 moves towards the tube 17.
A pin 21 is provided on the spring 18 at the connection between the spring 18 and the
rod 20. A plate 22 overlies the tube 20 and is provided with a longitudinal slot 23
through which the pin 21 projects as the spring 18 is compressed.
The first lever 24 is mounted between two retention plates 53,54 within the casing 10
for pivotal movement about an axis normal to the back plate 11. This pivot axis 25
is located adjacent the front section 14 of the wall 12 and also adjacent the open end
of the bore 16. The first lever 24 is thus pivotable in a plane generally parallel to the
back plate 11 and the front plate. The first lever 24 is formed with a notch 26, which,
in the position of the first lever 24 shown in Figure 1, has its entrance in register with
the slot 23 and subtends an angle of about 45° to the length of the slot 23. The end of
the first lever 24 remote from the pivot axis 25 carries a pin 27. Its purpose will be
described below.
A stop 28 provided on the retention plates 53,54 and limits pivotal movement of the
first lever in an anti-clockwise direction as viewed in Figure 1.
A second lever 29 is pivoted about a pivot axis 30 parallel to the pivot axis 25 of the
first lever 24. The pivot axis 30 of the second lever 29 is, however, located adjacent
the blind end of the bore 16. A V-shaped notch 31 is formed adjacent this pivot axis
30 and, when the first and second levers 24,29 are positioned as shown in Figure 1,
the pin 27 of the first lever is located adjacent the notch 31. The end of the second
lever 29 remote from the pivot axis 30 is formed with a peg 32.
The casing 10 also contains a spring catch 33 formed by a flexible strip of metal
having one end attached to a mounting 34 adjacent the bore 16 and having the other
end attached to a drive rod 35 of an electro-magnetic device in the form of a solenoid
36 mounted within the casing 10. The drive rod 35 is surrounded by a spring 37 that
tends to urge the drive rod 35 into the position shown in Figure 1.
The spring catch 33 is for co-operation with the peg 32 on the end of the second lever
29. This co-operation will be described in detail below.
The casing further includes a battery compartment 38 closed by a screw plug 39. The
casing also includes an electrical connector port 40 mounted on the front section 14
of the wall 12.
Referring next to Figure 4, the casing also includes a printed circuit board. Figure 4
is a block function diagram of the printed circuit board.
A microcontroller 41 is connected to a pressure transducer 42 via an analogue/digital
converter 43. A clock 44 provides timing signals to the microcontroller 41 and
software 45 within the microcontroller 41 runs programmes that will be described
below. The microcontroller 41 is connected to an indicator 46 which gives a visual
indication of the status of the device and also visual messages. The solenoid 36 and
the connector 40 are connected to the microcontroller 41 by a power switch 47. A
self-checking programme 48 is also provided for the microcontroller 41. A battery 49
in the battery compartment 48 provides power to the pressure transducer 42, the
analogue/digital converter 43 and the microcontroller 41.
The microcontroller 41 is also provided with a data output socket 50 which is located
in the connector part 40 of the casing. The casing also includes a hole 51 which
locates a data exchange socket 55 (see Figure 4).
The pressure transducer 42 is located in the casing adjacent a hole (not shown) in the
front plate. The hole is covered by a microporous material patch. The microporous
material patch is protected by a sintered metal filter (both not shown). This thus
allows ambient air to the pressure transducer 42 but protects the interior of the casing
from moisture and dust.
T e pressure transducer 42 outputs an analogue signal representative of the ambient
barometric pressure. This is converted by the analogue/digital converter 43 into a
digital signal representative of the ambient barometric pressure which is fed to the
microcontroller 41.
The device described above with reference to Figures 1 to 4 is used with a pack
including a main parachute 56 in a main parachute container 57 and a reserve
parachute 58 in a reserve parachute container 59. These containers 57,59 are of
conventional type and are not shown in the enclosed drawings. The main container
is held closed by locking pins 60. These locking pins are connected to the rod 20.
