An emergency landing blocking method and device for a fixed-wing unmanned aerial vehicle

Abstract

The application provides an emergency landing blocking method and device for a fixed-wing unmanned aerial vehicle, effectively solves the problem of poor blocking effect of the blocking technology of the fusion flexible blocking net and the electromagnetic brake, which leads to serious threat to landing safety. The method comprises the following steps: an intelligent cooperative control unit generates an emergency starting instruction to an executing mechanism according to a plurality of flight state signals of the fixed-wing unmanned aerial vehicle monitored by a state sensing module in real time; the executing mechanism executes a blocking strategy to block the fixed-wing unmanned aerial vehicle; a blocking signal of the executing mechanism in the blocking process and a landing signal of the fixed-wing unmanned aerial vehicle in the emergency landing process are acquired in real time, and the intelligent cooperative control unit generates an adjustment instruction in real time; the state data of the fixed-wing unmanned aerial vehicle after the executing mechanism executes the adjustment instruction are monitored in real time, it is determined that the emergency landing blocking is completed, and a reset operation is performed.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) take-off and landing device technology, and more specifically, to a method and device for preventing emergency landing of a fixed-wing UAV. Background Technology

[0002] With the rapid development of logistics automation and unmanned technology, fixed-wing drones have become an important part of the modern air cargo system for transporting cargo with extremely large payloads, such as tons. Unlike small drones, fixed-wing drones are characterized by large payloads, strong inertia, and high cargo value, which poses unprecedented challenges to takeoff and landing, especially safe recovery in emergency situations. Their takeoff and landing safety assurance technology has become one of the key bottlenecks restricting the large-scale application of this field.

[0003] Currently, drone recovery technologies are mainly divided into two categories: "runway-based recovery" and "arresting recovery." For heavy-load fixed-wing drones, conventional runway-based recovery requires extremely long runways, places stringent demands on site conditions, and is almost impossible to implement in the event of sudden malfunctions such as engine failure. Therefore, active arresting recovery has become a key technological direction for ensuring their safety. Existing arresting technologies have evolved from simple physical arresting nets to complex systems that combine energy dissipation and buffering designs. For example, recovery mechanisms combining elastic arresting nets and electromagnetic brakes, as well as arresting systems integrating electromagnetic technology and energy recovery functions, have emerged. These technologies represent the mainstream trend in the field of safe drone recovery towards intelligence and efficiency.

[0004] Chinese Patent Publication No. CN118457974A discloses a drone interception system and its operating method based on electromagnetic technology and energy recovery technology. The drone interception system includes an energy dissipation system and an energy recovery system. The energy dissipation system is connected to the arresting cable used to pull the drone. This system can use stored energy for the automatic reset of the arresting system, improving energy utilization efficiency during drone recovery and providing a new approach for intelligent drone recovery systems. This composite design of "net + electromagnetic" represents an advanced approach in the field, attempting to combine the buffering advantages of the target interception net with the controllable deceleration advantages of electromagnetic braking to address the shortcomings of single methods. However, in-depth analysis reveals that these existing technical solutions are mainly designed for small and medium-sized drones, typically with a weight range of 5-20 kg.

[0005] When applied to the specific scenario of ton-class fixed-wing UAVs, it suffers from insufficient load-bearing capacity and buffer design, making it unable to adapt to the impact of ton-class heavy loads. It also fails to fully consider the differentiated deceleration requirements of ton-class UAVs under different dynamic changes in landing speed, attitude, and load. Using fixed damping parameters or simple braking logic may lead to excessive deceleration and damage to the airframe under light loads, or insufficient braking force under heavy loads, causing it to overshoot the arresting zone. This "one-size-fits-all" control method cannot accurately stabilize the impact overload within the safe range that the airframe and cargo can withstand, seriously threatening the safety of forced landing and exposing a series of technical problems that urgently need to be solved. Summary of the Invention

[0006] In view of this, the purpose of this application is to provide an emergency landing arresting method and device for fixed-wing UAVs, which effectively solves the problem of poor arresting effect caused by the combination of the buffering advantages of flexible arresting nets and electromagnetic braking arresting technology when arresting fixed-wing UAVs, resulting in a serious threat to the safety of emergency landing.

[0007] In a first aspect, embodiments of this application provide an emergency landing arresting method for a fixed-wing unmanned aerial vehicle (UAV), applied to an emergency system. The emergency system includes a status perception module, an intelligent collaborative control unit, and an actuator. The method includes: The intelligent collaborative control unit determines that the fixed-wing UAV is in an emergency state based on the various flight status signals monitored in real time by the status perception module, and generates an emergency activation command to the actuator; the emergency activation command includes an interception strategy. Based on the emergency activation command, the actuator enters the target state to execute the blocking strategy to block the fixed-wing UAV in the target state; The intelligent collaborative control unit acquires the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process in real time, and generates adjustment commands in real time. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation based on the real-time status data of the fixed-wing UAV after the actuator executes the adjustment command, which is monitored in real time by the status perception module.

[0008] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein the intelligent collaborative control unit generates adjustment instructions in real time, including: Based on the target barrier net and emergency electromagnetic deceleration module included in the actuator, set the corresponding adjustment method; Based on the aforementioned adjustment method, the generated adjustment instructions include attitude compensation instructions for the target barrier net and current adjustment instructions for the emergency electromagnetic deceleration module.

[0009] In conjunction with the first aspect, embodiments of this application provide a second possible implementation of the first aspect, wherein generating the adjustment command includes attitude compensation commands for the target blocking net, comprising: The stretching feedback coefficient of the target barrier net and the deviation between the real-time deceleration acceleration of the fixed-wing UAV and the preset acceleration setting value are obtained. Based on the target control algorithm, the current adjustment command is obtained by processing the stretching feedback coefficient and the deviation.

