Emergency parachute opening method and system

Abstract

The invention is suitable for the technical field of unmanned aerial vehicle parachute opening, and particularly relates to an emergency parachute opening method and system.The method comprises the steps that a task area of an unmanned aerial vehicle is delimited, a plurality of standby landing point positions are selected, signal equipment sets are created, and each standby landing point position corresponds to one signal equipment set; the signal equipment group is composed of a normally-on group and a flicker group, edits a light coding rule and is embedded into the flicker group; the method comprises the following steps: acquiring flight power data of an unmanned aerial vehicle, judging whether the flight power data is abnormal or not according to a preset evaluation rule, and if so, utilizing a down-looking camera pre-integrated in the unmanned aerial vehicle; collecting image data of a ground area, and traversing a normally-on group; according to the method, the emergency landing point and the target height are determined, the aerodynamics principle can be utilized, the unmanned aerial vehicle drifts with the help of wind power in the falling process and approaches the standby landing point position to the maximum extent, the landing deviation is reduced, and the parachute landing safety and precision are further enhanced.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) parachute deployment technology, and more particularly to an emergency parachute deployment method and system. Background Technology

[0002] Emergency parachute deployment for drones refers to the automatic activation of a pre-installed parachute module during drone flight when a power system or control system malfunctions or natural risks prevent the drone from continuing stable flight or safely returning to base. This deploys the parachute, using air resistance to slow the drone's descent, thus effectively protecting the drone and its carried equipment or payload and preventing damage to people, buildings, or other equipment on the ground during the fall.

[0003] Since drones are in a passive descent state after their parachutes are deployed, the timing of parachute deployment is crucial. In existing technologies, the decision to trigger parachute deployment is usually made by comprehensively considering preset altitude thresholds, flight speed, and power system status. However, the inability to identify safe zones on the ground results in relatively random landing points for drones.

[0004] Therefore, "how to ensure that the drone lands at the alternate landing point by adjusting the parachute opening height" is the technical problem that this invention needs to solve. Summary of the Invention

[0005] The purpose of this invention is to provide an emergency parachute deployment method and system to solve the problem mentioned in the background art of "how to ensure that the UAV lands at the alternate landing point by adjusting the parachute deployment height".

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An emergency parachute deployment method, the method comprising:

[0008] The mission area of ​​the UAV is defined, several alternate landing points are selected, and signal equipment groups are created. Each alternate landing point corresponds to a signal equipment group, which consists of a constant light group and a flashing group. The light coding rules are edited and embedded into the flashing group.

[0009] The flight dynamics data of the UAV is collected, and the flight dynamics data is judged to be abnormal through the preset evaluation rules. If so, the image data of the ground area is collected using the downward-looking camera pre-integrated in the UAV, the constantly lit groups are traversed, the flashing interval in the light coding rules is read, and several snapshots are extracted from the constantly lit groups. It is judged whether the snapshots conform to the light coding rules. If so, the area where the constantly lit groups are located is defined as the emergency landing point.

[0010] Collect meteorological data and real-time altitude of the UAV in the mission area, create a dynamic model of the UAV descent, select several descent altitudes, calculate the expected landing point, find the expected landing point closest to the emergency landing point, and define the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, generate a parachute deployment command and send it to the UAV's parachute module.

[0011] Furthermore, the steps of delineating the drone's mission area, selecting several alternate landing sites, and creating a signal equipment group include:

[0012] Collect the predicted flight path of the drone and divide it into several segments;

[0013] Acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments.

[0014] Furthermore, the steps of creating a signal device group, editing light coding rules, and embedding them into the flashing group include:

[0015] Edge devices are embedded into the signal device group to establish a communication link between the edge devices and the UAV;

[0016] The real-time location of the drone is obtained via the communication link. A wake-up range is constructed with the alternate landing point as the center and a preset distance as the radius. When the real-time location is within the wake-up range, the signal device group is activated.

[0017] Furthermore, the method also includes:

[0018] Configure the layout shape of each signal device group, integrate all the layout shapes, and generate an identifier set;

[0019] The set of identifiers is written into the drone, the comparison order is determined, and the comparison order is corrected based on the real-time location.

