Square parachute modeling simulation method and device, electronic equipment and storage medium

Abstract

The invention relates to a square parachute modeling simulation method and device, electronic equipment and a storage medium, and belongs to the technical field of computer simulation. The square parachute modeling simulation method comprises the steps that the minimum symmetry area in an unfolding plane graph of a square parachute is determined, dividing into a first region, a second region and a third region based on the minimum symmetric region; the folding height of the square folding umbrella is determined, and a first folding curved surface, a second folding curved surface and a third folding curved surface are determined based on the sizes and the folding heights of the first area, the second area and the third area; and carrying out mirror image copying and circumferential rotation operation on the first folding curved surface, the second folding curved surface and the third folding curved surface, and splicing to obtain a square landing folding model. The folding three-dimensional solid modeling of the square parachute can be realized, and the simulation of the parachute opening process of the real square parachute is more accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer simulation, and in particular to a square parachute modeling simulation method and device, an electronic device and a storage medium. BACKGROUND

[0002] With the wide application of unmanned aerial vehicles (UAVs) in the fields of logistics, military reconnaissance, disaster relief, etc., safe recovery of the UAVs has become a key technical problem.

[0003] Traditional recovery methods are limited by site conditions, environmental interference or power limitations of the UAVs, while parachute recovery systems have become an important solution due to their reliability, low cost and strong adaptability. However, the deployment dynamics, stability and recovery accuracy of the parachute are highly dependent on its folded form. Nowadays, round parachutes are mostly used, and the folding simulation technology of the round parachutes is mature, but it is not suitable for square parachutes. The folding modeling of square parachutes has not yet formed a standardized method. In the existing folding modeling methods for square parachutes, the folding three-dimensional entity model of the square parachute constructed is not accurate enough in simulating the opening process of the canopy, and cannot accurately simulate the opening process of the real square parachute.

[0004] Therefore, the prior art cannot accurately simulate the opening process of the real square parachute. SUMMARY

[0005] Therefore, it is necessary to provide a square parachute modeling simulation method and device, an electronic device and a storage medium to solve the problem that the prior art cannot accurately simulate the opening process of the real square parachute.

[0006] To solve the above problems, in a first aspect, the present application provides a square parachute modeling simulation method, comprising: determining a minimum symmetric region in a deployment plan view of a square parachute, and dividing the minimum symmetric region into a first region, a second region and a third region based on the connection relationship between the canopy, the canopy and the canopy rope in the minimum symmetric region; determining the size of the first region, the second region and the third region, determining the folding height of the square folded parachute based on the folding form of the square parachute and the size of the first region, and determining the first folding curved surface, the second folding curved surface and the third folding curved surface based on the size of the first region, the second region and the third region and the folding height; mirror copying and circumferential rotation of the first folding curved surface, the second folding curved surface and the third folding curved surface to obtain the first mirror folding curved surface, the second mirror folding curved surface and the third mirror folding curved surface, and splicing the first folding curved surface, the second folding curved surface, the third folding curved surface, the first mirror folding curved surface, the second mirror folding curved surface and the third mirror folding curved surface to obtain a folding model of the square parachute.

[0007] In one possible implementation, determining the minimum symmetrical region in the deployment plan of the square parachute includes: Based on the central symmetry and axial symmetry of the unfolded plan view of a square parachute, the minimum symmetry region in the unfolded plan view of the square parachute can be determined. The unfolded plan view can be obtained by performing multiple central and axial symmetries on the minimum symmetry region.

[0008] In one possible implementation, the first region is the region defined by the line connecting the center point of the umbrella surface, the center point of the outer edge of the umbrella canopy, and the first connection point between the umbrella cords and the outer edge of the umbrella canopy in the unfolded plan view; the second region is the region defined by the line connecting the center point of the umbrella surface, the first connection point between the umbrella cords and the outer edge of the umbrella canopy, and the first auxiliary point in the unfolded plan view; and the third region is the region defined by the line connecting the center point of the umbrella surface, the vertex of the umbrella surface, the vertex of the umbrella canopy, and the first auxiliary point in the unfolded plan view. The first auxiliary point is the intersection of the extension of the line connecting the center point of the umbrella surface and the second auxiliary point in the smallest symmetric region with the outer edge of the umbrella canopy. The second auxiliary point is the point of tangency on a circle with the center point of the umbrella surface as its center and the distance between the center point of the umbrella surface and the center point of the outer edge of the umbrella canopy as its radius, passing through the first connection point between the umbrella cords and the outer edge of the umbrella canopy.