[0010] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein generating the adjustment command includes a current adjustment command for the emergency electromagnetic deceleration module, comprising: Based on the attitude deviation, wingspan, and actual height of the target blocking net of the fixed-wing UAV, calculate the pitch angle compensation and roll angle compensation of the net frame. The pitch and roll compensation values ​​are used to synthesize a spatial angle vector to generate the attitude compensation command.

[0011] In conjunction with the first aspect, this application provides a fourth possible implementation of the first aspect, wherein executing the blocking strategy to block the fixed-wing UAV in the target state includes: If the fixed-wing UAV crashes into the target barrier net, the net body is stretched, and the buffer ropes and hydraulic dampers at the edge of the net body provide an initial buffer force proportional to the stretching speed of the net body. The conductive damping plate connected to the target blocking net is driven to cut into the permanent magnet array of the emergency electromagnetic deceleration module, generating an electromagnetic damping force opposite to the direction of movement of the fixed-wing UAV to block the fixed-wing UAV.

[0012] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein, based on the emergency activation command, the actuator enters the target state, including: Based on the target flight status signal of the fixed-wing UAV, the initial current value and initial excitation parameters are determined from the pre-stored arresting force parameter library using bilinear interpolation. Based on the initial current value and initial excitation parameters, configure the electrical parameters of the emergency electromagnetic deceleration module to enter the target state.

[0013] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein, after configuring the electrical parameters of the emergency electromagnetic deceleration module to enter the target state, it further includes: The target blocking net is converted into a target structure, and the predicted landing point of the fixed-wing UAV and the preset geographical coordinates of the target blocking net are obtained. Based on the predicted landing point and the preset geographical coordinates, the target angle data is calculated so that the target barrier net enters the target state.

[0014] In conjunction with the first aspect, this application provides a seventh possible implementation of the first aspect, wherein the emergency system further includes a conventional cable-stayed arresting module; The generation of emergency activation instructions to the actuator includes: The intelligent collaborative control unit obtains the working status signal of the conventional cable-stayed barrier module in real time through the linkage adaptation module. Based on the operating status signal, generate the emergency start command or send the suppression command to the conventional cable-stayed blocking module.

[0015] In conjunction with the first aspect, this application provides an eighth possible implementation of the first aspect, wherein the execution of the reset operation includes: According to the target reset sequence, reset commands are sent to the emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module in the target reset sequence. The emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module are controlled to execute reset commands and start self-test programs to restore them to the pre-standby state.

[0016] Secondly, embodiments of this application provide an emergency landing arresting device for a fixed-wing unmanned aerial vehicle (UAV), applied to an emergency system. The emergency system includes a status perception module, an intelligent collaborative control unit, and an actuator. The device includes: The generation module is used by the intelligent collaborative control unit to determine that the fixed-wing UAV is in an emergency state based on the various flight status signals of the fixed-wing UAV monitored in real time by the state perception module, and to generate an emergency start command to the execution mechanism; the emergency start command includes a blocking strategy. The entry module is used to enable the actuator to enter the target state based on the emergency activation command, so as to execute the blocking strategy to block the fixed-wing UAV in the target state; The acquisition module is used to acquire in real time the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process; the intelligent collaborative control unit generates adjustment commands in real time. The monitoring module is used to monitor the status data of the fixed-wing UAV after the actuator executes the adjustment command, which is obtained in real time through the status perception module. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation.

[0017] This application provides an emergency landing interception method for a fixed-wing UAV, applied to an emergency system. The emergency system includes a state perception module, an intelligent collaborative control unit, and an execution mechanism. The method first involves the intelligent collaborative control unit determining that the fixed-wing UAV is in an emergency state based on various flight state signals monitored in real-time by the state perception module, and generating an emergency activation command to the execution mechanism. The emergency activation command includes an interception strategy. Secondly, based on the emergency activation command, the execution mechanism enters a target state to execute the interception strategy to intercept the fixed-wing UAV. Then, the interception signal from the execution mechanism during the interception process and the landing signal from the fixed-wing UAV during the emergency landing process are acquired in real-time, and the intelligent collaborative control unit generates an adjustment command in real-time. Finally, based on the state data of the fixed-wing UAV after the execution mechanism executes the adjustment command, monitored in real-time by the state perception module, the intelligent collaborative control unit determines that the emergency landing interception is complete and performs a reset operation. Based on the above methods, this application significantly improves the success rate and reliability of intercepting fixed-wing UAVs, creating prerequisites for effective buffer deceleration. It also effectively eliminates interference from single sensor failures or non-emergency situations, ensuring that the emergency system is activated only when truly necessary and critical. This guarantees the accuracy and safety of the system response from the decision-making source, laying a reliable foundation for subsequent rapid and precise handling. It changes the "one-size-fits-all" mode of fixed damping or single feedback control, realizing personalized, adaptive, and precise control of impact overload for ton-class UAVs under different load and speed combinations. It can stabilize the deceleration acceleration in real time within the preset safety threshold range, thereby maximizing the protection of the UAV's structural integrity and the safety of the cargo inside the cabin while ensuring effective braking. This solves the core contradiction between "being able to stop" and "not causing damage" in heavy-load emergency interception. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This paper presents a schematic flowchart of an emergency landing arresting method for a fixed-wing unmanned aerial vehicle (UAV) according to an embodiment of this application. Figure 2 This paper illustrates another flowchart of an emergency landing arresting method for a fixed-wing unmanned aerial vehicle provided in an embodiment of this application. Figure 3 This paper shows an overall structural block diagram of the emergency system provided in an embodiment of this application; Figure 4 This paper illustrates a block diagram of the data flow for the collaborative hardware and software of an emergency system provided in an embodiment of this application. Figure 5 A flowchart of the emergency system self-test provided in an embodiment of this application is shown; Figure 6 A structural block diagram of an emergency landing arresting device for a fixed-wing unmanned aerial vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0023] When the buffering advantages of flexible arresting nets and electromagnetic braking arresting technology are applied to the specific scenario of ton-class fixed-wing UAVs, there are shortcomings such as insufficient load-bearing capacity and buffering design, inability to adapt to the impact of ton-class heavy loads, and failure to fully consider the differentiated deceleration requirements of ton-class UAVs under different dynamic changes in landing speed, attitude, and load. Using fixed damping parameters or simple braking logic may lead to excessive deceleration and damage to the airframe under light loads, or insufficient braking force under heavy loads, causing the UAV to run out of the arresting zone. This "one-size-fits-all" control method cannot accurately stabilize the impact overload within the safe range that the airframe and cargo can withstand, seriously threatening the safety of forced landing and exposing a series of technical problems that urgently need to be solved.

