Aircraft water float control system, method, apparatus, and storage medium

Abstract

The application discloses an aircraft water floating control system, method, equipment and computer readable storage medium, wherein the system comprises a flight control module, a sensor module and a fuselage water floating module connected with the flight control module, the fuselage water floating module comprises an air bag, wherein the sensor module is used for collecting height data of an aircraft and water surface and liquid intrusion amount of the aircraft according to the data acquisition instruction; the flight control module is used for sending an air bag inflation instruction to the fuselage water floating module when it is monitored that the height data and / or the liquid intrusion amount meet preset height conditions and / or intrusion amount conditions; and the fuselage water floating module is used for controlling the air bag to inflate according to the air bag inflation instruction. The application realizes a safe floating control scheme of an unmanned aircraft after forced landing in a water surface area, expands the forced landing range of the aircraft, and improves the safety and success rate during water surface forced landing.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to an aircraft buoyancy control system, method, device and computer-readable storage medium. Background Technology

[0002] Currently, when an unmanned aerial vehicle (UAV) is operating above water, if an emergency landing is triggered due to unforeseen circumstances, it can only land on land and cannot land on water. Emergency landing conditions that may trigger such conditions include, but are not limited to: satellite navigation failure, visual navigation failure, damage or failure of some power equipment, barometer malfunction or failure, IMU (Inertial Measurement Unit) malfunction or failure, insufficient power, and structural damage to the aircraft. In such cases, the aircraft cannot return to its origin or land at an alternate landing point and can only make an emergency landing on the water.

[0003] In conclusion, how to ensure the safe floating of unmanned aerial vehicles after a forced landing on water has become an urgent technical problem to be solved. Summary of the Invention

[0004] To address the aforementioned technical deficiencies in the prior art, this invention proposes an aircraft water-floating control system. This system includes a flight control module, a sensor module connected to the flight control module, and a fuselage water-floating module. The fuselage water-floating module includes an airbag, wherein:

[0005] The flight control module is used to send a preset data acquisition command to the sensor module when the preset emergency landing procedure is triggered.

[0006] The sensor module is used to collect the altitude data of the aircraft and the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition command, and send the altitude data and / or the amount of liquid intrusion to the flight control module.

[0007] The flight control module is also used to send an airbag inflation command to the fuselage water-floating module when the altitude data and / or the amount of liquid intrusion are detected to meet the preset altitude conditions and / or intrusion conditions.

[0008] The fuselage floating module is used to control the airbag to inflate according to the airbag inflation command.

[0009] Optionally, the fuselage floating module includes a first floating module and a second floating module, wherein the first floating module includes a high-pressure air tank and a first airbag, and the second floating module includes an electric air pump and a second airbag;

[0010] The fuselage floating module is also used to control the high-pressure gas tank to inflate the first airbag and / or control the electric air pump to inflate the second airbag according to the airbag inflation command.

[0011] Optionally, the first floating module further includes a tank pressure sensor connected to the high-pressure tank, a first main air pipe connected to the tank pressure sensor, a first electrically controlled valve switch connected to the first main air pipe, a first one-way check valve connected to the first electrically controlled valve switch, a first branch air pipe connected to the first one-way check valve, a first airbag connected to the first branch air pipe, and a first airbag pressure sensor and a first pressure relief valve contained within the first airbag.

[0012] Optionally, the second floating module further includes a second air pipe connected to the electric air pump, a second one-way check valve connected to the second air pipe, a second airbag connected to the second one-way check valve, and a second airbag pressure sensor and a second pressure relief valve contained within the second airbag.

[0013] Optionally, the flight control module is also configured to send a preset landing water surface detection command to the sensor module when the emergency landing procedure is triggered;

[0014] The sensor module acquires the aircraft's current position and altitude data according to the landing water surface detection command, and sends the position and altitude data to the flight control module.

[0015] The flight control module is also used to determine the current landing water surface type of the aircraft based on the position data and / or the altitude data, wherein the landing water surface type includes ocean water surface and inland water surface.

[0016] Optionally, the flight control module is further configured to:

[0017] When the landing surface type is determined to be ocean water, the airbag inflation command is generated based on the monitored height data and / or the amount of liquid intrusion.