[0009] In one possible implementation, determining the folding height of the square parachute based on its folding shape and the dimensions of the first region includes: Determine the cross-sectional view of the folded end of the square parachute, and determine the first distance between the center point of the canopy and the midpoint of the outer edge of the canopy in the cross-sectional view; Based on the second distance between the center point of the umbrella canopy and the midpoint of the outer edge of the canopy; The folding height of a square folding umbrella is calculated using the Pythagorean theorem based on the first and second distances.

[0010] In one possible implementation, the first folded surface, the second folded surface, and the third folded surface are determined based on the dimensions and folding height of the first region, the second region, and the third region, including: The first reference plane and the second reference plane are determined based on the folded state of the square parachute, and the first included angle between the first reference plane and the second reference plane is determined; the first reference plane is the plane containing the center point of the outer edge of the parachute canopy, the first connection point between the parachute canopy and the parachute lines, and the second auxiliary point; the second reference plane is the plane containing the center point of the parachute surface, the center point of the cross-sectional view, the first connection point between the parachute lines and the outer edge of the parachute canopy, and the first auxiliary point. The first region is projected onto the second reference plane to obtain the first projection region. The position and size of the first folded surface are determined based on the first projection region and the first included angle. The position and dimensions of the second folded surface are determined based on the position and dimensions of the first folded surface and in combination with the dimensions of the second region; Based on the interaction between the third region and the first and second regions, the third folded surface is determined according to the first and second folded surfaces.

[0011] In one possible implementation, the first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain a first mirrored folded surface, a second mirrored folded surface, and a third mirrored folded surface, including: The positional relationship between the first folding surface, the second folding surface, and the third folding surface is determined based on the folding state of the square parachute. Based on their positional relationships, the first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface.

[0012] By splicing together the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface, a square landing folded model is obtained, including: Based on the relative positions of the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface in the folded state of a square parachute, and splicing the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface according to their relative positions, a folded model of a square parachute is obtained.

[0013] Secondly, the present invention also provides a square parachute modeling and simulation device, comprising: The region division module is used to determine the smallest symmetrical region in the deployment plan of the square parachute, and divide the smallest symmetrical region into a first region, a second region, and a third region based on the connection relationship between the canopy, canopy and parachute lines in the smallest symmetrical region. The folding surface determination module is used to determine the dimensions of the first region, the second region, and the third region, and to determine the folding height of the square folding parachute based on the folding shape of the square parachute and the dimensions of the first region, and to determine the first folding surface, the second folding surface, and the third folding surface based on the dimensions and folding height of the first region, the second region, and the third region. The surface splicing module is used to mirror and rotate the first, second, and third folded surfaces to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface. The first, second, and third folded surfaces, the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface are then spliced ​​together to obtain a square falling folded model.

[0014] Thirdly, the present invention also provides an electronic device, including a memory and a processor, wherein, Memory, used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the square parachute modeling and simulation method of any of the above embodiments.

[0015] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the square parachute modeling and simulation method of any of the above embodiments.