[0020] Furthermore, the method also includes:

[0021] Collect flight status data of the drone and send it to the edge device;

[0022] Determine if there are any abnormal features in the flight status data. If so, find the nearest alternate landing point and activate the pre-built emergency alternate landing rules.

[0023] Furthermore, the step of determining whether the snapshot conforms to the light coding rules, and if so, defining the area where the constantly lit group is located as an emergency landing point, includes:

[0024] The task area is divided into several blocks, terrain data for each block is obtained, and a risk level is configured, wherein the risk levels include at least: high, medium, and low.

[0025] When the real-time location is located in the block corresponding to the low-risk level, the minimum parachute deployment height is determined, and when the real-time height coincides with the minimum parachute deployment height, a parachute deployment command is generated.

[0026] Furthermore, the step of finding the expected landing point closest to the emergency landing point and defining the corresponding descent altitude as the target altitude includes:

[0027] Collect the influencing factors for each expected landing point, including at least: recovery difficulty, terrain data, and safety risks;

[0028] The target height is corrected based on the aforementioned influencing factors.

[0029] Furthermore, the system includes:

[0030] The embedding module is used to delineate the mission area of ​​the UAV, select several alternate landing points, and create signal device groups, wherein each alternate landing point corresponds to a signal device group. The signal device group consists of a constant light group and a flashing group. The light coding rules are edited and embedded into the flashing group.

[0031] The judgment module is used to collect the flight dynamics data of the UAV and determine whether there is any abnormality in the flight dynamics data through preset evaluation rules. If so, the module uses the downward-looking camera pre-integrated in the UAV to collect image data of the ground area, traverse the constantly lit groups, read the flashing interval in the light coding rules, extract several snapshots from the constantly lit groups, and determine whether the snapshots conform to the light coding rules. If so, the area where the constantly lit groups are located is defined as an emergency landing point.

[0032] The search module is used to collect meteorological data and the real-time altitude of the UAV in the mission area, create a dynamic model of the UAV's descent, select several descent altitudes, calculate the expected landing point, find the expected landing point closest to the emergency landing point, and define the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, a parachute deployment command is generated and sent to the UAV's parachute module.

[0033] Furthermore, the embedding module includes:

[0034] The segmentation unit is used to collect the expected flight path of the UAV and divide it into several segments;

[0035] A unit is established to acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments.

[0036] The setup unit is used to embed edge devices into the signal device group and establish a communication link between the edge devices and the UAV.

[0037] The activation unit is used to obtain the real-time location of the UAV via the communication link, construct a wake-up range with the alternate landing point as the center and a preset distance as the radius, and activate the signal device group when the real-time location is within the wake-up range.

[0038] Furthermore, the determination module includes:

[0039] The configuration unit is used to divide the task area into several blocks, acquire terrain data for each block, and configure a risk level, wherein the risk level includes at least: high, medium, and low.

[0040] The determining unit is used to determine the minimum parachute deployment height when the real-time location is located in the block corresponding to the low-risk level, and to generate a parachute deployment command when the real-time height coincides with the minimum parachute deployment height.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] By selecting alternate landing sites, the choice of landing point can be optimized, and the emergency decision-making time can be shortened. By setting up signal equipment groups at alternate landing sites, drones can be guided to land accurately, enhancing identification capabilities at night and in low visibility conditions, while reducing the difficulty of drone recovery. By determining the emergency landing point and target altitude, aerodynamic principles can be used to allow the drone to drift with the wind during descent, maximizing its approach to the alternate landing site, reducing landing deviation, and further enhancing the safety and accuracy of parachute landing. Attached Figure Description

[0043] Figure 1 A flowchart illustrating the emergency parachute deployment method provided in an embodiment of the present invention;

[0044] Figure 2 This is a first sub-flowchart of the emergency parachute deployment method provided in an embodiment of the present invention;

[0045] Figure 3 This is a second sub-flowchart of the emergency parachute deployment method provided in an embodiment of the present invention;

[0046] Figure 4 This is a third sub-flowchart of the emergency parachute deployment method provided in an embodiment of the present invention;

[0047] Figure 5 This is a block diagram of the emergency parachute deployment system provided in an embodiment of the present invention;

[0048] Figure 6A block diagram illustrating the components of an embedded module in an emergency parachute deployment system provided in an embodiment of the present invention;