[0024] Based on this, this application provides a method and apparatus for preventing emergency landing of a fixed-wing unmanned aerial vehicle, which will be described below through embodiments.

[0025] Example 1 To facilitate understanding of this embodiment, a detailed description of the emergency landing arresting method for a fixed-wing unmanned aerial vehicle disclosed in this application embodiment will be provided first. For example... Figure 1 The diagram shown is a flowchart of an emergency landing arresting method for a fixed-wing unmanned aerial vehicle (UAV). Figure 2 The diagram shows another flowchart of an emergency landing arresting method for a fixed-wing UAV. This application provides an emergency landing arresting method for a fixed-wing UAV, applied to an emergency system. The emergency system includes a status perception module, an intelligent collaborative control unit, and an actuator. The method includes: S101, the intelligent collaborative control unit determines that the fixed-wing UAV is in an emergency state based on the various flight status signals of the fixed-wing UAV monitored in real time by the status perception module, and generates an emergency start command to the execution mechanism; the emergency start command includes a blocking strategy; S102. Based on the emergency activation command, the actuator enters the target state to execute the blocking strategy to block the fixed-wing UAV in the target state; S103. The intelligent collaborative control unit acquires the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process in real time, and generates adjustment instructions in real time. S104. The fixed-wing UAV is monitored in real time by the state perception module after the actuator executes the adjustment command. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation.

[0026] In this application, the emergency system is as follows: Figure 3As shown, the device includes a status perception module, an intelligent collaborative control unit, and an actuator, as well as a conventional zipper barrier module, which is also a conventional zipper barrier device. It is connected through a linkage adaptation module included in the actuator. The intelligent collaborative control unit includes a memory, an embedded processor, and a communication interface connected to the status perception module. The intelligent collaborative control unit is connected through the embedded processor to the target barrier net (i.e., the rapidly deployable target barrier net), the linkage adaptation module, and the emergency electromagnetic deceleration module included in the actuator.

[0027] In this application, the emergency system also includes, Figure 4 As shown, it has a hardware layer, a middleware layer, a decision layer and an application layer, each with corresponding devices or modules to support the implementation of the method provided in this application.

[0028] In step S101, the state perception module monitors various flight status signals of the fixed-wing UAV in real time based on its included airborne sensors, ground radar module, visual tracking module, and site environment sensor. Specifically, these signals include engine operating status signals such as engine speed signals. Connection status signal between conventional barrier hook and barrier cable Flight speed signal Flight attitude signals, payload signals, and real-time position information signals such as real-time altitude data provided by the ground radar positioning module. The intelligent collaborative control unit receives various flight status signals of the fixed-wing UAV monitored in real time by the status perception module through the communication interface, and calls the emergency judgment program and engine shutdown threshold stored in the first memory. Lagou connection failure threshold Re-flight speed threshold and the go-around altitude threshold Then, the intelligent collaborative control unit executes the emergency judgment program based on the embedded processor, and receives the engine speed signal. and N _eth Compare and check the hook connection status signal. and Compare the flight speed signals and Compare the height data from the real-time location information. and Comparison, when , Indicates disconnection, and When all four conditions are met simultaneously, the intelligent collaborative control unit determines, based on the embedded processor, that the fixed-wing UAV is in an emergency state and requires an emergency landing, and generates an emergency activation command to the execution mechanism. The emergency activation command includes an arresting strategy. The arresting strategy is transmitted to the execution mechanism, which contains multiple sub-mechanisms, specifically a target arresting net and an emergency electromagnetic deceleration module. The arresting strategy has corresponding sub-strategies for each sub-mechanism. , Indicates not disconnected. and If none of the four conditions are met simultaneously, then it is acceptable to maintain the standard blocking mode.

[0029] The status perception module includes an airborne sensor submodule and a ground-based sensor submodule. The airborne sensor submodule includes an engine speed sensor, a hook connection status sensor, a pitot tube, an inertial measurement unit, and a load sensor. The engine speed sensor is installed at the crankshaft of the UAV engine and is used to measure the engine speed. The hook connection status sensor is a microswitch or Hall sensor installed inside the barrier hook, used to detect the physical connection status between the hook and the barrier cable. The pitot tube is mounted on the nose or wing of the UAV and is used to measure flight speed. The inertial measurement unit is installed near the center of gravity of the UAV and is used to measure attitude angles. , , The load sensor is installed at the connection structure between the UAV cargo compartment and the fuselage, and is used to measure the load. The ground sensing submodule includes a radar positioning module and a visual tracking module. The radar positioning module is located to the side of the takeoff and landing field. It calculates the real-time position coordinates of the UAV by emitting electromagnetic waves and receiving the echoes. and predicted landing point The visual tracking module includes at least two high-speed cameras, which are arranged at different locations on the take-off and landing field. The camera uses image recognition and triangulation to assist in obtaining the position and attitude information of the UAV. All sensor signals are transmitted to the intelligent collaborative control unit through the airborne data link and the ground data receiving station.

[0030] In the specific implementation of step S101, another embodiment is as follows: the emergency system also includes a conventional cable-stayed barrier module; The generation of emergency activation instructions to the actuator includes: S1011, The intelligent collaborative control unit obtains the working status signal of the conventional cable-stayed barrier module in real time through the linkage adaptation module; S1012. Based on the working status signal, generate the emergency start command or send the suppression command to the conventional cable blocking module.