[0018] When the type of landing water surface is determined to be inland water surface, the airbag inflation command is generated based on the monitored current altitude data, the altitude data, and / or the amount of liquid intrusion.

[0019] Optionally, the sensor module includes a satellite positioning system, a radar sensor, an accelerometer, a barometric pressure sensor, a visual sensor, and a liquid level sensor, wherein:

[0020] One or more of the satellite positioning system, radar sensor, accelerometer, barometer, and visual sensor are used to acquire the current altitude data and the altitude data;

[0021] The liquid level sensor is used to obtain the amount of liquid intrusion.

[0022] The present invention also proposes an aircraft buoyancy control method, which is applied to the aircraft buoyancy control system, and the method includes:

[0023] When the aircraft's flight control module detects that a preset emergency landing procedure has been triggered, it sends a preset data acquisition command to the aircraft's sensor module.

[0024] When the sensor module collects the altitude data of the aircraft above the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition instruction, it sends the altitude data and / or the amount of liquid intrusion to the flight control module.

[0025] When the flight control module detects that the altitude data and / or the amount of liquid intrusion meet the preset altitude conditions and / or intrusion conditions, it sends an airbag inflation command to the fuselage water-floating module of the aircraft.

[0026] The fuselage floating module controls the airbag to inflate according to the airbag inflation command.

[0027] The present invention also proposes an aircraft buoyancy control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the aircraft buoyancy control method as described above.

[0028] The present invention also proposes a computer-readable storage medium storing an aircraft buoyancy control program, which, when executed by a processor, implements the steps of the aircraft buoyancy control method as described above.

[0029] This invention discloses an aircraft water-floating control system, method, apparatus, and computer-readable storage medium. The system includes a flight control module, a sensor module, and a fuselage water-floating module connected to the flight control module. The fuselage water-floating module includes an airbag. The flight control module sends a preset data acquisition command to the sensor module when a preset emergency landing procedure is triggered. The sensor module collects altitude data of the aircraft above the water surface and the amount of liquid intrusion, and transmits the altitude data and / or the amount of liquid intrusion to the flight control module. The flight control module also sends an airbag inflation command to the fuselage water-floating module when the altitude data and / or the amount of liquid intrusion meet preset altitude and / or intrusion conditions. The fuselage water-floating module controls the airbag to inflate according to the inflation command. This invention provides a safe floating control scheme for unmanned aerial vehicles after emergency landing in water areas, expanding the landing range and improving the safety and success rate of water landings. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0031] Figure 1 This is a block diagram of the first module of the aircraft waterfloating control system of the present invention;

[0032] Figure 2 This is a block diagram of the second module of the aircraft buoyancy control system of the present invention;

[0033] Figure 3 This is a block diagram of the third module of the aircraft buoyancy control system of the present invention;

[0034] Figure 4 This is a block diagram of the fourth module of the aircraft buoyancy control system of the present invention;

[0035] Figure 5 This is the first flowchart of the aircraft buoyancy control method of the present invention. Detailed Implementation

[0036] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0037] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0038] Figure 1This is a block diagram of the first module of the aircraft water-floating control system of the present invention. This embodiment proposes an aircraft water-floating control system, which includes a flight control module 10, a sensor module 20 connected to the flight control module 10, and a fuselage water-floating module 30. The fuselage water-floating module 30 includes an airbag 40, wherein:

[0039] The flight control module 10 is used to send a preset data acquisition command to the sensor module 20 when the preset emergency landing procedure is triggered.

[0040] The sensor module 20 is used to collect the altitude data of the aircraft and the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition command, and send the altitude data and / or the amount of liquid intrusion to the flight control module 10.

[0041] The flight control module 10 is also used to send an airbag inflation command to the fuselage water-floating module 30 when the altitude data and / or the amount of liquid intrusion are detected to meet the preset altitude conditions and / or intrusion conditions.

[0042] The fuselage floating module 30 is used to control the airbag 40 to inflate according to the airbag inflation command.

