Flying platform, parachute device, aircraft and control method and system of aircraft

Abstract

The invention discloses a flight platform, a parachute device, an aircraft and a control method and system of the aircraft. The flight platform comprises the aircraft and the parachute device installed on the aircraft. The aircraft comprises a flight controller and a first sensing system, the parachute device comprises a parachute controller and a second sensing system, and the control system of the flight platform comprises the flight controller which is in communication connection with the parachute device and is used for determining whether the motion state of the flight platform is abnormal or not according to sensing data of the first sensing system; if the motion state of the flight platform is abnormal and the communication connection is normal, a parachute opening instruction is sent to a parachute device through the communication connection to control the parachute device to be opened; and the parachute controller is used for determining whether the motion state of the flying platform is abnormal or not according to the sensing data of the second sensing system, and if the communication connection and the motion state of the flying platform are both abnormal, the parachute controller controls the parachute device to be opened.

Description

Flying platform, parachute device, aircraft, and control method and system thereof Technical Field

[0001] The present disclosure relates to the field of aircraft technology, and in particular to a flying platform, a parachute device, an aircraft, and a control method and system thereof. Background Art

[0002] If an aircraft falls from a high altitude without a deceleration device, it can cause serious damage (physical injury or fire) to the aircraft itself and to life and objects on the ground. Parachutes can reduce the speed of an aircraft upon landing by utilizing air resistance, thereby minimizing damage. However, related technologies for controlling the deployment of parachutes have a high rate of false deployment and missed deployment.

[0003] Summary of the Invention

[0004] In a first aspect, an embodiment of the present disclosure provides a control system for a flying platform, wherein the flying platform includes an aircraft and a parachute device installed on the aircraft; the aircraft includes a flight controller and a first sensing system, and the parachute device includes a parachute controller and a second sensing system. The control system of the flying platform includes: the flight controller, which is communicatively connected to the parachute device, and is used to determine whether the motion state of the flying platform is abnormal based on sensing data of the first sensing system. If the motion state of the flying platform is abnormal and the communication connection is normal, the flight controller sends a parachute opening instruction to the parachute device through the communication connection to control the opening of the parachute device; and the parachute controller, which is used to determine whether the motion state of the flying platform is abnormal based on sensing data of the second sensing system. If both the communication connection and the motion state of the flying platform are abnormal, the parachute controller controls the opening of the parachute device.

[0005] In a second aspect, an embodiment of the present disclosure provides a method for controlling a parachute device, wherein the parachute device is mounted on an aircraft and is communicatively connected to the aircraft, and the parachute device includes a sensing system. The method includes: controlling the parachute device to open in response to receiving a parachute opening instruction sent by the aircraft through the communication connection; and determining whether the motion state of the parachute device is abnormal based on sensing data of the sensing system, and controlling the parachute device to open when it is determined that both the communication connection and the motion state of the parachute device are abnormal.

[0006] In a third aspect, an embodiment of the present disclosure provides a method for controlling an aircraft, wherein the aircraft is communicatively connected to a parachute device installed on the aircraft, and the aircraft includes a sensing system, and the method includes: determining whether the motion state of the aircraft is abnormal based on sensing data of the sensing system; when it is determined that the motion state of the aircraft is abnormal and the communication connection is normal, sending a parachute opening instruction to the parachute device through the communication connection to control the opening of the parachute device; wherein the abnormal state of the communication connection can be detected by the parachute device, so that the parachute device opens when the communication connection is abnormal and the motion state of the parachute device is detected to be abnormal.

[0007] In a fourth aspect, an embodiment of the present disclosure provides a parachute device, which is mounted on an aircraft and communicatively connected to the aircraft, and includes a sensing system and a controller; wherein the controller is configured to execute instructions to implement the method described in the second aspect.

[0008] In a fifth aspect, an embodiment of the present disclosure provides an aircraft, which is communicatively connected to a parachute device installed on the aircraft, and the aircraft includes a flight controller and a sensor system; wherein the flight controller is configured to execute instructions to implement the method described in the third aspect.

[0009] In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method described in the second aspect or the third aspect.

[0010] In the seventh aspect, an embodiment of the present disclosure provides a flying platform, comprising an aircraft and a parachute device installed on the aircraft, the aircraft comprising a flight controller and a first sensing system, the parachute device comprising a parachute controller and a second sensing system, wherein the flight controller is used to implement the functions performed by the flight controller in the control system of the flying platform of the first aspect; and the parachute controller is used to implement the functions performed by the parachute controller in the control system of the flying platform of the first aspect.

[0011] In an eighth aspect, an embodiment of the present disclosure provides a method for controlling a flying platform, wherein the flying platform includes an aircraft and a parachute device installed on the aircraft, the aircraft includes a flight controller and a first sensing system, the parachute device includes a parachute controller and a second sensing system, and the flight controller is communicatively connected to the parachute device. The method for controlling the flying platform includes: the flight controller determines whether the motion state of the flying platform is abnormal based on the sensing data of the first sensing system; if the motion state of the flying platform is abnormal and the communication connection is normal, sending a parachute opening instruction to the parachute device through the communication connection to control the opening of the parachute device; and the parachute controller determines whether the motion state of the flying platform is abnormal based on the sensing data of the second sensing system; if both the communication connection and the motion state of the flying platform are abnormal, the parachute controller controls the opening of the parachute device.

[0012] In the disclosed embodiment, the flight controller of the aircraft obtains the motion state of the flight platform, and controls the parachute device to open when the motion state of the flight platform is abnormal. Since the flight controller can obtain relatively comprehensive information about the flight platform and the algorithm reliability of the flight controller is relatively high, the motion state of the flight platform obtained by the flight controller is relatively accurate, thereby reducing the rate of mis-opening and missed parachute opening. In addition, the flight controller is also connected to the parachute device for communication. In the event of an abnormality in the above-mentioned communication connection, the parachute device can be controlled to open through the parachute controller. In this way, a redundant backup of the flight controller is achieved, so that the parachute device can still be controlled to open in the event of an abnormality in the flight controller, further reducing the rate of missed parachute opening.