[0016] The beneficial effects of this invention are as follows: The square parachute modeling and simulation method provided by this invention divides the unfolded planar diagram of the square parachute into regions, determines the minimum symmetrical region, and then models the minimum symmetrical region sequentially. By utilizing the geometric constraints between regions, accurate three-dimensional modeling is achieved. Based on the axial symmetry and central symmetry characteristics of the square parachute, the overall modeling of the square parachute is realized. This provides a method for three-dimensional solid modeling of a folded square parachute, which can accurately establish the structural model of the folded square parachute, accurately grasp the coordinates of each curve after folding, and obtain a three-dimensional solid modeling method for folding arbitrary curved surfaces of a square parachute. The simulation of the opening process of a real square parachute is more accurate. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a square parachute modeling and simulation method provided in an embodiment of the present invention; Figure 2 An unfolded plan view of a square parachute provided in an embodiment of the present invention; Figure 3 A flowchart illustrating a folding height calculation method provided in an embodiment of the present invention; Figure 4 A cross-sectional view provided for an embodiment of the present invention; Figure 5 A flowchart illustrating a method for determining a folded surface provided in an embodiment of the present invention; Figure 6 A schematic diagram of a second reference plane provided in an embodiment of the present invention; Figure 7This is a schematic diagram illustrating the determination of the size of a first region according to an embodiment of the present invention; Figure 8 A schematic diagram of a first folded surface provided in an embodiment of the present invention; Figure 9 A schematic diagram of a third reference plane provided in an embodiment of the present invention; Figure 10 A schematic diagram of a second folded surface provided in an embodiment of the present invention; Figure 11 A flowchart illustrating a folded surface mirroring method provided in an embodiment of the present invention; Figure 12 A schematic diagram of a third folded surface provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of a third-projection folded surface provided in an embodiment of the present invention; Figure 14 A folded three-dimensional solid model of a square parachute is provided for an embodiment of the present invention. Figure 15 A speed change curve during the parachute opening process is provided as an embodiment of the present invention; Figure 16 A parasol canopy change curve during the opening process is provided as an embodiment of the present invention; Figure 17 A resistance variation curve during the umbrella opening process is provided as an embodiment of the present invention; Figure 18 This is a schematic diagram of the structure of a square parachute modeling and simulation device provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0020] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] A specific embodiment of the present invention, such as Figure 1 As shown, a method for modeling and simulating a square parachute is disclosed, including: S101, determine the minimum symmetrical region in the deployment plan of the square parachute, and divide the minimum symmetrical region into a first region, a second region, and a third region based on the connection relationship between the canopy, canopy, and parachute lines in the minimum symmetrical region.

[0023] In embodiments of the present invention, such as Figure 2 The diagram shown is a plan view of a square parachute, including the canopy, canopy, and lines. The canopy is the square area at the center of the plan view, the canopy consists of four trapezoidal areas formed by connecting the four sides of the canopy, and the lines are connected to the canopy. The minimum symmetric region refers to the area that can be mirrored and rotated to obtain the entire plan view. Specifically... Figure 2 The smallest symmetrical region is the area enclosed by the ogad. This smallest symmetrical region can be divided into a first region, a second region, and a third region based on the connection relationship between the canopy, the canopy, and the ropes. The specific division methods of the first, second, and third regions will be described in detail later in this invention.

[0024] S102, determine the dimensions of the first region, the second region, and the third region, and determine the folding height of the square folding parachute based on the folding shape of the square parachute and the dimensions of the first region, and determine the first folding surface, the second folding surface, and the third folding surface based on the dimensions and folding height of the first region, the second region, and the third region.

[0025] In this embodiment of the invention, since the first, second, and third regions are all defined in the unfolded plan view of the square parachute, after folding the square parachute, these three regions need to correspond to three-dimensional folding surfaces. Therefore, it is necessary to first determine the folding height of the square parachute. Specifically, the folding height of the square parachute can be determined based on the dimensions of the first, second, and third regions and the folding shape of the square parachute. The specific calculation process for this folding height will be described in detail later in this invention. After determining the folding height of the square parachute, the first, second, and third folding surfaces are determined based on the dimensions of the first, second, and third regions and the folding height. The specific method for determining the folding surfaces will be described in detail later in this invention.

[0026] S103, perform mirror copying and circumferential rotation operations on the first folded surface, the second folded surface, and the third folded surface to obtain the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface. Then, stitch together the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface to obtain a square falling folded model.

[0027] In this embodiment of the invention, after determining the first folded surface, the second folded surface, and the third folded surface, it is equivalent to determining the smallest symmetrical unit of the square parachute in the folded state. The first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface. Then, all the obtained surfaces are spliced ​​together based on the folded state of the square parachute to obtain the folded model of the square parachute.

[0028] The square parachute modeling and simulation method provided by this invention divides the unfolded planar diagram of the square parachute into regions, determines the minimum symmetrical region, and then models the minimum symmetrical region sequentially. By utilizing the geometric constraints between regions, accurate three-dimensional modeling is achieved. Based on the axial symmetry and central symmetry characteristics of the square parachute, the overall modeling of the square parachute is realized. This provides a method for three-dimensional solid modeling of a folded square parachute, which can accurately establish the structural model of the folded square parachute, accurately grasp the coordinates of each curve after folding, and obtain a three-dimensional solid modeling method for arbitrary curved surfaces of a folded square parachute. The simulation of the opening process of a real square parachute is more accurate.