[0043] Figure 2 This is a block diagram of the second module of the aircraft buoyancy control system of the present invention. The system includes three schemes: Scheme 1 is an airbag inflation scheme, Scheme 2 is a cavity filling scheme, and Scheme 3 is a cavity sealing scheme.

[0044] Optionally, in this embodiment, one or more buoyancy airbags are installed around the fuselage of the aircraft to provide the main buoyancy for the aircraft itself. For example, for a multi-rotor aircraft, one or more buoyancy airbags that can be automatically inflated are arranged at the end of each of its arms.

[0045] Optionally, in this embodiment, the aircraft's fuselage or arms are filled with one or more buoyancy materials to provide the main buoyancy for the aircraft itself. For example, for a multirotor aircraft, each arm is filled with low-density, pressure-resistant, flame-retardant EPS foam to provide buoyancy.

[0046] Optionally, in this embodiment, on the one hand, the aforementioned water-floating airbags are installed in the fuselage of the aircraft to provide primary buoyancy, and on the other hand, the arm cavity is sealed to make it hollow, thereby providing secondary buoyancy.

[0047] Optionally, in this embodiment, given that the aircraft's arms are distributed around the fuselage and have a certain length, the arms can provide buoyancy while maximizing the righting torque, thereby ensuring that the aircraft remains balanced on the water surface and does not capsize.

[0048] Optionally, in this embodiment, after the aircraft's arm contacts the water surface, a preset immersion self-opening valve opens, and the high-pressure gas tank inflates the airbag. The airbag's nozzle includes a one-way valve to prevent gas leakage, and the airbag also includes a pressure relief valve to protect it from damage in case of excessive pressure.

[0049] Optionally, in this embodiment, considering the safety and stability of the aircraft during forced landing and floating, the aforementioned main buoyancy waterbag is placed around the fuselage of the aircraft, for example, to wrap the main body of the fuselage or to wrap the landing gear. At the same time, the shape of the wrapping is aerodynamic, thereby minimizing the drag relative to the air or flowing liquid.

[0050] Figure 3 This is a block diagram of the third module of the aircraft buoyancy control system of the present invention. In this embodiment, the fuselage buoyancy module 30 includes a first buoyancy module 31 and a second buoyancy module 32, wherein the first buoyancy module 31 includes a high-pressure air tank 51 and a first airbag 41, and the second buoyancy module 32 includes an electric air pump 52 and a second airbag 42.

[0051] Optionally, in this embodiment, the first airbag 41 and the second airbag 42 can be the same airbag, or two airbags with a connecting pipe. Based on this, the first airbag 41 and the second airbag 42 can be inflated by either the high-pressure air tank 51 or the electric air pump 52.

[0052] Optionally, in this embodiment, the first airbag 41 inflated by the high-pressure air tank 51 has a first number, and the second airbag 42 inflated by the electric air pump 52 has a second number. In the first number and the second number, one or more sets of the first airbag 41 and the second airbag 42 are in a connected state, thereby improving the inflation balance and inflation efficiency.

[0053] Optionally, in this embodiment, for a multirotor aircraft, the first airbag 41, which is inflated by a high-pressure air tank 51, has a first number, which is the number of arms, and the second airbag 42, which is inflated by an electric air pump 52, has a second number, which is the number of landing gear arms.

[0054] Optionally, in this embodiment, the fuselage floating module is further configured to control the high-pressure gas tank to inflate the first airbag and / or control the electric air pump to inflate the second airbag according to the airbag inflation command.

[0055] Figure 4 This is a block diagram of the fourth module of the aircraft buoyancy control system of the present invention.

[0056] Optionally, in this embodiment, the first floating module is the fuselage floating system one shown in the figure, and the second floating module is the fuselage floating system two shown in the figure.

[0057] Optionally, in this embodiment, the first floating module further includes a tank pressure sensor connected to the high-pressure tank, a first main air pipe connected to the tank pressure sensor, a first electrically controlled valve switch connected to the first main air pipe, a first one-way check valve connected to the first electrically controlled valve switch, a first branch air pipe connected to the first one-way check valve, a first airbag connected to the first branch air pipe, and a first airbag pressure sensor and a first pressure relief valve contained within the first airbag.