[0013] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] FIG1 is a schematic diagram of a flying platform according to an embodiment of the present disclosure.

[0016] FIG2 is a schematic diagram of the positional relationship between the aircraft and the parachute device according to an embodiment of the present disclosure.

[0017] FIG. 3 is a schematic diagram of a parachute apparatus according to an embodiment of the present disclosure.

[0018] FIG. 4 is an assembly diagram of a parachute device according to an embodiment of the present disclosure.

[0019] 5 is a perspective view of a parachute apparatus according to an embodiment of the present disclosure.

[0020] FIG6 is a schematic diagram of a control system of a flying platform according to an embodiment of the present disclosure.

[0021] FIG7 is a schematic diagram of a control system of a flying platform according to another embodiment of the present disclosure.

[0022] FIG8 is a flow chart of a method for controlling a parachute device according to an embodiment of the present disclosure.

[0023] FIG9 is a flow chart of a method for controlling an aircraft according to an embodiment of the present disclosure.

[0024] FIG10 is an overall flow chart of the control process of the flying platform according to an embodiment of the present disclosure.

[0025] FIG11 is a flow chart of a method for controlling a flying platform according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0027] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the," and "an" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

[0028] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0029] Figures 1 and 2 illustrate schematic diagrams of the structure of a flight platform 100 according to an embodiment of the present disclosure. Flight platform 100 may include an aircraft 110, a parachute device 130, and a remote control device 140. Specifically, aircraft 110 may include a power system 150, a flight control system 160, an energy system 170, a frame, and a gimbal 120 supported on the frame. Aircraft 110 may wirelessly communicate with remote control device 140 and parachute device 130. Aircraft 110 may be any type of drone, such as an agricultural drone or an industrial drone, requiring cyclical operation.

[0030] The frame may include a fuselage and a landing gear (also known as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, with the one or more arms extending radially from the center frame. The landing gear is connected to the fuselage to provide support for the aircraft 110 during landing.

[0031] The power system 150 may include one or more electronic speed controllers (ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the propellers 153. The motors 152 are connected between the ESCs 151 and the propellers 153. The motors 152 and propellers 153 are mounted on the arms of the aircraft 110. The ESCs 151 receive drive signals from the flight control system 160 and provide drive current to the motors 152 based on the drive signals to control the speed of the motors 152. The motors 152 drive the propellers to rotate, thereby providing power for the flight of the aircraft 110. This power enables the aircraft 110 to achieve one or more degrees of freedom. In some embodiments, the aircraft 110 can rotate about one or more rotational axes. For example, these rotational axes may include roll, yaw, and pitch. It should be understood that the motors 152 may be either DC or AC motors. Furthermore, the motors 152 may be either brushless or brushed motors.

[0032] The flight control system 160 may include a flight controller 161 and a sensor system 162 of the aircraft 110. The sensor system 162 of the aircraft 110 is used to collect sensor data of the flight platform 100, including but not limited to the position and status information of the flight platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensor system 162 of the aircraft 110 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The flight controller 161 is used to control the motion state of the flight platform 100. For example, the motion state of the flight platform 100 may be controlled based on the attitude information measured by the sensor system 162 of the aircraft 110. It should be understood that the flight controller 161 may control the flight platform 100 according to pre-programmed instructions, or may control the flight platform 100 by responding to one or more remote control signals from the remote control device 140 .

[0033] The gimbal 120 may include a motor 122. The gimbal may be used to carry an imaging device 123. The flight controller 161 may control the movement of the gimbal 120 via the motor 122. Optionally, as another embodiment, the gimbal 120 may further include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the aircraft 110 or may be part of the aircraft 110. It should be understood that the motor 122 may be a DC motor or an AC motor. Furthermore, the motor 122 may be a brushless motor or a brushed motor.

[0034] The imaging device 123 can be, for example, a camera or a video camera for capturing images. The imaging device 123 can communicate with the flight controller 161 and perform image capture under the control of the flight controller 161. In this embodiment, the imaging device 123 includes at least a photosensitive element, such as a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It will be appreciated that the imaging device 123 can also be directly fixed to the aircraft 110, thereby omitting the gimbal 120.

[0035] The energy system 170 may include one or more batteries and a battery management system (BMS), wherein the batteries can be used to power the power system 150, the flight control system 160, the gimbal 120, and the loads on the gimbal 120 (for example, the imaging device 123), and the battery management system is used to manage and control the charging and discharging process of the batteries.

[0036] As shown in Figure 2, the parachute device 130 is located on the top of the aircraft 110, can communicate with the aircraft 110 wirelessly, and can be opened when the movement state of the flight platform 100 is abnormal, thereby reducing the falling speed of the flight platform 100 and improving the safety of the flight platform 100.

[0037] Remote control device 140 is located on the ground side of flying platform 100 and can communicate wirelessly with aircraft 110 to remotely control aircraft 110. In some examples, remote control device 140 can also communicate wirelessly with parachute device 130 to control the deployment of parachute device 130, or can communicate wirelessly with aircraft 110 to control the deployment of parachute device 130 via aircraft 110.

[0038] It should be understood that the above-mentioned names of the components of the flying platform 100 are for identification purposes only and should not be construed as limitations of the present disclosure.