[0049] Figure 7 This is a block diagram of the composition of the judgment module in the emergency parachute deployment system provided in the embodiments of the present invention;

[0050] Figure 8 This is a block diagram of the search module in the emergency parachute deployment system provided in an embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0052] In Example 1, Figure 1 The implementation flow of the emergency parachute deployment method provided in the embodiment of the present invention is illustrated below, and is described in detail below:

[0053] S100: Define the mission area of ​​the UAV, select several alternate landing points, and create signal equipment groups, wherein each alternate landing point corresponds to a signal equipment group. The signal equipment group consists of a constant light group and a flashing group. Edit the light coding rules and embed them into the flashing group.

[0054] Based on the tasks to be performed by the UAV and the pre-planned flight route, the mission area for the UAV is delineated. The boundaries of the mission area should be determined according to the furthest distance of the UAV's autonomous parachute descent. Within the mission area, several alternate landing sites are selected based on terrain, weather conditions, and recovery difficulty. These alternate landing sites are potential landing areas for the UAV in case of abnormal situations (such as power failure, communication interruption, etc.). A signal light group is set up at each alternate landing site, which is further divided into a constant-on group and a flashing group. The constant-on group consists of lighting equipment that continuously emits a stable light source, mainly used for the UAV to quickly locate itself during the long-distance identification phase. The flashing group consists of lighting equipment that can switch on and off at specific time intervals, mainly used for visual guidance and identification. Furthermore, the constant-on group adopts geometrically distinct patterns, such as circular rings, triangular arrays, or "+" shaped structures, to facilitate the UAV's rapid identification and locking of alternate landing sites through visual algorithms at high altitudes. The flashing group is designed with special shapes, such as arrow arrangements, wavy patterns, or other shapes, which can transmit information to the UAV through different flashing patterns.

[0055] Multiple light coding rules are created, each consisting of flashing frequency, interval time, on / off duration, and color combinations. Each flashing group corresponds to a single light coding rule. The advantages of this method are: when the drone enters the visual range of the alternate landing point, the onboard camera can analyze the light codes emitted by the ground flashing groups in real time, and use this information to determine the altitude, terrain, and location coordinates of the alternate landing point, thus optimizing the parachute attitude and correcting the descent route. Furthermore, the light codes can be manually controlled to guide the drone's parachute descent when communication is disrupted. For example, when drone communication is interrupted, the existing light codes can be adjusted to the light codes corresponding to immediate parachute descent. Upon recognizing the corresponding light code, the drone moves to the location of that light code and immediately parachutes. The drone can also read information such as altitude, terrain, and location coordinates of the parachute landing point through the light codes.

[0056] It should be noted that if the light intensity in the mission area is too strong, causing the drone to be unable to identify the signal equipment group, colored flags or other markers can be used to guide the drone to parachute to the alternate landing point.

[0057] S200: Collect flight dynamics data of the UAV, and determine whether there is any abnormality in the flight dynamics data through preset evaluation rules. If so, use the downward-looking camera pre-integrated in the UAV to collect image data of the ground area, traverse the constantly lit groups, read the flashing interval in the light coding rules, extract several snapshots from the constantly lit groups, and determine whether the snapshots conform to the light coding rules. If so, define the area where the constantly lit groups are located as an emergency landing point.

[0058] During the drone's mission, flight dynamic data is continuously collected, including but not limited to engine thrust, battery voltage and current, propeller speed, attitude angular velocity, pitch, roll and yaw angles, flight speed and acceleration, etc. Using pre-built evaluation rules, the collected flight dynamic data is analyzed and judged to determine whether the drone has experienced abnormalities such as power reduction, unstable power output, abnormal load fluctuations, or mismatch with flight conditions. The evaluation rules are formulated based on historical flight data. For example, one evaluation rule is: if a sharp drop in battery voltage is detected but the current does not change synchronously, or if the propeller speed fails to reach the expected target under a continuously given thrust command, it is judged as an abnormality.