[0029] In some possible embodiments of the present invention, determining the minimum symmetrical region in the deployment plan of a square parachute includes: Based on the central symmetry and axial symmetry of the unfolded plan view of a square parachute, the minimum symmetry region in the unfolded plan view of the square parachute can be determined. The unfolded plan view can be obtained by performing multiple central and axial symmetries on the minimum symmetry region.

[0030] In embodiments of the present invention, such as Figure 2 As shown, Figure 2 The smallest symmetrical region in the diagram is the area enclosed by the ogad. The first region is defined by the line connecting the center point of the canopy, the center point of the outer edge of the canopy, and the first connection point between the paracord and the outer edge of the canopy in the unfolded plan view. The second region is defined by the line connecting the center point of the canopy, the first connection point between the paracord and the outer edge of the canopy, and the first auxiliary point in the unfolded plan view. The third region is defined by the line connecting the center point of the canopy, the vertex of the canopy, the vertex of the canopy, and the first auxiliary point in the unfolded plan view. The first auxiliary point is the intersection of the extension of the line connecting the center point of the canopy and the second auxiliary point in the smallest symmetrical region with the outer edge of the canopy. The second auxiliary point is the point of tangency on a circle with the center point of the canopy and the distance between the center point of the canopy and the center point of the outer edge of the canopy, passing through the first connection point between the paracord and the outer edge of the canopy. Specifically, as shown... Figure 2 As shown, the smallest symmetrical region in the unfolded plan of the square parachute is divided into the first region (ocd), the second region (obc), and the third region (ofab).

[0031] In some possible embodiments of the present invention, such as Figure 3 As shown, the folding height of the square parachute is determined based on its folding shape and the dimensions of the first region, including: S301, Determine the cross-sectional view of the folded end of the square parachute, and determine the first distance between the center point of the canopy and the midpoint of the outer edge of the canopy in the cross-sectional view; S302, based on the second distance between the center point of the umbrella canopy and the midpoint of the outer edge of the canopy; S303 uses the Pythagorean theorem to calculate the folding height of a square folding umbrella based on the first and second distances.

[0032] In embodiments of the present invention, such as Figure 2 As shown, if we know og (half the side length of the canopy), gd (the height of the canopy when unfolded), ad (half the length of the outer side of the canopy), and ac (the spacing between the canopy lines), and the right-angled triangle region established with cd, od, and co as its sides is the first region, then the dimensions of each line segment in the first region are:

[0033]

[0034] At this time, with Draw a circle with length as the radius and point O as the center, and let... = At this point, ce is tangent to the circle, and the extension of oe intersects ad at point b. The triangular region established with od, dc, and oc as sides is the second region. The dimensions of each line segment in the second region are:

[0035]

[0036]

[0037] The quadrilateral region formed by sides ab, af, of, and ob is the third region. The dimensions of each line segment in the third region are:

[0038]

[0039]

[0040] Furthermore, based on the required precision of the folding opening of a square parachute, a cross-sectional view of the folded opening of the square parachute is determined, such as... Figure 4 As shown, determine based on the closing dimensions. Length, Figure 4 Points d, k, and e in the middle Figure 2 Points d, c, and e coincide. Figure 4 The midline segment kd, ke and Figure 2 The lengths of the midline segments cd and ce are equal, so here we take... Figure 2 In the middle, od is the hypotenuse. Figure 4 The height of the folded canopy can be calculated by taking the right-angled side hd as the base. The calculation formula is:

[0041] In this embodiment of the invention, the folding height of the square parachute is calculated by using the size of the smallest symmetrical region and the folding shape of the square parachute, which facilitates the subsequent determination of the folding surface.