[0039] Referring to Figures 3, 4, and 5, a parachute device 130 according to an embodiment of the present disclosure may include a parachute body 1301 and a parachute controller 1302. The parachute body 1301 may include a canopy 13011, a compartment 13012, parachute cords (not shown), and a parachute cloth (not shown). The canopy 13011 is mounted on the compartment 13012. The compartment 13012 includes a storage space for the parachute cords and parachute cloth. Referring to Figure 5, the compartment 13012 may be provided with a plurality of parachute cord hooks 13016, from which the parachute cords may be hung. The parachute compartment 13012 may also include a gas generator 13017 and an ignition device (not shown). When the parachute system needs to be deployed, the ignition device ignites, causing the gas generator 13017 to generate gas, filling the airbag 13014 and ejecting the parachute lines and fabric from the compartment 13012. When not ignited, the airbag 13014 can be pressed down under the fabric pressure strip 13018 within the compartment 13012, facilitating its storage. The compartment 13012 may also include a PET sheet 13015. Since the fabric is fluffy, using this PET sheet prevents it from being exposed, facilitating storage. The parachute controller 1302 can acquire sensor data from the sensor system 1303 of the parachute system 130 and determine the motion state of the flight platform 100 based on this sensor data. The sensor system 1303 of the parachute device 130 may be located in the parachute compartment 13012 , including but not limited to a barometer, a velocity sensor, an accelerometer, etc. The parachute controller 1302 may be located in a control box of the parachute device 130 , which may be fixed to the outer wall of the parachute compartment 13012 .

[0040] In the related art, parachute deployment decisions are typically made through a parachute controller 1302. Specifically, the controller of the parachute system 130 can determine whether the motion state of the flying platform 100 is abnormal based on the information sensed by the parachute system 1303, and control the deployment of the parachute system 130 if the motion state of the flying platform 100 is determined to be abnormal. However, due to restrictions imposed by the manufacturer of the aircraft 110 on the data interface of the aircraft 110, the information that the parachute system 130 can exchange with the aircraft 110 is relatively limited. Furthermore, to ensure the versatility of the parachute system 130, the parachute system 130 is typically not strongly coupled to the aircraft 110, allowing it to be compatible with aircraft 110 of different manufacturers and models. This further results in insufficient interaction between the parachute system 130 and the aircraft 110, preventing the parachute system 130 from acquiring sufficient information to determine the motion state of the flying platform 100. In addition, since the reliability of the algorithm of the parachute controller 1302 itself may not be high enough, when the parachute controller 1302 is used alone to make the parachute deployment decision, the error deployment rate and the missed deployment rate are high.

[0041] Based on this, an embodiment of the present disclosure provides a control system for a flying platform 100. The flying platform 100 includes an aircraft 110 and a parachute device 130 mounted on the aircraft 110. The aircraft 110 includes a flight controller 161 and a first sensor system. The parachute device 130 includes a parachute controller 1302 and a second sensor system. Referring to Figures 6 and 7, the control system of the flying platform 100 includes:

[0042] a flight controller 161 in communication with the parachute assembly 130, the flight controller 161 being configured to determine whether the motion state of the flight platform 100 is abnormal based on the sensor data of the first sensor system, and if the motion state of the flight platform 100 is abnormal and the communication connection is normal, to send a parachute deployment command to the parachute assembly 130 via the communication connection to control the deployment of the parachute assembly 130; and

[0043] The parachute controller 1302 is used to determine whether the motion state of the flight platform 100 is abnormal based on the sensing data of the second sensing system. If both the communication connection and the motion state of the flight platform 100 are abnormal, the parachute controller 1302 controls the parachute device 130 to open.

[0044] In the above embodiment, the flight controller 161 is able to obtain the motion state of the flight platform 100 and control the parachute device 130 to open when the motion state of the flight platform 100 is abnormal. Since the information that the flight controller 161 can obtain is relatively comprehensive and the algorithm of the flight controller 161 is highly reliable, the parachute opening decision made by the flight controller 161 can reduce the rate of false parachute opening and the rate of missed parachute opening. In addition, the flight controller 161 is also connected to the parachute controller 1302 in communication. In the event of an abnormality in the above communication connection, the parachute device 130 can be controlled to open through the parachute controller 1302. In this way, a redundant backup of the flight controller 161 is achieved, so that the parachute device 130 can still be controlled to open in the event of an abnormality in the flight controller 161, further reducing the rate of missed parachute opening.

[0045] In some embodiments, the flight platform 100 may include a sensor system 162 (hereinafter referred to as the first sensor system) for the aircraft 110, which is used to collect state parameters of the aircraft 110 (i.e., the state parameters of the flight platform 100). These state parameters can be used to characterize the motion state of the flight platform 100. For example, the first sensor system includes a speedometer, an accelerometer, an IMU, and a barometer, respectively used to collect state parameters such as velocity information, acceleration information, attitude information of the aircraft 110, and the air pressure value of the environment in which the aircraft 110 is located. The flight controller 161 can communicate with the first sensor system via wired or wireless means to obtain the state parameters collected by the first sensor system and, based on these state parameters, determine whether the motion state of the flight platform 100 is abnormal. For example, the flight controller 161 can determine whether the flight altitude of the flight platform 100 is below a preset altitude threshold based on the air pressure value collected by the barometer, determine whether the descent speed of the flight platform 100 is greater than a preset speed threshold based on the speed information collected by the speedometer, and determine whether the attitude of the flight platform 100 is abnormal based on the attitude information collected by the IMU. When the descent speed of the flight platform 100 is greater than a preset speed threshold, the flight altitude is lower than a preset altitude threshold, and / or the attitude of the flight platform 100 is abnormal, the flight controller 161 may determine that the motion state of the flight platform 100 is abnormal.

[0046] If the flight controller 161 determines that the motion state of the flight platform 100 is abnormal, the flight controller 161 may control the deployment of the parachute system 130. Alternatively, the flight controller 161 may communicate with the ignition device of the parachute system 130 to control the ignition device of the parachute system 130 to ignite the ignition device. Alternatively, the flight controller 161 may communicate with the parachute controller 1302 to instruct the parachute controller 1302 to control the ignition device of the parachute system 130 to ignite the ignition device of the parachute system 130.