[0031] In steps S1011-S1012, the intelligent collaborative control unit interacts with the conventional cable-stayed arresting module in real time through the linkage adaptation module. The conventional cable-stayed arresting module is used to implement a conventional cable-stayed arresting mode for fixed-wing UAVs. The linkage adaptation module obtains the operational status signal of the conventional cable-stayed arresting module in real time. The Includes a connection validity indicator for the hook and the arresting cable, as well as the tension status of the arresting cable; the embedded processor, when executing the emergency judgment program, will... As one of the input parameters; when the decision logic requires the emergency mode to be activated and When the conventional barrier connection is valid, the embedded processor, while generating the emergency start command, simultaneously sends a suppression command to the conventional cable barrier module through the linkage adapter module. This suppression command causes the hydraulic braking system of the conventional barrier device to enter a holding state, pausing further tensioning of the barrier cable; when If the conventional blocking connection has failed, the emergency start command will be generated directly.

[0032] In step S102, the intelligent collaborative control unit sends a start command to the actuator based on the emergency start command generated by the embedded processor, causing the actuator to enter the target state. The emergency start command includes a first command and a second command. The actuator includes a target barrier net and an emergency electromagnetic deceleration module. The target barrier net is a rapidly deployable target barrier net. The first command is sent to the drive mechanism of the target barrier net via a first control bus. The drive mechanism is a hydraulic or pneumatic drive mechanism, internally equipped with a pressure sensor and a position sensor. The second command is sent to the current regulation unit of the emergency electromagnetic deceleration module via a power bus. The collision of a fixed-wing UAV with the net is an instantaneous event. The electromagnetic damping force must be generated immediately after the impact to achieve effective buffering. If the electromagnetic system is powered on and parameters are configured only after the UAV hits the net, a fatal delay will occur, resulting in insufficient initial deceleration. Therefore, the first and second commands are not sent simultaneously, but in the order of faster electrical response and slower mechanical response, with electrical response waiting. Thus, the emergency electromagnetic deceleration module is first put into a ready state, and then the target blocking net is put into a ready state. The target state is the ready state. In the target state, the blocking strategy is executed on the fixed-wing UAV that needs to be blocked in an emergency to block the fixed-wing UAV, thereby achieving precise blocking of the fixed-wing UAV.

[0033] In a specific implementation of step S102, one embodiment is as follows: based on the emergency activation command, the actuator enters the target state, including: A1. Based on the target flight status signal of the fixed-wing UAV, the initial current value and initial excitation parameters are determined from the pre-stored arresting force parameter library using the bilinear interpolation method. A2. Based on the initial current value and initial excitation parameters, configure the electrical parameters of the emergency electromagnetic deceleration module to enter the target state.

[0034] In steps A1-A2, the emergency activation command, including the second command, is sent to the current regulation unit of the emergency electromagnetic deceleration module via the power bus. The second memory of the intelligent collaborative control unit pre-stores a blocking force parameter library, based on the real-time load signal included in the target flight status signal detected by the fixed-wing UAV's state perception module. and flight speed signal This parameter library contains multiple sets of parameters for different load capacities. and speed Corresponding electromagnetic damping force reference value Initial current value and the initial excitation parameters of the permanent magnet array The embedded processor, based on the real-time load signal and flight speed signal The initial electromagnetic damping force value was calculated from the parameter library using bilinear interpolation. Initial current value and initial excitation parameters and will and The data is sent to the current regulating unit; the current regulating unit, according to... and Configure the electrical parameters of the emergency electromagnetic deceleration module to bring it into a ready state, i.e., the target state. The electromagnetic damping force is a dynamically adjustable main braking force. It must be initialized before a collision occurs, ready to start from I0 and adjust in real time according to the PID algorithm. This is an advanced control strategy with a preset reference point and ready for fine-tuning.

[0035] The emergency electromagnetic deceleration module includes a permanent magnet array, a resistive damping plate, a flexible connector, and a current adjustment unit. The permanent magnet array consists of multiple neodymium iron boron permanent magnets arranged with alternating N and S poles fixed on a non-magnetic base, forming a magnetic field region of a preset length. The resistive damping plate is a highly conductive copper alloy plate, connected to the central area of ​​the back of the target barrier net via the flexible connector. The flexible connector consists of multiple Kevlar ropes. The current adjustment unit is a controllable DC power supply, with its positive and negative terminals electrically connected to both ends of the resistive damping plate via sliding brushes or flexible cables. The embedded processor issues current commands. or The current is received by the current regulating unit and converted into a corresponding output current applied to the conductive damping plate.

[0036] The method for constructing the arresting force parameter library is as follows: for each type of fixed-wing UAV that needs to be adapted, under different payloads... and different landing speeds In combination, multiple ground-based dynamic arresting tests were conducted, using force sensors to measure the safe deceleration distance of the drone. Average electromagnetic damping force required for smooth internal stopping And record the optimal output current of the current regulation unit at this time. Excitation parameters of permanent magnet array ; Put all experimental data into The blocking force parameter library is formed by storing the parameters in the second memory of the intelligent collaborative control unit; the safe deceleration distance Determined based on the available length of the takeoff and landing field, and satisfying the following conditions: .

[0037] In a specific implementation of step A2, one embodiment includes: after configuring the electrical parameters of the emergency electromagnetic deceleration module to enter the target state, the following is also included: A21. Control the target blocking net to convert it into a target structure, and obtain the predicted landing point of the fixed-wing UAV and the preset geographical coordinates of the target blocking net; A22. Calculate the target angle data based on the predicted landing point and the preset geographical coordinates so that the target blocking net enters the target state.