[0042] In some possible embodiments of the present invention, such as Figure 5 As shown, the first folded surface, the second folded surface, and the third folded surface are determined based on the dimensions and folding height of the first region, the second region, and the third region, including: S501, based on the folding state of the square parachute, determine the first reference plane and the second reference plane, and determine the first included angle between the first reference plane and the second reference plane; the first reference plane is the plane where the center point of the outer edge of the parachute canopy, the first connection point between the parachute canopy and the parachute lines and the second auxiliary point are located, and the second reference plane is the plane where the center point of the parachute surface, the center point of the cross-sectional view, the first connection point between the parachute lines and the outer edge of the parachute canopy and the first auxiliary point are located. S502, the first region is projected onto the second reference plane to obtain the first projection region, and the position and size of the first folded surface are determined based on the first projection region and the first included angle; S503, determine the position and size of the second folded surface based on the position and size of the first folded surface and in combination with the size of the second region; S504, based on the interaction between the third region and the first and second regions, the third folded surface is determined according to the first folded surface and the second folded surface.

[0043] In this embodiment of the invention, combined with Figure 4 Establish a reference plane parallel to the positive direction of the top view, with the two planes separated by a height of [missing information]. At this time, the origin of the reference plane is... Figure 2 The midpoint O coincides with the midpoint. Connect ed, intersecting hk at point j, preparing for the subsequent establishment of the first folded surface.

[0044]

[0045]

[0046] Furthermore, since the bottom edges of a square umbrella are not on the same plane after folding, it cannot be directly placed on... Figure 4 Based on, directly build Figure 2 The edges ab, bc, and cd in the middle section have certain angles with the plane at the fold. Furthermore, cd and ce are tangent to the same circle and have equal lengths. Therefore, in modeling the first folded surface, plane cde is first created and designated as the first reference plane. The angle between the first reference plane and the plane containing the fold sketch is then determined, and a second reference plane (ohjk) is created. The first region is then projected onto the second reference plane, as shown below. Figure 6 As shown in the figure, ∠cjk is the angle between the first reference plane and the closing plane. Points j, e, and d coincide, and after projection... , Figure 6 middle and Figure 2 middle Since the lengths are equal, we can conclude that:

[0047]

[0048]

[0049] by Figure 4 The middle ed is the axis, and the angle between it and the closing plane is . Create the first reference plane, such as Figure 7 As shown, let point c be parallel to... Figure 6 The middle point c coincides with the middle point c, and = At this point, the dimensions of the first region after folding are equal to those of the first region when unfolded, meeting the accuracy requirements. A surface lofting command can be used on the first region: Figure 7 In the middle, cd represents the edge line, and... Figure 4 The middle point o is the outline. Figure 6 The OC line serves as a guide line, completing the modeling of the first folded surface, as shown below. Figure 8 As shown.

[0050] Furthermore, during the modeling process for the first folded surface, the position of the straight line ce has been determined, such as... Figure 7 As shown, there is no need to consider the angle between the second folded surface and the closing plane. Using point O and edge ce as conditions, the following is constructed: Figure 9 Where oc is a common edge, and ob, bc and Figure 2 If ob and bc are equal, satisfying the accuracy requirements, and are made planes, the modeling of the second folded surface is completed, as follows. Figure 10 As shown. The method of establishing the third folded surface is similar to that of establishing the first folded surface. The difference is that the first folded surface uses the ec line segment in the second folded surface to determine the angle between it and the closing plane, while the third folded surface is modeled by using the fa' line segment in the surface and the plane.

[0051] Furthermore, such as Figure 11 As shown, the first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface, including: S1101, Determine the positional relationship between the first folding surface, the second folding surface, and the third folding surface based on the folding state of the square parachute; S1102, based on the positional relationship, perform mirror copying and circumferential rotation operations on the first folded surface, the second folded surface and the third folded surface to obtain the first mirror folded surface, the second mirror folded surface and the third mirror folded surface.

[0052] In this embodiment of the invention, after the second folded surface is established, with Figure 4A mirror surface is established between the central hi axis and point o. A mirror command is then applied to the first folded surface and the second folded surface to create the first mirrored folded surface and the second mirrored folded surface.