[0058] Optionally, in this embodiment, the second floating module further includes a second air pipe connected to the electric air pump, a second one-way check valve connected to the second air pipe, a second airbag connected to the second one-way check valve, and a second airbag pressure sensor and a second pressure relief valve contained in the second airbag.

[0059] Optionally, in this embodiment, the flight control module is further configured to send a preset landing water surface detection command to the sensor module when the emergency landing procedure is triggered;

[0060] The sensor module acquires the aircraft's current position and altitude data according to the landing water surface detection command, and sends the position and altitude data to the flight control module.

[0061] The flight control module is also used to determine the current landing water surface type of the aircraft based on the position data and / or the altitude data, wherein the landing water surface type includes ocean water surface and inland water surface.

[0062] Optionally, in this embodiment, the flight control module is further configured to:

[0063] When the landing surface type is determined to be ocean water, the airbag inflation command is generated based on the monitored height data and / or the amount of liquid intrusion.

[0064] When the type of landing water surface is determined to be inland water surface, the airbag inflation command is generated based on the monitored current altitude data, the altitude data, and / or the amount of liquid intrusion.

[0065] Optionally, in this embodiment, the sensor module includes a satellite positioning system, a radar sensor, an accelerometer, a barometric pressure sensor, a visual sensor, and a liquid level sensor, wherein:

[0066] One or more of the satellite positioning system, radar sensor, accelerometer, barometer, and visual sensor are used to acquire the current altitude data and the altitude data;

[0067] The liquid level sensor is used to obtain the amount of liquid intrusion.

[0068] Specifically, the landing surface for aircraft is divided into two categories: ocean water and inland water. When landing on inland water, the local altitude is also superimposed as the horizontal plane of the inland water as a reference.

[0069] For example, when a manned multirotor aircraft operates on the sea surface and an emergency landing procedure is triggered, information including, but not limited to, visual sensors, radar sensors (for water surface altitude detection), liquid level sensors (for acquiring liquid level altitude data), barometers (for acquiring barometric altitude data), and satellite altitude data is transmitted to the flight controller and onboard computer. When the water surface altitude, liquid level altitude, barometric altitude, or satellite altitude reaches a preset altitude, the flight controller and onboard computer send an opening command to the electro-pneumatic control valve, causing the high-pressure gas tank to inflate the aircraft's fuselage buoyancy airbags through the gas pipe or to activate the electric inflation pump to inflate the fuselage buoyancy airbags. Optionally, in this embodiment, when the pressure in the gas pipe and airbag reaches a preset pressure value, the gas electro-pneumatic valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor simultaneously transmits the real-time pressure information inside the buoyancy airbag to the flight controller and onboard computer. Optionally, in this embodiment, both the gas pipe and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0070] For example, when a manned multi-rotor aircraft is operating in inland water areas and an emergency landing can only be triggered in inland water areas, the following methods can be used:

[0071] First, before takeoff, GPS and RTK (Real-time kinematic) satellite receivers calibrate the water surface elevation of the possible landing area, providing data to the flight control and onboard computer as basic data. The flight control and onboard computer monitor the height difference between the aircraft and the water surface in real time, and the liquid level sensor monitors the amount of liquid intrusion in real time. When the preset distance to the water surface is reached or the amount of liquid intrusion into the aircraft body reaches a preset value, the flight control or onboard computer sends a valve opening command to the electro-pneumatic control valve, causing the high-pressure gas tank to inflate the aircraft's buoyancy airbag through the electrically controlled valve or to activate the electric inflation pump to inflate the buoyancy airbag. Optionally, in this embodiment, when the pressure in the air tube and airbag reaches a preset pressure value, the gas electrically controlled valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor simultaneously transmits the real-time pressure information inside the buoyancy airbag to the flight control and onboard computer. Optionally, in this embodiment, both the air tube and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0072] Secondly, the ultrasonic altitude radar sensor detects the distance between the aircraft and the water surface in real time, and the liquid level sensor detects the amount of liquid intrusion in real time. When the water surface height reaches a preset distance or the amount of liquid intrusion into the aircraft body reaches a preset value, the flight control or onboard computer sends a valve opening command to the electro-pneumatic control valve, causing the high-pressure gas tank to inflate the aircraft's buoyancy airbag through the electrically controlled valve or to activate the electric inflation pump to inflate the buoyancy airbag. Optionally, in this embodiment, when the pressure in the air tube and the airbag reaches a preset pressure value, the gas electrically controlled valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor transmits the real-time pressure information inside the buoyancy airbag to both the flight control and the onboard computer. Optionally, in this embodiment, both the air tube and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0073] Third, when the accelerometer detects that the aircraft's vertical descent rate exceeds a predetermined value, the abnormal data is analyzed by the flight control and onboard computer to indicate an imminent landing on the water surface. When the aircraft reaches a preset distance from the water surface or the amount of liquid intrusion into the aircraft reaches a preset value, the flight control or onboard computer sends an opening command to the electro-pneumatic control valve, causing the high-pressure gas tank to inflate the aircraft's buoyancy airbags through the electrically controlled valve, or activating the electric inflation pump to inflate the buoyancy airbags. Optionally, in this embodiment, when the pressure in the air tube and airbag reaches a preset pressure value, the gas-controlled valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor simultaneously transmits the real-time pressure information within the buoyancy airbag to the flight control and onboard computer. Optionally, in this embodiment, both the air tube and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0074] Fourth, before takeoff, the barometric pressure sensor calibrates the horizontal air pressure and altitude of the water surface in the flight area where the aircraft may land, providing basic data to the flight control and onboard computer. The flight control and onboard computer monitor the air pressure and altitude difference between the aircraft and the water surface in real time, and the liquid level sensor monitors the amount of liquid intrusion in real time. When the air pressure and altitude difference between the aircraft and the water surface reach a preset distance, or when the amount of liquid intrusion into the aircraft reaches a preset value, the flight control or onboard computer sends a valve opening command to the electro-pneumatic control valve, causing the high-pressure gas tank to inflate the aircraft's buoyancy airbag through the electrically controlled valve, or to activate the electric inflation pump to inflate the buoyancy airbag. Optionally, in this embodiment, when the pressure in the air tube and the airbag reaches a preset pressure value, the gas electrically controlled valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor simultaneously transmits the real-time pressure information inside the buoyancy airbag to the flight control and onboard computer. Optionally, in this embodiment, both the air tube and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0075] Fifth, when the visual sensor determines the ground features as water, it uses sensors such as a barometric pressure sensor, GPS or RTK altitude sensor, and ultrasonic altitude radar to determine the distance to the water surface. A liquid level sensor monitors the amount of liquid intrusion in real time. When the distance to the water surface reaches a preset level or the amount of liquid intrusion into the aircraft reaches a preset value, the flight control or onboard computer sends an opening command to the electro-gas control valve, causing the high-pressure gas tank to inflate the aircraft's buoyancy airbags through the electrically controlled valve or to activate the electric inflation pump to inflate the buoyancy airbags. Optionally, in this embodiment, when the pressure in the air tube and airbag reaches a preset pressure value, the gas control valve closes or the electric inflation pump shuts down. Optionally, in this embodiment, the pressure sensor simultaneously transmits the real-time pressure information inside the buoyancy airbag to the flight control and onboard computer. Optionally, in this embodiment, both the air tube and the airbag nozzle contain one-way check valves to prevent air leakage from the airbag as much as possible.

[0076] Optionally, this embodiment includes two inflation methods: for one or more floating airbags, inflation is performed by using a high-pressure air tank to inflate the airbag via an electronic valve, or by using an electric air pump to inflate the airbag.

[0077] Furthermore, in this embodiment, the system also includes an emergency rescue system to implement the corresponding control mechanism, specifically including the following aspects:

[0078] First, after the aircraft lands on the water, the liquid level sensor detects liquid intrusion. The emergency rescue system sends the data to the flight control and onboard computer, executing commands to shut down the ESCs and motors, stopping the propellers. Simultaneously, it sends commands to the relays of the main power battery system and the backup power battery system to cut off the power supply, thus de-energizing the aircraft's high-voltage circuit. At the same time, the backup emergency power supply is activated to supply power to non-powered equipment.