The reserve container for the reserve parachute is held closed by cords 61 which pass
through an electrically operated explosive guillotine 62. This guillotine 62 is of
conventional kind and includes a blade which can be driven through the cords by
electrical detonation of an explosive charge, in order to cut the cords 61 and open the
reserve container 59. The guillotine has an electrical input lead 63 for connection to
the output socket 50 within the connector port 40.
The purpose of the device described above with reference to the drawings is to open
the main container and deploy the main canopy if the rate of descent of the load is
above a predetermined level at a predetermined height above the ground. In the event
that the main parachute does not deploy, its purpose is also to open the reserve
container and deploy the reserve canopy if the rate of descent of the load is above a
predetermined level at a second height above the ground which is lower than the first.
The device performs these functions in the following way.
Barometric pressure varies with the height of a load above ground level. Accordingly,
changes in barometric pressure can be used to measure changes in height and, when
combined with a time signal, changes in barometric pressure can also be used to
determine rates of change of height (i.e. rates of descent). However, barometric
pressure is not constant at ground level everywhere; it varies. Accordingly, in order
for the device to operate, the device requires a measurement of barometric pressure
at ground level at the location where the load is to be dropped by parachute.
In many cases, particularly in training drops, the ground level which is to form the
dropping zone is accessible. In this case, the device is taken to the dropping zone with
the guillotine unconnected to the output socket 50. At the dropping zone, the
guillotine lead is connected to the output socket 50 and this actuates the power
switches 47 to pass power from the battery 49. The microcontroller 41 is then tested
by the self-checking system 48 and, if the check is positive, an indication is provided
on the indicator 46. A different indication is also given if the device is found to be
malfunctioning.
The supply of power to the pressure transducer 42 causes the transducer to produce
an analogue signal corresponding to the barometric pressure at the dropping zone.
This is converted by the analogue/digital converter 43 into a digital signal fed to the
microcontroller 41. The software 45 programmes the microcontroller 41 to accept this
signal as representing zero height. The microcontroller 41 then calculates five
heights.
The first height is an activation lock-out height below which, in ascent, the
microcontroller 41 will not output any activation signal. The second is a reserve
"wake-up" height below which, in ascent, the microcontroller 41 will not output any
signal to activate the reserve parachute. The third is a main "wake-up" height below
which, in ascent, the microcontroller will not output any signal to activate the main
parachute. The lock-out height is lower than the reserve "wake-up" height which, in
turn, is lower than the main "wake-up" height.
The fourth is a reserve activation height at which the microcontroller 41 is enabled to
output a signal to activate the release system for the reserve parachute. The fifth is a
main activation height at which the microcontroller 41 is enabled to output a signal
to activate the release system for the main parachute. The reserve activation height
is lower than the main activation height.
At the same time, the spring 18 is cocked. Referring to Figures 2 and 3, this is
achieved by pulling the piston and rod assembly 20 out of the tube 17 to compress the
spring 18 against the end cap 52 as described above. This motion causes the spring
pin 21 to pass along the slot 23 and thus engage the notch 29 in the first lever 24.
Continued compression of the spring 18 causes the pin 21 to slide along the edge of
the notch 26 and pivot the first lever 24 in a clockwise direction, as viewed in Figure
1 , about the pivot axis 25. The effect of this is to move the pin 27 at the end of the
first lever 24 into the notch 31 on the second lever 29 and to engage the edge of that
notch. This causes the second lever 29 to pivot in a clockwise direction, as viewed in
Figure 1 , about the pivot axis 30. This moves the peg 32 at the end of the second lever
29 from the position shown in Figure 1 to the position shown in Figure 2. This
rotation continues until the peg 32 engages the spring catch 33. At this point, the pin
21 has reached the end of the notch 26 on the first lever 24 and further compression
of the spring 18 is not possible. The rod 20 is then released and moves back slightly
but the spring 18 remains compressed because the pin 21 is held against movement
as it bears against an edge of the notch 26 in the first lever 24. Reverse rotation of the
first and second levers 24,29 is not possible because of the engagement of the peg 32
in the spring catch 33. This fully cocked position is shown in Figure 3.
The software 45 provides three modes of operation of the device. These will now be
described.