[0038] In steps A21-A22, after the emergency electromagnetic deceleration module enters the ready state, the target barrier net also needs to immediately enter the ready state. The first command is then sent to the drive mechanism of the rapidly deployable target barrier net via the first control bus. The drive mechanism is either a hydraulic or pneumatic drive mechanism, and it is equipped with a pressure sensor and a position sensor. Upon receiving the first command, the hydraulic pump or pneumatic compressor of the drive mechanism establishes the rated drive pressure within 50 milliseconds. This drives the piston or cylinder to move, which in turn rotates the unfolding arm equipped with the target barrier net via a linkage mechanism, causing the target barrier net to unfold from a folded and compressed state into a planar barrier structure, i.e., the target structure, within 3 to 5 seconds; simultaneously, the intelligent collaborative control unit uses the UAV's predicted landing point information provided by the ground radar positioning module. The azimuth angle of the normal vector of the barrier surface is calculated based on the preset geographical coordinates of the target barrier net. and pitch angle An angle control command is generated and sent to the drive mechanism via a second control bus. The drive mechanism adjusts the azimuth and pitch of the deployable arm according to the command, so that the normal vector of the blocking surface formed by the deployed target blocking net is aligned with the predicted landing point. This achieves the effect of the target barrier net entering the ready state, i.e., the target state.

[0039] The target barrier net includes a net body, an unfolding mechanism, a vertical net frame, and a buffer assembly. The net body is woven from high-strength ultra-high molecular weight polyethylene fiber, is rectangular, and is pre-folded into a Z-shape and stored at the bottom of the vertical net frame. The unfolding mechanism includes a drive mechanism, an unfolding arm, and a connecting rod. The drive mechanism is fixed to a ground base, and its output end is hinged to the unfolding arm through the connecting rod. There are two vertical net frames, symmetrically arranged on both sides of the barrier area. Each vertical net frame has a hinged support for the unfolding arm at its top. When the drive mechanism is activated, it pushes the connecting rod, causing the unfolding arm to rotate around the hinged support from a horizontal storage position to a vertical working position, thereby stretching the net body from a folded state to a flat surface. The buffer assembly includes a buffer rope sewn to the edge of the net body and a hydraulic damper connected in series at the end of the buffer rope. The hydraulic damper is fixed to the vertical net frame.

[0040] In the specific implementation of step S102, another embodiment is as follows: The blocking strategy is executed in the target state to block the fixed-wing UAV, including: B1. If the fixed-wing UAV crashes into the target barrier net, the net body is stretched, and the buffer ropes and hydraulic dampers at the edge of the net body provide an initial buffer force proportional to the stretching speed of the net body. B2. The conductive damping plate connected to the target blocking net is driven to cut into the permanent magnet array of the emergency electromagnetic deceleration module, generating an electromagnetic damping force opposite to the direction of movement of the fixed-wing UAV to block the fixed-wing UAV.

[0041] In steps B1-B2, if the fixed-wing UAV collides with the target barrier net, the high-strength flexible fiber material of the target barrier net is stretched, thereby deforming to initially absorb the impact kinetic energy. The buffer ropes and hydraulic dampers at the edge of the net provide the stretching speed of the net. Proportional initial buffer force ,satisfy ,in This is the damper coefficient; simultaneously, the conductive damping plate, connected to the target barrier net via a flexible connector, is driven to cut into the permanent magnet array of the emergency electromagnetic deceleration module (the initial buffer force causes the net to start moving, thereby pulling the conductive damping plate into the magnetic field), generating an electromagnetic damping force opposite to the direction of motion of the fixed-wing UAV. This achieves secondary deceleration, meaning that a dual deceleration parallel period is entered at this time. The target blocking net continues to provide buffering force based on material deformation and hydraulic damping, while the electromagnetic module provides intelligently adjustable main braking force based on electromagnetic induction to block the fixed-wing UAV from emergency landing in real time. Thus, the physical contact and buffering of the target blocking net are achieved first, followed by the electromagnetic braking of the emergency electromagnetic deceleration module and continuous adjustment.

[0042] In step S103, during the blocking process of the actuator, the state perception module acquires in real time the blocking signal of the actuator during the blocking process and the landing signal of the fixed-wing UAV during the emergency landing process. The blocking signal includes the stretching signal of the target blocking net. The forced landing signal includes the deceleration and acceleration signals of the fixed-wing UAV. Attitude offset signal The status perception module will then feed back the signals collected in real time to the intelligent collaborative control unit. The intelligent collaborative control unit will generate adjustment commands in real time based on the blocking signal and the forced landing signal. These adjustment commands will target the blocking net and the emergency electromagnetic deceleration module, thereby achieving more precise and effective blocking.

[0043] In a specific implementation of step S103, one embodiment is as follows: the intelligent collaborative control unit generates adjustment instructions in real time, including: S1031. Based on the target barrier net and emergency electromagnetic deceleration module included in the actuator, set the corresponding adjustment method; S1032. Based on the adjustment method, generate the adjustment instructions, including attitude compensation instructions for the target barrier net and current adjustment instructions for the emergency electromagnetic deceleration module.

[0044] In steps S1031-S1032, since the actuator of this application includes a target blocking net and an emergency electromagnetic deceleration module, corresponding adjustment methods are set according to the target blocking net and the emergency electromagnetic deceleration module included in the actuator; that is, the adjustment methods of the two are not entirely the same, so more targeted and accurate adjustments are needed. The adjustment instructions include attitude compensation instructions for the target blocking net and current adjustment instructions for the emergency electromagnetic deceleration module, so that the target blocking net and the emergency electromagnetic deceleration module can achieve more accurate and effective blocking by executing the attitude compensation instructions and the current adjustment instructions respectively.

[0045] In a specific implementation of step S1032, one embodiment is as follows: the attitude compensation command for the target blocking net, which is included in the adjustment command, includes: C1. Obtain the stretching feedback coefficient of the target barrier net and the deviation between the real-time deceleration acceleration of the fixed-wing UAV and the preset acceleration setting value; C2. Based on the target control algorithm, process the stretching amount feedback coefficient and deviation to obtain the current adjustment command.