[0053] Specifically, such as Figure 12 As shown, the midpoint b of the second folded surface and the point b' of the second mirror folded surface are both on the third reference plane. Draw circles with points b and b' as the origins of the arcs, and connect bb' and let... = = mn and bb' intersect at point p. First, find... , , Then, find the angle between the plane containing bb`a and the plane containing bb`n. The calculation process is as follows:

[0054]

[0055]

[0056] After completing the dimension calculations, a fourth reference plane is established using line segment pn and point o, and the Duosi'an region is projected onto the fourth reference plane, as follows. Figure 13 As shown in the figure, points bb and p coincide, pn = pa, of, fa and oa coincide. Figure 2 The dimensions of of, fa, and oa are equal.

[0057] in This is the angle between the plane bb`a and the plane containing bb`n. The fifth reference plane is established by rotating reference plane 5 around bb` as the axis. The positions of ba and b`a are determined on the fourth reference plane. Finally, using line segments ba, b`a, and point o as the contour, and ob, ob`, of, and fa as guide lines, the surface lofting command is used to complete the modeling of the third folded surface and the third mirror folded surface.

[0058] Furthermore, the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface are spliced ​​together to obtain a square landing folded model, including: Based on the relative positions of the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface in the folded state of a square parachute, and splicing the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface according to their relative positions, a folded model of a square parachute is obtained.

[0059] In this embodiment of the invention, the first folded surface, second folded surface, third folded surface, first mirror folded surface, second mirror folded surface, and third mirror folded surface established in the signing embodiment are mirrored and rotated circumferentially to complete the three-dimensional solid modeling of the square umbrella folded body: a reference axis 1 is established with points o and h, and the first folded surface, second folded surface, third folded surface, first mirror folded surface, second mirror folded surface, and third mirror folded surface are rotated circumferentially using the reference axis 1 as the rotation axis, such as... Figure 14 As shown, complete the 3D solid model of the folded square umbrella.

[0060] Furthermore, in this embodiment of the invention, after completing the three-dimensional solid model of the folded square umbrella, an opening simulation is performed based on this model. When the canopy is fully inflated, the top of the canopy is already full. Under the action of the parachute lines, the entire inflated canopy has a shape that is wider at the top and narrower at the bottom. This is mainly because, under the obstruction of the canopy, the parachute acts like a balloon, continuously inflating from below, and then the airflow accumulates inside. This process is simulated and analyzed. The opening process of the canopy is mainly divided into three stages: the initial inflation stage (0.03-0.08 seconds); the main inflation stage (0.08-0.06 seconds); and the stabilization stage (0.06-0.1 seconds). In the initial inflation stage, the leading 1 / 4 area of ​​the canopy first comes into contact with the airflow, and the airflow enters the predetermined inflation channel. At this point, the central area remains folded to buffer the impact load, forming the initial aerodynamic shape and laying the foundation for subsequent rapid inflation. During the main inflation phase, the canopy gradually saturates, the projected area increases exponentially, and the parachute lines begin to adjust their attitude. In the stabilization phase, all air chambers complete inflation, the side exhaust ports enter a dynamic equilibrium state, and the system's oscillation amplitude reaches its minimum, resulting in... Figures 15-17 The result, according to Figures 15-17 As can be seen, the curves showing the speed change during the parachute opening process, the parachute canopy change during the parachute opening process, and the drag change during the parachute opening process are shown respectively. The square parachute folding three-dimensional solid model provided by the present invention has a short opening time, a fast parachute canopy unfolding speed, and a rapid increase in drag provided by the parachute. After the parachute is fully opened, the drag provided by the parachute is relatively gentle, which can provide better landing protection for drones.

[0061] To better implement the square parachute modeling and simulation method in this embodiment of the invention, based on the square parachute modeling and simulation method, correspondingly, as follows: Figure 18 As shown, this embodiment of the invention also provides a square parachute modeling and simulation device, the square parachute modeling and simulation device 1800 comprising: The region division module 1801 is used to determine the minimum symmetrical region in the deployment plan of the square parachute, and divide the minimum symmetrical region into a first region, a second region and a third region based on the connection relationship between the canopy, canopy and parachute lines in the minimum symmetrical region. The folding surface determination module 1802 is used to determine the dimensions of the first region, the second region, and the third region, and to determine the folding height of the square folding parachute based on the folding shape of the square parachute and the dimensions of the first region, and to determine the first folding surface, the second folding surface, and the third folding surface based on the dimensions and folding height of the first region, the second region, and the third region. The surface splicing module 1803 is used to perform mirror copying and circumferential rotation operations on the first folded surface, the second folded surface, and the third folded surface to obtain the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface. The first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface are spliced ​​together to obtain a square falling folded model.