[0079] Second, the aircraft's onboard computer activates the emergency communication equipment according to a preset program sequence. The BeiDou communication system then transmits the aircraft's current position coordinates and other information outwards according to a preset transmission path and time interval. Furthermore, the BeiDou voice call function or voice SMS function is activated to enable the onboard personnel to contact the outside world.

[0080] Third, the aircraft's emergency rescue system automatically activates the strobe lights on the top of the aircraft to send out distress signals.

[0081] Fourth, the aircraft's emergency rescue system includes a loudspeaker and a microphone, which can be used by the onboard personnel to call for help.

[0082] Fifth, the aircraft's emergency rescue system includes a voice radio transmitter and receiver, allowing onboard personnel to activate an emergency channel and call for help according to prompts.

[0083] Sixth, both the aircraft and its onboard computer have built-in data storage devices and rugged black boxes to record and back up all relevant data.

[0084] The beneficial effect of this embodiment is that by proposing an aircraft water-floating control system, the system includes a flight control module, a sensor module, and a fuselage water-floating module connected to the flight control module. The fuselage water-floating module includes an airbag. The flight control module sends a preset data acquisition command to the sensor module when a preset emergency landing procedure is triggered. The sensor module collects the aircraft's altitude data above the water surface and the amount of liquid intrusion according to the data acquisition command, and sends the altitude data and / or the amount of liquid intrusion to the flight control module. The flight control module also sends an airbag inflation command to the fuselage water-floating module when it detects that the altitude data and / or the amount of liquid intrusion meets preset altitude and / or intrusion conditions. The fuselage water-floating module controls the airbag to inflate according to the airbag inflation command. This achieves a safe floating control scheme for unmanned aerial vehicles after emergency landing in water areas, expands the aircraft's emergency landing range, and improves the safety and success rate of water landings.

[0085] Figure 5 This is a first flowchart of the aircraft buoyancy control method of the present invention. The present invention also proposes an aircraft buoyancy control method, which is applied to the aircraft buoyancy control system, and the method includes:

[0086] S1. When the aircraft's flight control module detects that a preset emergency landing procedure has been triggered, the flight control module sends a preset data acquisition command to the aircraft's sensor module.

[0087] S2. When the sensor module collects the altitude data of the aircraft and the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition instruction, it sends the altitude data and / or the amount of liquid intrusion to the flight control module.

[0088] S3. When the flight control module detects that the altitude data and / or the amount of liquid intrusion meet the preset altitude conditions and / or intrusion conditions, it sends an airbag inflation command to the fuselage water-floating module of the aircraft.

[0089] S4. The fuselage floating module controls the airbag to inflate according to the airbag inflation command.

[0090] Optionally, in this embodiment, when the flight control module detects that the altitude data meets the preset altitude conditions, it sends an airbag inflation command to the aircraft's fuselage water buoyancy module.

[0091] Optionally, in this embodiment, when the flight control module detects that the amount of liquid intrusion meets the preset intrusion amount condition, it sends an airbag inflation command to the aircraft's fuselage water-floating module.

[0092] Optionally, in this embodiment, when the flight control module detects that the altitude data meets a preset altitude condition, or the liquid intrusion amount meets a preset intrusion amount condition, it sends an airbag inflation command to the aircraft's fuselage water-floating module.

[0093] Optionally, in this embodiment, when the flight control module detects that the altitude data meets the preset altitude conditions and the liquid intrusion amount meets the preset intrusion amount conditions, it sends an airbag inflation command to the aircraft's fuselage water-floating module.

[0094] It should be noted that the above method embodiments and system embodiments belong to the same concept. The specific implementation process can be found in the system embodiments. Furthermore, the technical features in the system embodiments are all applicable to the device embodiments, and will not be repeated here.

[0095] The present invention also proposes an aircraft buoyancy control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the aircraft buoyancy control method as described above.

[0096] It should be noted that the above-described device embodiments and system embodiments belong to the same concept. The specific implementation process can be found in the system embodiments, and the technical features in the system embodiments are also applicable to the device embodiments, which will not be repeated here.