[0046] In steps C1-C2, this application obtains the stretching feedback coefficient of the target blocking net and the deviation between the real-time deceleration acceleration of the fixed-wing UAV and the preset acceleration setting value. The intelligent collaborative control unit has a third memory and calls the safe acceleration lower limit threshold stored in the third memory. and upper limit threshold The embedded processor will display the deceleration and acceleration signals in real time. and and Compare and calculate the acceleration setpoint. ,in The embedded processor is and deviation As input, the proportional-integral-derivative (PI-DE) control algorithm corresponding to the target control algorithm is executed to calculate the current regulation. The algorithm formula is: , where parameters , , Based on the mass of the fixed-wing UAV and the electromagnetic damping coefficient of the emergency electromagnetic deceleration module Adjustment is performed to meet the requirements. , , The safe acceleration upper limit threshold Based on the fragility level of the goods carried, for fragile goods, For ordinary goods, ,in The safe acceleration lower limit threshold is the acceleration due to gravity. Set as The embedded processor will execute the current current command. Updated to and based on A current adjustment command is generated and sent to the current regulation unit via the power bus. The current regulation unit then adjusts the current according to... The electromagnetic damping force is dynamically adjusted by adjusting the current flowing through the conductive damping plate. The magnitude of the real-time deceleration acceleration Approaching This allows for real-time adjustments to the target barrier net.

[0047] In a specific implementation of step S1032, another embodiment exists as follows: The generation of the adjustment command includes a current adjustment command for the emergency electromagnetic deceleration module, comprising: D1. Based on the attitude deviation, wingspan, and actual height of the target blocking net of the fixed-wing UAV, calculate the pitch angle compensation and roll angle compensation of the net frame. D2. Based on the pitch angle compensation and roll angle compensation, synthesize a spatial angle vector to generate the attitude compensation command.

[0048] In steps D1-D2, while the present application is blocking the target barrier net, the embedded processor calculates the attitude offset signal. And based on the attitude deviation of the fixed-wing UAV, its wingspan, and the actual height of the target blocking net, the attitude correction angle is calculated. Among them, attitude offset signal Including roll angle deviation and pitch angle deviation The embedded processor determines the actual height of the target barrier net based on... and the wingspan of drones Calculate the pitch angle compensation of the net frame required for both ends of the drone's wings to simultaneously contact the barrier net. and roll angle compensation ,in , The embedded processor will and A spatial angle vector is synthesized and converted into the number of control pulses for the pitch servo motor and azimuth servo motor in the drive mechanism. An attitude adjustment command is generated based on the number of control pulses and sent to the drive mechanism through the second control bus. The drive mechanism finely adjusts the angle of the deployable arm of the target blocking net according to the attitude adjustment command, thereby compensating for the attitude deviation of the fixed-wing UAV.

[0049] In step S104, this application uses the state perception module to monitor in real time the state data of the fixed-wing UAV after the actuator executes the adjustment command. This state data includes the fixed-wing UAV's motion speed and attitude change rate. When the intelligent collaborative control unit determines that the fixed-wing UAV's motion speed meets the requirements... And the rate of change of attitude angle is less than At that time, it is determined that the emergency landing arrest of the fixed-wing UAV has been completed, wherein the speed determination threshold is mentioned. and attitude stability determination threshold The value is determined by: conducting simulated interception tests on different models of drones, and taking 1.5 times the maximum speed value when completely stopped as the threshold. Take 1.5 times the maximum angular velocity value when the attitude is stable as... After the determination is completed, the blocking system performs a reset operation, specifically by controlling the intelligent collaborative control unit to cut off the electromagnetic damping force, collect the target blocking net, and send a completion signal to the conventional cable blocking module. Then, it performs a self-test and returns to the standby state.

[0050] In a specific implementation of step S104, one embodiment is as follows: the reset operation includes: S1041. Send reset commands to the emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module in the target reset sequence according to the target reset sequence. S1042, the emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module are each executed with a reset command and start a self-test program to restore to the pre-standby state.

[0051] In steps S1041-S1042, this application sets a target reset sequence for the actuator, namely, power off, mechanism retraction, notification of neighboring systems, and self-test recovery. The purpose is to restore the entire emergency system to a standby state that can be used again in an orderly and automatic manner. After the embedded processor determines that the emergency blocking is complete, it generates a blocking completion signal. Following the generation of this signal, the intelligent collaborative control unit sends a reset command sequence, including a first reset command, a second reset command, and a third reset command. The first reset command is sent via the power bus to the current regulation unit of the emergency electromagnetic deceleration module, instructing it to cut off the operating current to zero and demagnetize the permanent magnet array, thereby eliminating electromagnetic damping force. The second reset command is sent via the first control bus to the drive mechanism, instructing it to move in the opposite direction, causing the target blocking net to fold and be stored at the initial storage position at the bottom of the upright frame. The third reset command is sent via the communication interface of the linkage adapter module to the conventional cable blocking module, transmitting the emergency blocking completion signal. After sending the reset command, the intelligent collaborative control unit initiates a self-test program, sequentially checking the signal integrity of each sensor in the state perception module, the mechanical position of the drive mechanism, the circuit connectivity of the emergency electromagnetic deceleration module, and the communication link of the linkage adapter module. After all tests pass, the drive mechanism pre-charges to the standby value. The system is restored to pre-standby state.

[0052] The specific detection logic of the self-test program includes: such as Figure 5 As shown, a standard test signal is sent to each sensor of the state perception module, and the amplitude and frequency of the returned signal are verified to be within the preset error range; the current angle of the deployable arm is read by the position sensor in the drive mechanism and compared with the preset angle of the initial storage position, and the deviation must be less than 0.5 degrees; a test current of 1 ampere is sent to the current adjustment unit of the emergency electromagnetic deceleration module, and the loop current is detected by the built-in current transformer, and the error must be less than 5%; a handshake signal is sent to the conventional cable blocking module through the linkage adaptation module, and a correct response signal must be received within 100 milliseconds; if any detection item fails, the intelligent collaborative control unit will generate a specific fault alarm code in the human-machine interface and lock the system, prohibiting the next emergency start.