[0047] The parachute controller 1302 can obtain the motion state of the flight platform 100. Specifically, the parachute controller 1302 can determine the motion state of the flight platform 100 based on state parameters collected by the sensor system 1303 of the parachute assembly 130 (hereinafter referred to as the second sensor system). For example, the second sensor system may include a barometer for collecting the air pressure value of the environment in which the parachute assembly 130 is located. If the parachute controller 1302 determines, based on the air pressure value, that the altitude of the parachute assembly 130 is less than a preset altitude threshold, it can determine that the motion state of the flight platform 100 is abnormal.

[0048] In one implementation, regardless of whether the communication connection between the flight controller 161 and the parachute device 130 is normal, the parachute controller 1302 can obtain the state parameters collected by the second sensor system and determine whether the motion state of the flight platform 100 is abnormal based on the state parameters. In another implementation, regardless of whether the communication connection between the flight controller 161 and the parachute device 130 is normal, the parachute controller 1302 can continue to obtain the state parameters collected by the second sensor system, but only if the communication connection between the flight controller 161 and the parachute device 130 is abnormal will the parachute controller 1302 determine whether the motion state of the flight platform 100 is abnormal based on the state parameters collected by the second sensor system. In yet another implementation, only if the communication connection between the flight controller 161 and the parachute device 130 is abnormal will the parachute controller 1302 obtain the state parameters collected by the second sensor system and determine whether the motion state of the flight platform 100 is abnormal based on the state parameters.

[0049] The flight controller 161 is communicatively connected to the parachute device 130 , which may include the flight controller 161 being communicatively connected to the parachute controller 1302 , or the flight controller 161 being communicatively connected to other functional units of the parachute device 130 .

[0050] When both the communication connection between the parachute device 130 and the flight controller 161 is abnormal, and the parachute controller 1302 detects an abnormal motion state of the flight platform 100, the parachute device 130 can be controlled to open by the parachute controller 1302. That is, in this embodiment, the flight controller 161 has a higher priority than the parachute controller 1302 in making parachute deployment decisions. When the communication connection between the flight controller 161 and the parachute device 130 is normal, the flight controller 161 can be used to make the parachute deployment decision. In the event of the aforementioned abnormal communication connection, the parachute controller 1302 will then make the parachute deployment decision. Because the information obtained by the flight controller 161 is relatively comprehensive and the algorithm of the flight controller 161 is highly reliable, the parachute deployment decisions made by the flight controller 161 are more accurate, thereby reducing the rate of false deployment and the rate of missed deployment.

[0051] In the above embodiment, the monitoring information of the aircraft 110 by the first sensor system can be transmitted to the parachute controller 1302, and / or the sensing data of the parachute system 130 by the second sensor system can be transmitted to the flight controller 161 through the communication connection between the flight controller 161 and the parachute system 130. In the event of an abnormality in the above communication connection, the parachute controller 1302 can obtain the motion state of the flight platform 100 based on the received sensing data from the first sensor system and the second sensor system. In the event of an abnormality in the above communication connection, the flight controller 161 can obtain the motion state of the flight platform 100 based on the received sensing data from the first sensor system and the second sensor system.

[0052] Assuming that a communication connection anomaly occurs at time t1, the sensor data from the first sensor system received by parachute controller 1302 at the time of the communication connection anomaly refers to the sensor data collected by the first sensor system before time t1 and transmitted to parachute controller 1302 via the communication connection. The sensor data from the second sensor system received by parachute controller 1302 at the time of the communication connection anomaly may include the sensor data collected by the second sensor system at or after time t1.

[0053] Similarly, when the communication connection is abnormal, the sensor data received by the first sensor system by the flight controller 161 may include the sensor data collected by the first sensor system at or after time t1. When the communication connection is abnormal, the sensor data received by the second sensor system by the flight controller 161 may include the sensor data collected by the second sensor system before time t1 and transmitted to the flight controller 161 via the communication connection.

[0054] The above embodiment acquires the motion state of the flying platform 100 by fusing the sensing data of the first sensing system and the second sensing system, which can further increase the types and redundancy of sensors, thereby further improving the detection accuracy of the motion state.

[0055] In some embodiments, the flight controller 161 may send a heartbeat signal to the parachute controller 1302 at a preset frequency. The parachute controller 1302 may determine whether the communication connection is abnormal based on the heartbeat signal. If the parachute controller 1302 does not receive the heartbeat signal within a preset time period determined based on the preset frequency, the communication connection is determined to be abnormal. In other embodiments, the parachute controller 1302 may send a heartbeat signal to the flight controller 161 at a preset frequency, and the flight controller 161 may return a response signal to the parachute controller 1302 in response to the received heartbeat signal. If the parachute controller 1302 does not receive the response signal within a preset time period determined based on the preset frequency, the communication connection is determined to be abnormal. If the flight controller 161 is in communication with other functional units of the parachute system 130, the flight controller 161 may send a heartbeat signal to the other functional units, and the other functional units may send a response signal to the parachute controller 1302, so that the parachute controller 1302 can determine whether the communication connection between the flight controller 161 and the parachute system 130 is abnormal based on the response signal sent by the other functional units. In other embodiments, other methods may be used to determine whether the communication connection between the flight controller 161 and the parachute device 130 is abnormal, and examples are not given here one by one.