In the first mode, the microcontroller 41 uses stored values to determine the heights
above ground level at which the device will be actuated if the main canopy or reserve
canopy have not been deployed. For example, the predetermined height for the main
canopy release may be about 750 metres and the predetermined height for the reserve
canopy operation may be about 300 metres. These are not, of course, held in the
microcontroller as heights but as digital values of barometric pressures at those
heights derived from the ground level barometric pressure sensed on startup.
The second mode of operation allows adjustment of the dropping zone barometric
signal to take account of the fact that the dropping zone may be remote from the
position at which the guillotine is connected to the output socket 50 to activate the
device. In this case, the microcontroller 41 includes the stored values of the first mode
but a programming unit allows a height to be entered into the microprocessor via the
exchange socket 55, which adjusts the barometric pressure signal used by the
microprocessor 41 as a reference. The entry may be expressed as a number of metres
above or below the position at which the reference barometric pressure transducer
signal is generated. Thus, provided the height of the dropping zone above or below
this point is known, a reference signal correct for the dropping zone can be generated.
The required lock-out and reserve and main wake-up and activation values are then
calculated using software in the microcontroller 41.
This mode of operation can also allow adjustment of the height at which the main
canopy is opened and the height at which the reserve canopy is opened using the
programming unit via the exchange socket 55. The microcontroller 41 is
programmed, however, so that the reserve operation height cannot be set below 300
metres and the main operation height cannot be set lower than the reserve height plus
450 metres.
In the third mode, which can allow the connection to the guillotine lead to the output
socket 50 to power-up the system to be performed in an aircraft at altitude, the
dropping zone reference from the pressure transducer 42 at startup is overwritten by
the microcontroller 41 with a default barometric pressure (e.g. 1013 mb). This default
barometric pressure can then be further adjusted for the required drop zone. The main
canopy operation height and the reserve canopy operation height can be adjusted if
required using the programming unit. This is subject to the constraints referred to
above. The microcontroller 41 then calculates values for the wake-up height and the
main and reserve wake-up and activation heights.
The programming unit is self-powered by, for example, a battery pack which may
include primary and back-up secondary batteries. The battery levels are checked
when the unit is switched on using an on/off switch. The unit also includes a display
such as an LCD. When the battery level is low, an indication is produced on the LCD.
The unit has two push-buttons that allow an operator ID and sortie number to be input
to the unit. This activates the unit. The unit then asks if the second or the third mode
of operation is to be used and a choice is made using the push buttons. The heights
required by the chosen mode are then entered using the "+" and "-" buttons to adjust
a displayed height for the height being adjusted. For example, the LCD might, in the
second mode, display the message "The DZ is ##,###Ft above/below here" with the
displayed height being adjusted until it reaches a desired value. This is then accepted.
All data transferred from the programming unit to the microprocessor 41 is checked
and returned. If any differences are detected then the reprogramming of the
microprocessor 41 is aborted. The programming unit and/or the microprocessor must
then be removed from use and replaced.
All information is stored by the programming unit and is retrievable by "sortie
number" and "operator ID". The information may be retrievable into a PC.
In use, the pack with the containers and the parachutes is carried by a person to the
position at which the referenced barometric pressure is to be taken. One of the three
modes of operation is chosen, as appropriate, and the associated steps described above
are taken to render the microprocessor 41 fully operational for that mode.
The person then ascends in an aircraft or balloon. During ascent, the pressure
transducer 42 provides a succession of signals to the microcontroller 41 that are used
by the microcontroller 41 to derive the instantaneous height of the person above
ground level. Until the wake-up height is detected, this sampling rate is slower. When
the wake-up height is detected, the microprocessor is enabled. The sampling rate then
increases to a faster rate as the reserve wake-up and main wake-up heights are
detected and the reserve and main activations take place. Once the main wake-up
height is detected, the sampling rate drops from the faster rate to a moderate rate
between the faster and slower rates.
The person is then dropped from an aircraft or a balloon. In normal operation, the
person will open the main container and deploy the main parachute using a rip cord
and, if that does not work, will deploy the reserve parachute from the reserve
container by actuating the guillotine. If, however, the person does not operate either
of these parachutes, the device operates as follows.