[0053] This application has the following beneficial effects: (1) This application constructs a multi-source heterogeneous data fusion judgment system, and simultaneously collects and processes heterogeneous data streams from airborne sensors and ground sensing systems in real time. It pre-sets multiple threshold logic AND judgment conditions, including engine shutdown, hook connection failure, and insufficient go-around speed and altitude. Only when all conditions are met simultaneously is the system determined to enter emergency mode. This changes the crude judgment logic in existing technologies, which is often based on a single or few signal triggers and is prone to misjudgment or omission. It provides highly reliable, low-false-alarm, and accurate identification of the extreme scenario of "sudden failure with no go-around conditions." It effectively eliminates interference from single sensor failures or non-emergency states, ensuring that the emergency system is activated only when truly necessary and critical, guaranteeing the accuracy and safety of the system response from the decision-making source, and laying a reliable foundation for subsequent rapid and accurate handling.

[0054] (2) This application integrates a hydraulically or pneumatically driven rapid deployment mechanism and an azimuth-pitch dual-axis servo turntable. The drive mechanism can establish high pressure after the command is issued, driving the deployment arm to complete the physical action of the net from folding to full deployment. At the same time, the control unit calculates the optimal arresting angle in real time based on the UAV's predicted landing point information provided by the radar, and dynamically adjusts the azimuth and pitch angles of the upright net frame by driving the dual-axis turntable, so that the normal vector of the deployed flexible arresting net is accurately aligned with the UAV's forced landing trajectory. The dynamic angle adjustment based on the predicted landing point gives it the ability to adaptively correct the possible heading and attitude deviations during the UAV's forced landing, ensuring that the impact point is located in the center of the effective area of ​​the net surface, greatly improving the success rate and reliability of the first interception, and creating the prerequisite for effective buffer deceleration.

[0055] (3) This application constructs a "feedforward-feedback" dual-loop control architecture: the feedback loop adopts a proportional-integral-differential algorithm, using the deviation between the real-time measured deceleration acceleration and the safety target value as input, dynamically calculating and adjusting the electromagnetic damping current to achieve closed-loop correction. The feedforward loop, based on a pre-stored library of arresting force parameters for different load and speed combinations, provides optimized initial damping force settings before impact. The combination of the two achieves full coverage of control from "optimal from the beginning" to "precise throughout the process." It changes the "one-size-fits-all" mode of fixed damping or single feedback control, and realizes personalized, adaptive, and precise control of impact overload for ton-class UAVs under different load and speed combinations. It can stabilize the deceleration acceleration in real time within the preset safety threshold range, thereby maximizing the protection of the UAV's structural integrity and the safety of the cargo inside the cabin while ensuring effective braking, and solving the core contradiction between "being able to brake" and "not being damaged" in heavy-load emergency arresting.

[0056] Example 2 This application also provides an emergency landing arresting device for fixed-wing unmanned aerial vehicles, such as... Figure 6The diagram shows a block diagram of an emergency landing arresting device for a fixed-wing UAV. The function of this device corresponds to the steps of executing an emergency landing arresting method for a fixed-wing UAV on a terminal device as described above. This device can be understood as a server component including a processor. The emergency landing arresting device for a fixed-wing UAV described in this application is applied to an emergency system. The emergency system includes a status perception module, an intelligent collaborative control unit, and an actuator. The device includes: The generation module 601 is used by the intelligent collaborative control unit to determine that the fixed-wing UAV is in an emergency state based on the various flight status signals of the fixed-wing UAV monitored in real time by the state perception module, and to generate an emergency start command to the execution mechanism; the emergency start command includes a blocking strategy. The module 602 is used to enable the actuator to enter the target state based on the emergency activation command, so as to execute the blocking strategy in the target state to block the fixed-wing UAV. The acquisition module 603 is used to acquire in real time the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process, and the intelligent collaborative control unit generates adjustment instructions in real time. The monitoring module 604 is used to monitor the status data of the fixed-wing UAV after the execution mechanism executes the adjustment command, which is obtained in real time through the status perception module. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation.

[0057] In one feasible implementation, the acquisition module includes: Based on the target barrier net and emergency electromagnetic deceleration module included in the actuator, set the corresponding adjustment method; Based on the aforementioned adjustment method, the generated adjustment instructions include attitude compensation instructions for the target barrier net and current adjustment instructions for the emergency electromagnetic deceleration module.

[0058] In one feasible implementation, the acquisition module further includes: The stretching feedback coefficient of the target barrier net and the deviation between the real-time deceleration acceleration of the fixed-wing UAV and the preset acceleration setting value are obtained. Based on the target control algorithm, the current adjustment command is obtained by processing the stretching feedback coefficient and the deviation.

[0059] In one feasible implementation, the acquisition module also includes: Based on the attitude deviation, wingspan, and actual height of the target blocking net of the fixed-wing UAV, calculate the pitch angle compensation and roll angle compensation of the net frame. The pitch and roll compensation values ​​are used to synthesize a spatial angle vector to generate the attitude compensation command.

[0060] In one feasible implementation, the entry module includes: If the fixed-wing UAV crashes into the target barrier net, the net body is stretched, and the buffer ropes and hydraulic dampers at the edge of the net body provide an initial buffer force proportional to the stretching speed of the net body. The conductive damping plate connected to the target blocking net is driven to cut into the permanent magnet array of the emergency electromagnetic deceleration module, generating an electromagnetic damping force opposite to the direction of movement of the fixed-wing UAV to block the fixed-wing UAV.

[0061] In one feasible implementation, the entry module further includes: Based on the target flight status signal of the fixed-wing UAV, the initial current value and initial excitation parameters are determined from the pre-stored arresting force parameter library using bilinear interpolation. Based on the initial current value and initial excitation parameters, configure the electrical parameters of the emergency electromagnetic deceleration module to enter the target state.