[0059] Using a pre-integrated downward-facing camera in the drone, image data of the ground area below the drone is acquired. The drone's onboard image processing module identifies light source locations that meet the brightness threshold and spatial characteristics of a constantly lit group from multiple consecutive frames. The downward-facing camera is then controlled to adjust its viewing angle and focus to achieve precise focusing on the location. The flashing interval is read from the light coding rules, and snapshots of the corresponding video frames are extracted from the vicinity of the constantly lit group. The lighting pattern and arrangement in the snapshots are then judged to determine whether they conform to the light coding rules. If they do, it indicates that the area where the constantly lit group is located can serve as an emergency landing point; otherwise, it indicates that there may be an identification error, and the constantly lit group may be ground interference signals, such as building lights.

[0060] Assuming that the flashing interval of all flashing groups is 1 second, multiple snapshots are extracted from the image data captured by the downward-looking camera with a step size of 0.5 seconds (interval). It is then determined whether the snapshots conform to a certain light coding rule. If they do, the area can be used as an emergency landing point, and the drone can parachute down.

[0061] S300: Collects meteorological data and the real-time altitude of the UAV in the mission area, creates a dynamic model of the UAV's descent, selects several descent altitudes, calculates the expected landing point, finds the expected landing point closest to the emergency landing point, and defines the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, a parachute deployment command is generated and sent to the UAV's parachute module.

[0062] Using sensors onboard the drone, meteorological data around the drone, including wind speed, wind direction, air pressure, temperature, humidity, and real-time flight altitude, is collected to construct a dynamic model of the drone's descent. This model integrates multiple interference factors such as gravity, air resistance, and wind field disturbances, and can simulate the drone's descent trajectory when the parachute deploys at different altitudes. Several descent altitudes are selected at preset intervals, and the expected landing point corresponding to each descent altitude is calculated using the dynamic model. The expected landing point closest to the emergency landing point is found using a ranging algorithm (such as geographic projection distance). The descent altitude corresponding to this expected landing point is the ideal altitude at which the drone is most likely to drift to the target landing area (alternate landing point), i.e., the target altitude. When the drone's real-time altitude is detected to have reached the target altitude, a parachute deployment command is generated. The parachute deployment command contains control parameters for activating the parachute descent and is simultaneously sent to the drone's parachute descent module, and the parachute descent is initiated.

[0063] In Example 2, Figure 2 The implementation flow of the emergency parachute deployment method provided by an embodiment of the present invention is illustrated below. The steps of delineating the mission area of ​​the UAV, selecting several alternate landing points, and creating a signal equipment group are described in detail below:

[0064] S101: Collect the expected flight path of the drone and divide it into several segments.

[0065] Based on the drone's mission, the flight path is determined, i.e., the expected flight path. According to the terrain changes along the expected flight path, the expected flight path is divided into multiple segments; for example, segments with dense buildings, open areas, and woodlands are obtained.

[0066] S102: Acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments.

[0067] Historical flight data of UAVs is acquired, including flight time, flight path, attitude information, power parameters, control command response status, and weather interference records. Fault events are identified from the historical flight data, including GPS signal loss, communication link interruption, and equipment failure. The segments in which the fault events occurred are identified, and segments in which fault events frequently occur are found, thereby providing decision support for the setting of alternate landing sites.

[0068] In Example 3, Figure 2 The implementation flow of the emergency parachute deployment method provided by an embodiment of the present invention is illustrated. The following details the steps of creating a signal device group, editing the light coding rules, and embedding them into the flashing group:

[0069] S103: Embed edge devices into the signal device group to establish a communication link between the edge devices and the UAV.

[0070] Edge devices are embedded in each signal device group. These edge devices have local computing, data caching, fast response, and multi-mode communication capabilities, and can deploy dynamic models and image processing modules on the edge devices. A communication link is established between the edge devices and the UAV to enable rapid processing of image data collected by the UAV.

[0071] S104: Obtain the real-time location of the UAV via the communication link, construct a wake-up range with the alternate landing point as the center and a preset distance as the radius, and activate the signal device group when the real-time location is within the wake-up range.

[0072] By utilizing the drone's built-in positioning module, the drone's real-time location is determined. A wake-up range is constructed with each alternate landing point as the center and a preset distance as the radius. The preset distance should be determined based on meteorological data within the mission area. When the drone enters the wake-up range, the signal equipment group is activated. The advantage of this method is that it can greatly extend the service life of the signal equipment group, while avoiding mutual interference and ensuring that the drone can only identify the nearest signal equipment group.