As the person jumps from an aircraft or a balloon, the pressure transducer 42 provides
a succession of signals to the microcontroller 41 at a rapid rate which is greater than
the faster rate (for example, about 0.5 second intervals) that are used by the
microcontroller 41 to derive an instantaneous height of the person above ground level
using the ground level reference signal. From successive stored values of this signal,
and utilizing the signals from the clock 34, the microcontroller 41 can derive a rate of
descent. If the rate of descent exceeds a predetermined value (indicative of the main
parachute not having opened), then, when the barometric pressure signal indicates a
height equal to the stored main activation height, then the microcontroller 41 outputs
an electrical signal to the solenoid 36. The effect of this is to withdraw the drive rod
35 against the spring 37 and release the spring catch 33. This in turn allows reverse
pivotal movement of the second lever 29 and thus reverse pivotal movement of the
first lever 24. This releases the spring pin 21 thus allowing the spring 18 to
decompress. This pulls the piston and rod assembly 20 into the casing 10 and causes
the pins to be pulled from the main container 57 so deploying the main parachute 56.
If this deployment is successful, the person will be decelerated and the device will
perform no further functions. If, however, the main parachute 56 does not deploy
properly so that the speed of the person does not decrease, then detection of a rate of
descent above the predetermined rate of descent at the reserve parachute operation
height will cause the microcontroller 41 to pass an electrical signal to the data output
socket 50, at the stored reserve activation height, and thus, through the guillotine lead
63, to the guillotine 62. This detonates the explosive in the guillotine 62 and so cuts
the cords 61 holding the reserve container 59 closed. This container 59 thus opens
and the reserve parachute 58 deploys.
Referring next to Figures 5 to 7, these Figures show a second form of automatic
parachute opening device. This second device has parts that are common with the first
form of the device described above with reference to Figures 1 to 4. Those common
parts have the same reference numerals in Figures 5 to 7 as in Figures 1 to 4 and will
not be described in detail.
The second form of the device has the tube 17 provided with an internal shoulder 70
and the coil spring 18 extending between this shoulder 70 and a piston 71 of the piston
and rod assembly 20. The pin 21 is carried on the piston 71 and extends through the
slot 23 on the casing 10. A shock pad 72 is carried on the end of the piston 71
opposite the tube 17.
A primary lever 73 is mounted on the plate 22 for rotation about an axis normal to the
length of the piston and rod assembly 20. The primary lever 73 has a first arm 74
provided with hooked end forming a recess 75 and an opposed second arm 76 formed
towards one end with a step 76a. A secondary lever 77 is also mounted on the plate
22 for rotation about an axis normal to the length of the piston and rod assembly 20
but spaced from the pivot axis of the primary lever 73. The secondary lever 77 has
a first arm 78 formed with a step 79 and a narrow elongate second arm 80.
The secondary lever 77 extends in a direction generally normal to the length of the
primary lever 73. The end of the second arm 76 of the primary lever 73 is adjacent
the end of the first arm 77 of the secondary lever 76. A coil spring 81 is mounted on
a post 82 and has one limb 81a acting against the second arm 80 of the secondary
lever 77 and a second limb 81b acting against a face 82 of the step 76 in the second
arm 76.
In the device of Figures 5 to 7, the solenoid 36 of Figures 1 to 4 is replaced with an
electromagnetic device in the form of a stepper motor 83. The motor 83 has an output
shaft 84 which carries a block 85. The output shaft 84 extends out of or retracts into
the stepper motor 83 depending on the direction of rotation of the stepper motor 83.
The block 85 carries a pin 86 that engages in a slot 87 at one end of a lever arm 88
mounted on a rotatable boss 92 including a face 93 that bears against the second arm
80 of the secondary lever 77.
The second device of Figures 5 to 7 also includes a battery compartment and an
electrical connector port, as in the device of Figures 1 to 4, but these parts are omitted
for clarity in Figures 5 to 7. The second device of Figures 5 to 7 also includes a
printed circuit board as described above with reference to Figure 4 except that the
actuator 36 of Figure 4 is replaced by the stepper motor 83 as described above.