[0062] The square parachute modeling and simulation device 1800 provided in the above embodiments can realize the technical solutions described in the above square parachute modeling and simulation method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above square parachute modeling and simulation method embodiments, which will not be repeated here.

[0063] like Figure 19 As shown, the present invention also provides an electronic device 1900. The electronic device 1900 includes a processor 1901, a memory 1902, and a display 1903. Figure 19 Only some components of the electronic device 1900 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0064] In some embodiments, processor 1901 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 1902 or process data, such as the square parachute modeling and simulation method of the present invention.

[0065] In some embodiments, processor 1901 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 1901 may be local or remote. In some embodiments, processor 1901 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.

[0066] In some embodiments, memory 1902 may be an internal storage unit of electronic device 1900, such as a hard disk or memory of electronic device 1900. In other embodiments, memory 1902 may also be an external storage device of electronic device 1900, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on electronic device 1900.

[0067] Furthermore, the memory 1902 may include both internal storage units of the electronic device 1900 and external storage devices. The memory 1902 is used to store application software and various types of data installed on the electronic device 1900.

[0068] In some embodiments, display 1903 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 1903 is used to display information from electronic device 1900 and to display a visual user interface. Components 1901-1903 of electronic device 1900 communicate with each other via a system bus.

[0069] In some embodiments, when processor 1901 executes a square parachute modeling program in memory 1902, the following steps may be performed: Determine the minimum symmetric region in the deployment plan of the square parachute, and divide the minimum symmetric region into a first region, a second region, and a third region based on the connection relationship between the canopy, parachute canopy, and parachute lines within the minimum symmetric region. The dimensions of the first region, the second region, and the third region are determined. Based on the folding shape of the square parachute and the dimensions of the first region, the folding height of the square folding parachute is determined. Based on the dimensions of the first region, the second region, and the third region and the folding height, the first folding surface, the second folding surface, and the third folding surface are determined. The first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface. The first folded surface, the second folded surface, the third folded surface, the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface are then spliced ​​together to obtain a square falling folded model.

[0070] It should be understood that when the processor 1901 executes the square parachute modeling program in the memory 1902, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0071] Furthermore, this embodiment of the invention does not specifically limit the type of the electronic device 1900 mentioned. The electronic device 1900 can be a mobile phone, tablet computer, personal digital assistant (PDA), or other electronic devices. Exemplary embodiments of the electronic device include, but are not limited to, electronic devices running iOS, Android, Microsoft, or other operating systems.

[0072] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the square parachute modeling and simulation methods provided in the above-described method embodiments.

[0073] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0074] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for modeling and simulating a square parachute, characterized in that, include: Determine the smallest symmetrical region in the deployment plan of the square parachute, and divide the smallest symmetrical region into a first region, a second region, and a third region based on the connection relationship between the canopy, parachute canopy, and parachute lines in the smallest symmetrical region; The dimensions of the first region, the second region, and the third region are determined, and the folding height of the square folding parachute is determined based on the folding shape of the square parachute and the dimensions of the first region. The first folding surface, the second folding surface, and the third folding surface are determined based on the dimensions of the first region, the second region, and the third region and the folding height. The first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface. The first folded surface, the second folded surface, the third folded surface, the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface are then spliced ​​together to obtain a square falling folded model.

2. The square parachute modeling and simulation method according to claim 1, characterized in that, Determining the minimum symmetrical region in the deployment plan of the square parachute includes: Based on the central symmetry and axial symmetry of the unfolded plan view of the square parachute, the minimum symmetry region in the unfolded plan view of the square parachute is determined. The unfolded plan view can be obtained by performing multiple central and axial symmetries on the minimum symmetry region.