[0073] In Example 4, unlike Example 1, the method further includes:

[0074] Configure the layout shape of each signal device group, integrate all the layout shapes, and generate an identifier set;

[0075] The set of identifiers is written into the drone, the comparison order is determined, and the comparison order is corrected based on the real-time location.

[0076] The arrangement shape of each signal device group is determined. The arrangement shape can be a specific geometric structure (such as "T", ring, arrow, rectangular array, etc.). All arrangement shapes are integrated to generate an identifier set. According to the UAV's flight path and flight mode, a comparison order is generated. During the flight, the UAV compares the image recognition results with the arrangement shapes in the identifier set one by one. This can not only prevent the UAV from deviating from the predetermined flight path, but also improve the recognition efficiency of the signal device group. The UAV adjusts the comparison order according to its real-time position.

[0077] For example, once the drone takes off, the arrangement shape that ranks first in the comparison sequence is found from the identifier set. The image data collected by the drone's downward-facing camera is then compared with the found arrangement shape to quickly locate the signal equipment group.

[0078] In Example 5, unlike Example 1, the method further includes:

[0079] Collect flight status data of the drone and send it to the edge device;

[0080] Determine if there are any abnormal features in the flight status data. If so, find the nearest alternate landing point and activate the pre-built emergency alternate landing rules.

[0081] The system collects flight status data from the drone, including flight attitude (such as pitch, roll, and yaw angles), flight speed, acceleration, position coordinates, altitude changes, and battery level. This data is then transmitted to edge devices via a communication link. Threshold checks or anomaly comparisons are used to determine if any abnormal features exist in the flight status data. These abnormal features include decreased power from the propulsion system, attitude instability, power system malfunctions, or GPS signal drift. Once an abnormal feature is detected, the system locates the nearest alternate landing point and activates pre-built emergency landing rules. These rules specify that the nearest signal equipment group to the drone is the final destination, and upon arrival, the drone either initiates a parachute descent or lands autonomously.

[0082] In Example 6, Figure 3The implementation flow of the emergency parachute deployment method provided by an embodiment of the present invention is illustrated below. The step of determining whether the snapshot meets the display rules, and if so, defining the area where the constantly lit group is located as the emergency landing point, is described in detail below:

[0083] S201: Divide the task area into several blocks, obtain terrain data for each block, and configure a risk level, wherein the risk level includes at least: high, medium, and low.

[0084] The task area is divided into multiple blocks, and the terrain data of each block is determined, such as flat terrain areas and woodland terrain areas. The risk level of each terrain area is determined. For example, flat terrain areas are set as low-risk areas and woodland terrain areas are set as high-risk areas.

[0085] S202: When the real-time location is located in the block corresponding to the low-risk level, the minimum parachute opening height is determined, and when the real-time height coincides with the minimum parachute opening height, a parachute opening command is generated.

[0086] When the drone reaches a low-risk area, it enters the parachute descent procedure and generates a parachute deployment command when the real-time altitude reaches the minimum deployment altitude; deploying the parachute at the minimum deployment altitude confirms that the drone has landed in a low-risk area.

[0087] In actual mission execution, drones are safer when parachuting from backup locations, and there is no safety risk when parachuting in flat terrain areas. Therefore, when a drone enters a flat terrain area, it can parachute from any location.

[0088] In Example 7, Figure 4 The implementation flow of the emergency parachute deployment method provided by an embodiment of the present invention is shown below. The step of finding the expected landing point closest to the emergency landing point and defining the corresponding descent altitude as the target altitude is described in detail below:

[0089] S301: Collect the influencing factors for each expected landing point, wherein the influencing factors include at least: recovery difficulty, terrain data and safety risks.

[0090] Obtain the influencing factors at each expected landing point, including: the difficulty of recovery at the expected landing point, terrain data, and safety risks.

[0091] S302: Based on the influencing factors, the target height is corrected.

[0092] The target altitude is adjusted so that the drone can accurately land at the expected landing point, which is easy to recover, has flat terrain, and has a low level of safety risk.