In use, the device of Figures 5 to 7 is used with a pack as described above. The device
operates as described above with reference to Figures 1 to 4 except in the operation
of the piston and rod assembly 20. This will now be described.
Figure 5 shows the second form of the device prior to cocking. In this position, the
output shaft 84 is retracted into the stepper motor 83 by the maximum amount. This
causes the lever arm 88 to rotate clockwise as viewed in Figure 5 against the action
of the spring 81 so allowing the primary lever 73 to move clockwise as viewed in
Figure 5 so that an end of the second arm 76 of the primary lever 73 engages a face
89 of the step 79 of the first arm 78 of the secondary lever 77.
In this position, the shock pad 72 is forced against the casing 10 by the spring 18. The
associated rod 90 is retracted within the tube 17.
The device in the configuration of Figure 5 is cocked by pulling the rod 90 out of the
tube 17. This compresses the spring 18 and moves the pin 21 along the slot 23 until
the pin 21 engages a wall 91 that forms part of the recess 75 at the hooked end of the primary lever 73. As a result of the location of the wall 91 relative to the pivot axis
of the primary lever 73, continued movement of the pin 21 pivots the primary lever 73 anti-clockwise as viewed in Figures 5 and 6 against the action of the spring 81.
Once the end of the second arm 76 of the primary lever 73 passes the end of the first
arm 78 of the secondary lever 77, the secondary lever 77 is pivoted in an anti¬
clockwise direction as viewed in Figures 5 and 6 under the action of the spring 81.
This engages the end of the first arm 78 of the secondary lever 77 with the step 76a in the second arm 76 of the primary lever 73. This prevents the primary lever 73 rotating clockwise under the action of the spring 81. It also engages the second arm 80 of the secondary lever with the face 93 of the boss 92. The output shaft 84 of the
stepper motor 83 is retracted.
This is the cocked position shown in Figure 6.
When, in any of the modes described above with reference to Figures 1 to 4, the
microcontroller 41 passes a signal to the stepper motor 83, the motor 83 operates to
extend the output shaft 84. This causes anti-clockwise rotation of the lever arm 88 about the boss 92 via the block 85 and pin 86. This, in turn, rotates the secondary
lever 77 clockwise via the face 93 as viewed in Figure 6 so moving the end of the first
arm 78 of the secondary lever 77 out of engagement with the second arm 76 of the primary lever 73. This allows the primary lever 73 to rotate clockwise under the action of the spring 81 so releasing the pin 21 from the recess 75. This in turn allows
the piston and rod assembly 20 to retract under the action of the spring 18. As described above, this causes the pins to be pulled from the main container, so
deploying the main parachute. The device is then in the after firing position shown in Figure 7.
The output shaft 84 of the stepper motor 83 is then retracted to allow the device to be
cocked again. The device is then in the prior to cocking position of Figure 5.
It will be appreciated that there are a number of changes that could be made to the device described above with reference to the drawings. The device need not operate a pin pulling system and a guillotine; it could operate any form of container opening
mechanism. The mechanisms need not be different; they could be the same.
The use of the lever system is optional; the necessary motion could, for example, be provided solely by a linear movement of an actuator of a solenoid or an output shaft
of a stepper motor.
The load need not be a person; it could be an inanimate load. In this case, the device is not used as an emergency device, it is used as the principal means for opening the
main and reserve parachutes. Of course, the two parachutes need not be main and
reserve parachutes, they could be two main parachutes. The device could simply act on the second (or reserve) parachute.
The circuits need not be exactly as described above. The pressure transducer 42
could, for example, provide digital signals directly to the microcontroller 41. The
indicator 46 could be any suitable form of indicator such as an LED or an LCD screen.
The device described above with reference to the drawings is compact and reliable in
operation. The casing can be made water and dust-tight giving reliable long-term
operation. By allowing automatic opening of both canopies, there is improved safety.
In addition, the microcontroller 41 need not operate to release the spring catch 33 by
determining the rate of descent at a predetermined height above ground.
Alternatively, the microcontroller could monitor height above ground directly and
release the spring catch 33 at the predetermined height.