3. The square parachute modeling and simulation method according to claim 1, characterized in that, The first region is the area defined by the line connecting the center point of the umbrella surface, the center point of the outer edge of the umbrella canopy, and the first connection point between the umbrella cord and the outer edge of the umbrella canopy in the unfolded plan view. The second region is the area defined by the line connecting the center point of the umbrella surface, the first connection point between the umbrella cord and the outer edge of the umbrella canopy, and the first auxiliary point in the unfolded plan view. The third region is the area defined by the line connecting the center point of the umbrella surface, the vertex of the umbrella surface, the vertex of the umbrella canopy, and the first auxiliary point in the unfolded plan view. The first auxiliary point is the intersection of the extension of the line connecting the center point of the umbrella surface and the second auxiliary point in the minimum symmetry region with the outer edge of the umbrella canopy. The second auxiliary point is the point of tangency on a circle with the center point of the umbrella surface as the center and the distance between the center point of the umbrella surface and the center point of the outer edge of the umbrella canopy as the radius, passing through the first connection point between the umbrella cord and the outer edge of the umbrella canopy.

4. The square parachute modeling and simulation method according to claim 3, characterized in that, Determining the folding height of the square parachute based on its folding shape and the dimensions of the first region includes: Determine a cross-sectional view of the folded opening of the square parachute, and determine the first distance between the center point of the canopy and the midpoint of the outer edge of the canopy in the cross-sectional view; Based on the second distance between the center point of the umbrella surface and the midpoint of the outer edge of the umbrella canopy; The folding height of the square folding umbrella is calculated using the Pythagorean theorem based on the first distance and the second distance.

5. The square parachute modeling and simulation method according to claim 4, characterized in that, The determination of the first folded surface, the second folded surface, and the third folded surface based on the dimensions of the first region, the second region, and the third region and the folding height includes: Based on the folded state of the square parachute, a first reference plane and a second reference plane are determined, and a first included angle between the first reference plane and the second reference plane is determined; the first reference plane is the plane containing the center point of the outer edge of the parachute canopy, the first connection point between the parachute canopy and the parachute lines, and the second auxiliary point; the second reference plane is the plane containing the center point of the parachute surface, the center point of the cross-sectional view, the first connection point between the parachute lines and the outer edge of the parachute canopy, and the first auxiliary point. The first region is projected onto the second reference plane to obtain the first projection region. The position and size of the first folded surface are determined based on the first projection region and the first included angle. The position and size of the second folded surface are determined based on the position and size of the first folded surface and in combination with the size of the second region; Based on the interaction between the third region and the first and second regions, the third folded surface is determined according to the first folded surface and the second folded surface.

6. The square parachute modeling and simulation method according to claim 5, characterized in that, The step of mirroring and rotating the first, second, and third folded surfaces to obtain the first, second, and third mirrored folded surfaces includes: The positional relationship between the first folding surface, the second folding surface, and the third folding surface is determined based on the folding state of the square parachute. Based on the positional relationship, the first folded surface, the second folded surface, and the third folded surface are mirrored and rotated circumferentially to obtain the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface.

7. The square parachute modeling and simulation method according to claim 6, characterized in that, The step of splicing together the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface to obtain a square landing folded model includes: Based on the relative positions of the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface in the folded state of the square parachute, and splicing the first folded surface, the second folded surface, the third folded surface, the first mirror folded surface, the second mirror folded surface, and the third mirror folded surface according to the relative positions, a folded model of the square parachute is obtained.

8. A square parachute modeling and simulation device, characterized in that, include: The region division module is used to determine the smallest symmetrical region in the unfolded plan of the square parachute, and divide the smallest symmetrical region into a first region, a second region, and a third region based on the connection relationship between the canopy, canopy and parachute lines in the smallest symmetrical region. The folding surface determination module is used to determine the dimensions of the first region, the second region, and the third region, and to determine the folding height of the square folding parachute based on the folding shape of the square parachute and the dimensions of the first region, and to determine the first folding surface, the second folding surface, and the third folding surface based on the dimensions of the first region, the second region, and the third region and the folding height. The surface splicing module is used to mirror and rotate the first, second, and third folded surfaces to obtain a first mirrored folded surface, a second mirrored folded surface, and a third mirrored folded surface. The first, second, and third folded surfaces, the first mirrored folded surface, the second mirrored folded surface, and the third mirrored folded surface are then spliced ​​together to obtain a square-shaped folded model.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the square parachute modeling and simulation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the square parachute modeling and simulation method according to any one of claims 1 to 7.

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