[0093] Figure 5This diagram illustrates the structural composition of an emergency parachute deployment system provided in an embodiment of the present invention. The emergency parachute deployment system 1 includes:

[0094] The embedded module 11 is used to delineate the mission area of ​​the UAV, select several alternate landing points, and create signal device groups, wherein each alternate landing point corresponds to a signal device group, and the signal device group consists of a constant light group and a flashing group. The light coding rules are edited and embedded into the flashing group.

[0095] The judgment module 12 is used to collect the flight dynamics data of the UAV and judge whether there is any abnormality in the flight dynamics data through the preset evaluation rules. If so, the downward-looking camera pre-integrated in the UAV is used to collect image data of the ground area, traverse the constantly lit groups, read the flashing interval in the light coding rules, extract several snapshots from the constantly lit groups, and judge whether the snapshots conform to the light coding rules. If so, the area where the constantly lit groups are located is defined as an emergency landing point.

[0096] The search module 13 is used to collect meteorological data and the real-time altitude of the UAV in the mission area, create a dynamic model of the UAV descent, select several descent altitudes, calculate the expected landing point, find the expected landing point closest to the emergency landing point, and define the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, a parachute opening command is generated and sent to the UAV's parachute module.

[0097] Figure 6 This diagram illustrates the structural composition of an emergency parachute deployment system provided in an embodiment of the present invention. The embedded module 11 includes:

[0098] The segmentation unit 111 is used to collect the expected flight path of the UAV and segment it into several segments;

[0099] Establishment unit 112 is used to acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments;

[0100] The setup unit 113 is used to embed edge devices into the signal device group and establish a communication link between the edge devices and the UAV;

[0101] The activation unit 114 is used to obtain the real-time position of the UAV via the communication link, construct a wake-up range with the alternate landing point as the center and a preset distance as the radius, and activate the signal device group when the real-time position is within the wake-up range.

[0102] Figure 7 This diagram illustrates the structural composition of an emergency parachute deployment system provided in an embodiment of the present invention. The judgment module 12 includes:

[0103] Configuration unit 121 is used to divide the task area into several blocks, obtain terrain data for each block, and configure a risk level, wherein the risk level includes at least: high, medium and low.

[0104] The determining unit 122 is used to determine the minimum parachute opening height when the real-time location is located in the block corresponding to the low-risk level, and to generate a parachute opening command when the real-time height coincides with the minimum parachute opening height.

[0105] Figure 8 This diagram illustrates the structural composition of an emergency parachute deployment system provided in an embodiment of the present invention. The search module 13 includes:

[0106] The acquisition unit 131 is used to collect the influencing factors of each expected landing point, wherein the influencing factors include at least: recovery difficulty, terrain data and safety risks;

[0107] The correction unit 132 is used to correct the target height according to the influencing factors.

[0108] The embedding module 11 is mainly used to complete step S100, the judgment module 12 is mainly used to complete step S200, and the search module 13 is mainly used to complete step S300.

[0109] The segmentation unit 111 is mainly used to complete step S101, the establishment unit 112 is mainly used to complete step S102, the construction unit 113 is mainly used to complete step S103, and the activation unit 114 is mainly used to complete step S104.

[0110] Configuration unit 121 is mainly used to complete step S201, and determination unit 122 is mainly used to complete step S202;

[0111] The acquisition unit 131 is mainly used to complete step S301, and the correction unit 132 is mainly used to complete step S302.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0114] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An emergency parachute deployment method, characterized in that, The method includes: The mission area of ​​the UAV is defined, several alternate landing points are selected, and signal equipment groups are created. Each alternate landing point corresponds to a signal equipment group, which consists of a constant light group and a flashing group. The light coding rules are edited and embedded into the flashing group. The flight dynamics data of the UAV is collected, and the flight dynamics data is judged to be abnormal through the preset evaluation rules. If so, the image data of the ground area is collected using the downward-looking camera pre-integrated in the UAV, the constantly lit groups are traversed, the flashing interval in the light coding rules is read, and several snapshots are extracted from the constantly lit groups. It is judged whether the snapshots conform to the light coding rules. If so, the area where the constantly lit groups are located is defined as the emergency landing point. Collect meteorological data and real-time altitude of the UAV in the mission area, create a dynamic model of the UAV descent, select several descent altitudes, calculate the expected landing point, find the expected landing point closest to the emergency landing point, and define the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, generate a parachute deployment command and send it to the UAV's parachute module.