[0056] In some embodiments, the parachute system 130 can be controlled to open after the power system 150 is shut down. The operation of shutting down the power system 150 can be performed by the flight controller 161 upon detecting an abnormal motion state of the flight platform 100, or by the parachute controller 1302 upon detecting an abnormal motion state of the flight platform 100. When the parachute controller 1302 shuts down the power system 150, if the parachute controller 1302 is not in communication with the power system 150 (as shown in FIG6 ), the parachute controller 1302 can request the flight controller 161 to shut down the power system 150. If the parachute controller 1302 is in communication with the power system 150 (as shown in FIG7 ), the parachute controller 1302 can control the power system 150 to shut down through the communication connection. By shutting down the power system 150 before controlling the parachute system 130 to open, physical interference or entanglement of the parachute lines or fabric with the motor or blades during parachute deployment can be effectively reduced, thereby improving the effectiveness of parachute deployment.

[0057] One embodiment of the overall control process for the power system 150 and the parachute system 130 is as follows: First, the flight controller 161 obtains the motion state of the flight platform 100. If the motion state of the flight platform 100 is abnormal, the flight controller 161 controls the power system 150 to shut down and then controls the parachute system 130 to deploy. Simultaneously, the parachute controller 1302 obtains the motion state of the flight platform 100 and the communication connection between the flight controller 161 and the parachute system 130. If both the communication connection and the motion state of the flight platform 100 are abnormal, the parachute controller 1302 requests the flight controller 161 to shut down the power system 150, or the parachute controller 1302 shuts down the power system 150 on its own. It should be noted that the abnormal communication connection between the flight controller 161 and the parachute device 130 may be caused by an abnormality in the downlink communication link from the flight controller 161 to the parachute device 130, i.e., the parachute device 130 cannot receive signals sent by the flight controller 161, while the uplink communication link from the parachute device 130 to the flight controller 161 is normal, i.e., the flight controller 161 can receive signals sent by the parachute device 130, or the communication connection between the flight controller 161 and the parachute device 130 may return to normal after a brief abnormality. Therefore, even if the communication connection between the flight controller 161 and the parachute device 130 is abnormal, it is still possible to request the flight controller 161 to shut down the power system 150.

[0058] In some embodiments, after the parachute device 130 is opened, the energy system of the flight platform 100 can also be shut down. The energy system of the flight platform 100 may include the energy system 170 of the aircraft 110 and the energy system of the parachute device 130. The energy system 170 of the aircraft 110 may include batteries and a battery management system for powering various functional units on the aircraft 110 (e.g., the flight controller 161, the power system 150, etc.); the energy system of the parachute device 130 may be used to power various functional units on the parachute device 130 (e.g., the parachute controller 1302).

[0059] For example, the flight controller 161 can control the power system of the flight platform 100 to shut down after controlling the parachute system 130 to deploy. Alternatively, if the parachute controller 1302 is in communication with the power system of the flight platform 100, the parachute controller 1302 can also control the power system of the flight platform 100 to shut down after controlling the parachute system 130 to deploy. By shutting down the power system of the flight platform 100 after deploying the parachute system 130, the probability of secondary damage caused by external interface short circuits after the flight platform 100 touches the ground can be reduced, thereby improving the safety of the flight platform 100.

[0060] In some embodiments, the energy system of flying platform 100 is shut down if preset conditions are met; the preset conditions include at least one of the following: the speed of flying platform 100 is greater than a preset speed threshold, flying platform 100 descends below a preset altitude, a first preset time has passed since parachute device 130 was deployed, or a second preset time has passed since power system 150 was shut down. If at least one of these conditions is met, it indicates that flying platform 100 may be in a dangerous state. For example, if the speed of flying platform 100 is greater than the preset speed threshold, it indicates that flying platform 100 may have been falling for some time and is about to hit the ground. Therefore, shutting down the energy system of flying platform 100 reduces the probability of secondary disasters.

[0061] As described above, parachute controller 1302 can first request flight controller 161 to shut down the power system before deploying parachute system 130. If flight controller 161 fails to respond to the request to shut down power system 150 after a timeout, parachute controller 1302 can also shut down the flight platform 100's energy system and, after shutting down the platform 100's energy system, control the deployment of parachute system 130. This approach has the advantage of ensuring that, in the event that flight controller 161 experiences an anomaly and fails to shut down power system 150 in a timely manner, by directly shutting down the flight platform 100's energy system, power system 150 is in a disabled state before deploying parachute system 130, thereby improving the effectiveness of parachute deployment.

[0062] In some embodiments, if the flight controller 161 successfully responds to the request to shut down the power system 150, it may return a response signal to the parachute controller 1302. The parachute controller 1302 may start a timer after requesting the flight controller 161 to shut down the power system 150. If the flight controller 161 still does not return a response signal after the timer reaches a third preset time duration, it is determined that the flight controller 161 has timed out and has not responded to the request to shut down the power system 150.

[0063] The third preset duration can be shorter than the second preset duration in the aforementioned embodiment. That is, if the power system 150 is successfully shut down and the parachute system 130 is then controlled to deploy, a longer period (i.e., the second preset duration) can be allowed before the power system of the flight platform 100 is shut down. This, on the one hand, reduces the impact on the safety of the flight platform 100 by shutting down the power system of the flight platform 100 after a longer period of time, as the parachute system 130 has already been successfully deployed. On the other hand, shutting down the power system of the flight platform 100 after a longer period of time allows the flight controller 161 to record as much information as possible about the flight platform 100's motion state, facilitating subsequent identification of fault conditions and system maintenance operations by reviewing the logs. Furthermore, since the aircraft 110 is typically equipped with an indicator light, the position of the aircraft 110 can be more accurately observed by the indicator light when the power system of the flight platform 100 is not shut down. This reduces the risk of the aircraft 110 being lost, particularly in low-light conditions such as at night. If the power system 150 is not successfully shut down, the energy system of the flying platform 100 may be shut down after a short period of time (ie, a first preset time period), thereby ensuring that the power system 150 is in a shut-down state.