[0062] In one feasible implementation, the entry module also includes: The target blocking net is converted into a target structure, and the predicted landing point of the fixed-wing UAV and the preset geographical coordinates of the target blocking net are obtained. Based on the predicted landing point and the preset geographical coordinates, the target angle data is calculated so that the target barrier net enters the target state.

[0063] In one feasible implementation, the generation module includes: The intelligent collaborative control unit obtains the working status signal of the conventional cable-stayed barrier module in real time through the linkage adaptation module. Based on the operating status signal, generate the emergency start command or send the suppression command to the conventional cable-stayed blocking module.

[0064] In one feasible implementation, the monitoring module includes: According to the target reset sequence, reset commands are sent to the emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module in the target reset sequence. The emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module are controlled to execute reset commands and start self-test programs to restore them to the pre-standby state.

[0065] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0066] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0067] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0068] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0069] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for intercepting an emergency landing of a fixed-wing unmanned aerial vehicle, characterized in that, Applied to an emergency system, the emergency system including a status awareness module, an intelligent collaborative control unit, and an actuator, the method includes: The intelligent collaborative control unit determines that the fixed-wing UAV is in an emergency state based on the various flight status signals monitored in real time by the status perception module, and generates an emergency activation command to the actuator; the emergency activation command includes an interception strategy. Based on the emergency activation command, the actuator enters the target state to execute the blocking strategy to block the fixed-wing UAV in the target state; The intelligent collaborative control unit acquires the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process in real time, and generates adjustment commands in real time. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation based on the real-time status data of the fixed-wing UAV after the actuator executes the adjustment command, which is monitored in real time by the status perception module.

2. The method according to claim 1, characterized in that, The intelligent collaborative control unit generates adjustment commands in real time, including: Based on the target barrier net and emergency electromagnetic deceleration module included in the actuator, set the corresponding adjustment method; Based on the aforementioned adjustment method, the generated adjustment instructions include attitude compensation instructions for the target barrier net and current adjustment instructions for the emergency electromagnetic deceleration module.

3. The method according to claim 2, characterized in that, The generation of the adjustment instructions includes attitude compensation instructions for the target barrier net, including: The stretching feedback coefficient of the target barrier net and the deviation between the real-time deceleration acceleration of the fixed-wing UAV and the preset acceleration setting value are obtained. Based on the target control algorithm, the current adjustment command is obtained by processing the stretching feedback coefficient and the deviation.

4. The method according to claim 2, characterized in that, The generation of the adjustment command includes a current adjustment command for the emergency electromagnetic deceleration module, comprising: Based on the attitude deviation, wingspan, and actual height of the target blocking net of the fixed-wing UAV, calculate the pitch angle compensation and roll angle compensation of the net frame. The pitch and roll compensation values ​​are used to synthesize a spatial angle vector to generate the attitude compensation command.

5. The method according to claim 1, characterized in that, The interception strategy is executed in the target state to intercept the fixed-wing UAV, including: If the fixed-wing UAV crashes into the target barrier net, the net body is stretched, and the buffer ropes and hydraulic dampers at the edge of the net body provide an initial buffer force proportional to the stretching speed of the net body. The conductive damping plate connected to the target blocking net is driven to cut into the permanent magnet array of the emergency electromagnetic deceleration module, generating an electromagnetic damping force opposite to the direction of movement of the fixed-wing UAV to block the fixed-wing UAV.

6. The method according to claim 1, characterized in that, Based on the emergency activation command, the actuator enters the target state, including: Based on the target flight status signal of the fixed-wing UAV, the initial current value and initial excitation parameters are determined from the pre-stored arresting force parameter library using bilinear interpolation. Based on the initial current value and initial excitation parameters, configure the electrical parameters of the emergency electromagnetic deceleration module to enter the target state.

7. The method according to claim 6, characterized in that, After configuring the electrical parameters of the emergency electromagnetic deceleration module to enter the target state, the following steps are also included: The target blocking net is converted into a target structure, and the predicted landing point of the fixed-wing UAV and the preset geographical coordinates of the target blocking net are obtained. Based on the predicted landing point and the preset geographical coordinates, the target angle data is calculated so that the target barrier net enters the target state.

8. The method according to claim 1, characterized in that, The emergency system also includes a conventional cable-stayed arresting module; The generation of emergency activation instructions to the actuator includes: The intelligent collaborative control unit obtains the working status signal of the conventional cable-stayed barrier module in real time through the linkage adaptation module. Based on the operating status signal, generate the emergency start command or send the suppression command to the conventional cable-stayed blocking module.

9. The method according to claim 1, characterized in that, The reset operation includes: According to the target reset sequence, reset commands are sent to the emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module in the target reset sequence; The emergency electromagnetic deceleration module, the target barrier net, and the conventional cable barrier module are controlled to execute reset commands and start self-test programs to restore them to the pre-standby state.

10. An emergency landing arresting device for a fixed-wing unmanned aerial vehicle, characterized in that, Applied to an emergency system, the emergency system includes a status awareness module, an intelligent collaborative control unit, and an actuator; the device includes: The generation module is used by the intelligent collaborative control unit to determine that the fixed-wing UAV is in an emergency state based on the various flight status signals of the fixed-wing UAV monitored in real time by the state perception module, and to generate an emergency start command to the execution mechanism; the emergency start command includes a blocking strategy. The entry module is used to enable the actuator to enter the target state based on the emergency activation command, so as to execute the blocking strategy to block the fixed-wing UAV in the target state; The acquisition module is used to acquire in real time the blocking signal of the actuator during the blocking process and the emergency landing signal of the fixed-wing UAV during the emergency landing process; the intelligent collaborative control unit generates adjustment commands in real time. The monitoring module is used to monitor the status data of the fixed-wing UAV after the actuator executes the adjustment command, which is obtained in real time through the status perception module. The intelligent collaborative control unit determines that the emergency landing arrest is completed and performs a reset operation.

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