2. The emergency parachute deployment method according to claim 1, characterized in that, The steps of delineating the drone's mission area, selecting several alternate landing sites, and creating a signal equipment group include: Collect the predicted flight path of the drone and divide it into several segments; Acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments.

3. The emergency parachute deployment method according to claim 1, characterized in that, The steps of creating a signal device group, editing light coding rules, and embedding them into the flashing group include: Edge devices are embedded into the signal device group to establish a communication link between the edge devices and the UAV; The real-time location of the drone is obtained via the communication link. A wake-up range is constructed with the alternate landing point as the center and a preset distance as the radius. When the real-time location is within the wake-up range, the signal device group is activated.

4. The emergency parachute deployment method according to claim 3, characterized in that, The method further includes: Configure the layout shape of each signal device group, integrate all the layout shapes, and generate an identifier set; The set of identifiers is written into the drone, the comparison order is determined, and the comparison order is corrected based on the real-time location.

5. The emergency parachute deployment method according to claim 3, characterized in that, The method further includes: Collect flight status data of the drone and send it to the edge device; Determine if there are any abnormal features in the flight status data. If so, find the nearest alternate landing point and activate the pre-built emergency alternate landing rules.

6. The emergency parachute deployment method according to claim 4, characterized in that, The step of determining whether the snapshot conforms to the light coding rules, and if so, defining the area where the constantly lit group is located as the emergency landing point, includes: The task area is divided into several blocks, terrain data for each block is obtained, and a risk level is configured, wherein the risk levels include at least: high, medium, and low. When the real-time location is located in the block corresponding to the low-risk level, the minimum parachute deployment height is determined, and when the real-time height coincides with the minimum parachute deployment height, a parachute deployment command is generated.

7. The emergency parachute deployment method according to claim 6, characterized in that, The step of finding the predicted landing point closest to the emergency landing point and defining the corresponding descent altitude as the target altitude includes: Collect the influencing factors for each expected landing point, including at least: recovery difficulty, terrain data, and safety risks; The target height is corrected based on the aforementioned influencing factors.

8. An emergency parachute deployment system, characterized in that, The system includes: The embedding module is used to delineate the mission area of ​​the UAV, select several alternate landing points, and create signal device groups, wherein each alternate landing point corresponds to a signal device group. The signal device group consists of a constant light group and a flashing group. The light coding rules are edited and embedded into the flashing group. The judgment module is used to collect the flight dynamics data of the UAV and determine whether there is any abnormality in the flight dynamics data through preset evaluation rules. If so, the module uses the downward-looking camera pre-integrated in the UAV to collect image data of the ground area, traverse the constantly lit groups, read the flashing interval in the light coding rules, extract several snapshots from the constantly lit groups, and determine whether the snapshots conform to the light coding rules. If so, the area where the constantly lit groups are located is defined as an emergency landing point. The search module is used to collect meteorological data and the real-time altitude of the UAV in the mission area, create a dynamic model of the UAV's descent, select several descent altitudes, calculate the expected landing point, find the expected landing point closest to the emergency landing point, and define the corresponding descent altitude as the target altitude. When the real-time altitude coincides with the target altitude, a parachute deployment command is generated and sent to the UAV's parachute module.

9. The emergency parachute deployment system according to claim 8, characterized in that, The embedded module includes: The segmentation unit is used to collect the expected flight path of the UAV and divide it into several segments; A unit is established to acquire historical flight data of the UAV, extract fault events, and establish the correspondence between fault events and the segments. The setup unit is used to embed edge devices into the signal device group and establish a communication link between the edge devices and the UAV. The activation unit is used to obtain the real-time location of the UAV via the communication link, construct a wake-up range with the alternate landing point as the center and a preset distance as the radius, and activate the signal device group when the real-time location is within the wake-up range.

10. The emergency parachute deployment system according to claim 9, characterized in that, The judgment module includes: The configuration unit is used to divide the task area into several blocks, acquire terrain data for each block, and configure a risk level, wherein the risk level includes at least: high, medium, and low. The determining unit is used to determine the minimum parachute deployment height when the real-time location is located in the block corresponding to the low-risk level, and to generate a parachute deployment command when the real-time height coincides with the minimum parachute deployment height.

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