[0064] In some embodiments, as shown in FIG7 , parachute controller 1302 is communicatively connected to power system 150. In this case, if the communication link between flight controller 161 and parachute assembly 130 fails, parachute controller 1302 can send a control signal to power system 150 to maintain the current motion state of flight platform 100. By controlling the shutdown of power system 150 through two independent links, flight controller 161 and parachute controller 1302, it is possible to effectively ensure that power system 150 is in a shutdown state before deploying parachute assembly 130, thereby improving the effectiveness of parachute deployment.

[0065] The current motion state includes the current flight altitude, current flight direction, current flight speed, and / or current flight attitude. Furthermore, if the communication connection does not return to normal within a preset time period, the parachute controller 1302 may control the flight platform 100 to land. Furthermore, if the communication connection does not return to normal within a preset time period and the flight platform 100's motion state is abnormal, the parachute controller 1302 may control the parachute device 130 to deploy.

[0066] In the above embodiment, parachute controller 1302 can communicate directly with power system 150. Thus, if flight controller 161 experiences an anomaly, parachute controller 1302 can serve as a backup flight controller, temporarily taking over control of aircraft 110, maintaining the current state of flight platform 100 while waiting for flight controller 161 to recover, thereby enhancing the safety of flight platform 100. If flight controller 161 fails to recover after a timeout, parachute controller 1302 can control a slow descent of flight platform 100, only making the decision to deploy the parachute if the flight platform 100's attitude becomes uncontrollable. This creates a step-by-step safety redundancy system.

[0067] In some embodiments, as shown in Figures 6 and 7 , the control system of the flight platform 100 of the disclosed embodiments further includes a remote control device 140 for controlling the deployment of the parachute assembly 130. Remote control device 140 can be a remote controller dedicated to the aircraft 110, or it can be an electronic device installed with control software for the aircraft 110, such as a mobile phone, tablet computer, or laptop computer. Remote control device 140 can be in communication with flight controller 161 or parachute controller 1302, thereby transmitting remote control signals to control the deployment of parachute assembly 130 via flight controller 161 or parachute controller 1302.

[0068] In this embodiment, three control sources for controlling the deployment of the parachute system 130 are simultaneously provided: the remote control device 140, the flight controller 161, and the parachute controller 1302. This provides mixed control, improving the robustness of control decisions. The control priorities of the remote control device 140, flight controller 161, and parachute controller 1302 are arranged in descending order. Because the flight controller 161 has a greater sensor redundancy and variety, and its perception is stronger than that of the parachute controller 1302, when the communication connection between the parachute system 130 and the flight controller 161 is normal, the flight controller 161 makes the deployment decision. If an anomaly occurs in the flight controller 161 and the aircraft 110 drifts away, the user can manually control the deployment of the parachute system 130 through the remote control device 140. If the flight controller 161 loses connection with the parachute system 130 during flight (i.e., the communication connection is abnormal), the parachute controller 1302 switches to its own deployment algorithm to make the deployment decision. This coordinated effort of multiple control sources effectively improves the success rate of parachute deployment.

[0069] When the parachute device 130 is controlled to open by the remote control device 140, the flight controller 161 or the parachute controller 1302 can also control the power system 150 to close first and then control the parachute device 130 to open after receiving the remote control signal, thereby improving the effectiveness of parachute opening.

[0070] In the related art, the parachute system 130's chamber 13012 is equipped with an audible and visual alarm device (e.g., a buzzer) and a barometer. The audible and visual alarm device emits audible and visual alarm signals to alert and warn ground personnel during a fall of the aircraft 110 and indicates the aircraft's position. The barometer is used to determine the parachute system 130's altitude. However, due to its waterproof requirements, the parachute system 130 has poor air permeability, which affects the effectiveness of the audible and visual alarm device and the accuracy of the barometer. To address these issues, the disclosed embodiments utilize waterproof and breathable material in the parachute system 130. Specifically, the waterproof and breathable material can be installed at at least one of the following locations: the connection between the parachute system 130's canopy 13011 and the chamber 13012, around the airbag of the barometer, or at the connection between the parachute system 130's control box and the chamber 13012.

[0071] The waterproof and breathable materials include, but are not limited to, foam, thermoplastic polyurethane rubber, or polytetrafluoroethylene membrane. By using waterproof and breathable materials, the breathability of the parachute device 130 can be improved while ensuring waterproofness, thereby enhancing the alarm effect of the sound and light alarm device and improving the sensing accuracy of the barometer of the parachute device 130.

[0072] In some embodiments, the control box of the parachute device 130 may also be provided with an alarm indicator light for outputting a visual alarm signal to alert ground personnel when the aircraft 110 is falling.

[0073] In the related art, the parachute device 130 experiences a high impact force during deployment, which can easily cause the parachute cords to break and fail. To address this issue, the parachute device 130 of the presently disclosed embodiment includes multiple parachute cords, including at least one elastic cord and at least one inelastic cord, with the elastic cords being shorter than the inelastic cords. Optionally, the elastic cords are nylon cords, and the inelastic cords are rubber cords. The number of elastic cords and inelastic cords can be equal or unequal. For example, in one non-limiting embodiment, the number of elastic cords and inelastic cords is four. By providing longer inelastic cords and shorter elastic cords, the elastic cords are stressed first during deployment. After the elastic cords have absorbed some of the energy, the inelastic cords are then stressed. This reduces the impact on the parachute cords during deployment, reduces the risk of line breakage and failure, and further improves deployment efficiency.

[0074] In some embodiments, the parachute controller 1302 can also perform fault diagnosis on the parachute system 130. This fault diagnosis can determine the health status of the parachute system 130, allowing the user to be promptly notified of any faults. Specifically, fault diagnosis includes, but is not limited to, diagnosing faults in the ignition system, the second sensor system, and / or the communication connection. Fault diagnosis of the ignition system can include diagnosing the ignition voltage and resistance value of the ignition system; fault diagnosis of the second sensor system can include diagnosing the connection status between each sensor in the second sensor system and the parachute controller 1302; and communication link diagnosis includes diagnosing the communication link between the parachute system 130 and the flight controller 161, as well as the communication link between the parachute system 130 and the remote control device 140.