[0097] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing an aircraft buoyancy control program, which, when executed by a processor, implements the steps of the aircraft buoyancy control method as described in any of the above embodiments.

[0098] It should be noted that the above-described medium embodiments and system embodiments belong to the same concept. The specific implementation process can be found in the system embodiments, and the technical features in the system embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0100] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0102] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An aircraft buoyancy control system, characterized in that, The system includes a flight control module and a sensor module and a fuselage water-floating module connected to the flight control module. The fuselage water-floating module includes an airbag, a first water-floating module, and a second water-floating module. The first water-floating module includes a high-pressure air tank, a first airbag, an air tank pressure sensor connected to the high-pressure air tank, a first main air pipe connected to the air tank pressure sensor, a first electrically controlled valve switch connected to the first main air pipe, a first one-way check valve connected to the first electrically controlled valve switch, a first branch air pipe connected to the first one-way check valve, the first airbag connected to the first branch air pipe, and a first airbag pressure sensor and a first pressure relief valve contained within the first airbag. The second floating module includes an electric air pump, a second airbag, a second air pipe connected to the electric air pump, a second one-way check valve connected to the second air pipe, a second airbag connected to the second one-way check valve, and a second airbag pressure sensor and a second pressure relief valve contained within the second airbag. The flight control module is used to send a preset data acquisition command to the sensor module when the preset emergency landing procedure is triggered. The sensor module is used to collect the altitude data of the aircraft and the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition command, and send the altitude data and / or the amount of liquid intrusion to the flight control module. The flight control module is also used to send an airbag inflation command to the fuselage water-floating module when the altitude data and / or the amount of liquid intrusion are detected to meet the preset altitude conditions and / or intrusion conditions. The fuselage floating module is used to inflate the airbag according to the airbag inflation command, specifically including: controlling the high-pressure gas tank to inflate the first airbag and / or controlling the electric air pump to inflate the second airbag according to the airbag inflation command.

2. The aircraft buoyancy control system according to claim 1, characterized in that, The flight control module is also used to send a preset landing water surface detection command to the sensor module when the emergency landing procedure is triggered. The sensor module acquires the aircraft's current position and altitude data according to the landing water surface detection command, and sends the position and altitude data to the flight control module. The flight control module is also used to determine the current landing water surface type of the aircraft based on the position data and / or the altitude data, wherein the landing water surface type includes ocean water surface and inland water surface.

3. The aircraft buoyancy control system according to claim 2, characterized in that, The flight control module is also used for: When the landing surface type is determined to be ocean water, the airbag inflation command is generated based on the monitored height data and / or the amount of liquid intrusion. When the type of landing water surface is determined to be inland water surface, the airbag inflation command is generated based on the monitored current altitude data, the altitude data, and / or the amount of liquid intrusion.

4. The aircraft buoyancy control system according to claim 2, characterized in that, The sensor module includes a satellite positioning system, a radar sensor, an accelerometer, a barometric pressure sensor, a vision sensor, and a liquid level sensor, wherein: One or more of the satellite positioning system, radar sensor, accelerometer, barometer, and visual sensor are used to acquire the current altitude data and the altitude data; The liquid level sensor is used to obtain the amount of liquid intrusion.

5. An aircraft buoyancy control method, applied to the aircraft buoyancy control system according to any one of claims 1-4, characterized in that, The method includes: When the aircraft's flight control module detects that a preset emergency landing procedure has been triggered, it sends a preset data acquisition command to the aircraft's sensor module. When the sensor module collects the altitude data of the aircraft above the water surface and the amount of liquid intrusion of the aircraft according to the data acquisition instruction, it sends the altitude data and / or the amount of liquid intrusion to the flight control module. When the flight control module detects that the altitude data and / or the amount of liquid intrusion meet the preset altitude conditions and / or intrusion conditions, it sends an airbag inflation command to the fuselage water-floating module of the aircraft. The fuselage floating module inflates according to the airbag inflation command.

6. An aircraft buoyancy control device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the aircraft buoyancy control method as described in claim 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an aircraft buoyancy control program, which, when executed by a processor, implements the steps of the aircraft buoyancy control method as described in claim 5.

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