[0075] The fault diagnosis results can be transmitted to the remote control device 140 via the parachute controller 1302 and displayed on the display interface of the remote control device 140. Alternatively, the parachute device 130 may be provided with a status indicator light to indicate the fault diagnosis results. The number of indicator lights may be greater than or equal to one. For example, different indicator lights may indicate different faults. Alternatively, different faults may be indicated by different indicator light colors. By providing a status indicator light, the user can intuitively observe the health status of the parachute device 130 without having to check the remote control device 140.

[0076] 8 , an embodiment of the present disclosure further provides a method for controlling a parachute device 130 . The parachute device 130 is mounted on and in communication with the aircraft 110 . The parachute device 130 includes a sensor system. Referring to FIG. 8 , the method includes:

[0077] Step S801: in response to receiving a parachute opening instruction sent by the aircraft 110 via the communication connection, controlling the parachute device 130 to open; and

[0078] Step S802: determining whether the motion state of the parachute device 130 is abnormal based on the sensing data of the sensing system, and controlling the parachute device 130 to open when it is determined that both the communication connection and the motion state of the parachute device 130 are abnormal.

[0079] The disclosed embodiments may be executed by the parachute device 130, which may be in communication with the aircraft 110. If the aircraft 110 is in an abnormal motion state and the communication connection is normal, the aircraft 110 may send a parachute deployment command to the parachute controller 1302, causing the parachute controller 1302 to control the parachute device 130 to deploy.

[0080] In addition to controlling the deployment of the parachute system 130 in response to deployment commands sent by the aircraft 110, the parachute controller 1302 can also control the deployment of the parachute system 130 itself. Specifically, the parachute controller 1302 can determine whether the motion state of the parachute system 130 is abnormal based on sensor data from the parachute system 130's sensor system (i.e., the aforementioned second sensor system). If both the communication connection and the parachute system 130's motion state are abnormal, the parachute system 130 can be controlled to deploy. Because the aircraft 110 can access relatively comprehensive information and its algorithm is highly reliable, deploying the parachute through the aircraft 110 can reduce the rate of false deployments and missed deployments. Furthermore, in the event of a communication connection anomaly, the parachute system 130 itself can make deployment decisions, allowing the parachute system 130 to deploy even in the event of an aircraft 110 anomaly, further reducing the rate of missed deployments.

[0081] In some embodiments, the parachute assembly 130 is deployed after the power system of the aircraft 110 is shut down.

[0082] In some embodiments, the power system 150 is shut down by the aircraft 110 when an abnormal motion state of the parachute device 130 is detected.

[0083] In some embodiments, the method further includes: when it is detected that the motion state of the parachute device 130 is abnormal, the parachute device 130 controls the power system 150 to shut down.

[0084] In some embodiments, controlling the power system 150 to shut down includes requesting the aircraft 110 to shut down the power system 150 .

[0085] In some embodiments, the energy system of the aircraft 110 is shut down after the parachute device 130 is deployed.

[0086] In some embodiments, after the parachute device 130 is deployed, the aircraft 110 is requested to shut down the energy system of the aircraft 110 .

[0087] In some embodiments, the parachute controller is in communication with the energy system; the method further includes: controlling the energy system to shut down after the parachute device 130 is opened.

[0088] In some embodiments, the energy system is shut down when preset conditions are met; the preset conditions include at least one of the following: the speed of the aircraft 110 is greater than a preset speed threshold, the aircraft 110 descends below a preset altitude, a first preset time has passed after the parachute device 130 is opened, and a second preset time has passed after the power system 150 of the aircraft 110 is shut down.

[0089] In some embodiments, controlling the parachute device 130 to open includes: if the aircraft 110 does not respond to the request to shut down the power system 150 within a timeout period, controlling the energy system of the aircraft 110 to shut down; after controlling the energy system of the aircraft 110 to shut down, controlling the parachute device 130 to open.

[0090] In some embodiments, the method further includes: if the communication connection is abnormal and the motion state of the parachute device 130 is normal, sending a control signal to the power system 150 of the aircraft 110 so that the power system 150 maintains the current motion state of the aircraft 110.

[0091] In some embodiments, the method further includes: if the communication connection does not return to normal within a preset time period, controlling the aircraft 110 to land.

[0092] In some embodiments, controlling the parachute device 130 to open includes: if the communication connection does not return to normal within a preset time period and the movement state of the parachute device 130 is abnormal, controlling the parachute device 130 to open.

[0093] In some embodiments, the parachute device 130 can be deployed in response to a remote control signal sent by the remote control device 140 .

[0094] In some embodiments, the remote control device 140 is in communication with the aircraft 110 , and the remote control signal is sent to the parachute device 130 via the aircraft 110 .

[0095] In some embodiments, the method further includes: receiving a heartbeat signal sent by the aircraft 110 at a preset frequency; and determining whether the communication connection between the parachute device 130 and the aircraft 110 is abnormal based on the heartbeat signal.

[0096] In some embodiments, the parachute device 130 includes a parachute compartment 13012 and a parachute cover 13011, and a waterproof and breathable material is provided at the connection between the parachute compartment 13012 and the parachute cover 13011; and / or a barometer is provided in the parachute compartment 13012 of the parachute device 130, and a waterproof and breathable material is provided around the air bag of the barometer.

[0097] In some embodiments, the waterproof and breathable material is foam, thermoplastic polyurethane rubber or polytetrafluoroethylene film.

[0098] In some embodiments, the parachute device 130 further includes an audible and visual alarm device housed in a control box of the parachute device 130 , configured to output an audible alarm message after the parachute device 130 is opened.

[0099] In some embodiments, the parachute device 130 includes a plurality of lines, the plurality of lines including at least one elastic line and at least one inelastic line, the elastic line being shorter than the inelastic line.

[0100] In some embodiments, the method further includes: performing fault diagnosis on the parachute device 130 .

[0101] In some embodiments, a status indicator light is provided on the parachute device 130 to indicate the fault diagnosis result.

[0102] The parachute device 130 and the aircraft 110 of the embodiment of the present disclosure can constitute a flying platform 100, and the flying platform 100 may include other components in addition to the parachute device 130 and the aircraft 110. It can be understood that since the parachute device 130 is installed on the aircraft 110, the motion state of the parachute device 130 can be used to characterize the motion state of the aircraft 110; and since the parachute device 130 and the aircraft 110 constitute the flying platform 100, the motion state of the parachute device 130 and the motion state of the aircraft 110 can both characterize the motion state of the flying platform 100. In some embodiments, the parachute device 130 may include a parachute controller 1302, and the method of the embodiment of the present disclosure may be executed by the parachute controller 1302. The details of each step in the method of the embodiment of the present disclosure are detailed in the functions implemented by the parachute controller 1302 in the embodiment of the control system of the flying platform 100, and will not be repeated here.

[0103] Furthermore, it is understood that the above steps S801 and S802 are performed in different situations: step S801 is performed when the communication connection is normal, while step S802 is performed when the communication connection is abnormal. Therefore, step S801 can be performed before or after step S802.

[0104] 9 , an embodiment of the present disclosure further provides a method for controlling an aircraft 110 , wherein the aircraft 110 is in communication with a parachute device 130 mounted on the aircraft 110 , and the aircraft 110 includes a sensor system. Referring to FIG. 9 , the method includes:

[0105] Step S901: determining whether the motion state of the aircraft 110 is abnormal based on the sensor data of the sensor system of the aircraft 110;

[0106] Step S902: When it is determined that the motion state of the aircraft 110 is abnormal and the communication connection is normal, a parachute opening instruction is sent to the parachute device 130 through the communication connection to control the opening of the parachute device 130; wherein the abnormal state of the communication connection can be detected by the parachute device 130, so that the parachute device 130 is opened when the communication connection is abnormal and the motion state of the parachute device 130 is detected to be abnormal.

[0107] In some embodiments, the parachute assembly 130 is deployed after the power system 150 of the aircraft 110 is shut down.

[0108] In some embodiments, the method further includes: controlling the power system 150 to shut down when an abnormal motion state of the aircraft 110 is detected.

[0109] In some embodiments, the power system 150 is shut down when an abnormal motion state of the aircraft 110 is detected.

[0110] In some embodiments, the power system 150 is controlled to shut down in response to a request from the parachute device 130 ; the request is sent when the motion state of the aircraft 110 is abnormal.

[0111] In some embodiments, the energy system of the aircraft 110 is shut down after the parachute device 130 is deployed.

[0112] In some embodiments, the method further includes: shutting down an energy system of the aircraft 110 after controlling the parachute device 130 to open.

[0113] In some embodiments, after the parachute device 130 is deployed, the parachute device 130 is in communication with the energy system; the aircraft 110 shuts down the energy system in response to the request of the parachute device 130 .

[0114] In some embodiments, the energy system is shut down when preset conditions are met; the preset conditions include at least one of the following: the speed of the parachute device 130 is greater than a preset speed threshold, the parachute device 130 descends below a preset altitude, a first preset time has passed after the parachute device 130 is opened, and a second preset time has passed after the power system 150 of the aircraft 110 is shut down.

[0115] In some embodiments, the parachute device 130 can be deployed in response to a remote control signal sent by the remote control device 140 .

[0116] In some embodiments, the method further includes: forwarding the remote control signal sent by the remote control device 140 to the parachute device 130 to control the parachute device 130 to open.

[0117] In some embodiments, the parachute device 130 includes a parachute controller 1302, a parachute compartment 13012 and a parachute cover 13011, the parachute controller 1302 is used to control the opening of the parachute device 130, and the connection between the parachute compartment 13012 and the parachute cover 13011 is provided with a waterproof and breathable material; and / or a barometer is provided in the parachute compartment 13012 of the parachute device 130, and a waterproof and breathable material is provided around the airbag of the barometer; and / or the parachute device 130 includes a control box for accommodating the parachute controller 1302, and a waterproof and breathable material is provided at the connection between the control box and the parachute compartment 13012.

[0118] In some embodiments, the waterproof and breathable material is foam, thermoplastic polyurethane rubber or polytetrafluoroethylene film.

[0119] In some embodiments, the parachute device 130 further includes an audible and visual alarm device housed in a control box of the parachute device 130 , configured to output an audible alarm message after the parachute device 130 is opened.

[0120] In some embodiments, the parachute device 130 includes a plurality of lines, the plurality of lines including at least one elastic line and at least one inelastic line, the elastic line being shorter than the inelastic line.

[0121] In the above-described embodiment, the sensing system of the aircraft 110 can be the first sensing system in the control system of the aforementioned flight platform 100. Since the parachute system 130 is mounted on the aircraft 110, the motion state of the parachute system 130 can be used to characterize the motion state of the aircraft 110. Furthermore, the aircraft 110 and the parachute system 130 can constitute the flight platform 100, and the motion state of the parachute system 130 and the motion state of the aircraft 110 can both be used to characterize the motion state of the flight platform 100. The parachute system 130 can include a second sensing system and a parachute controller 1302. The parachute controller 1302 can determine whether the motion state of the parachute system 130 is abnormal based on the sensor data of the second sensing system. In some embodiments, the aircraft 110 can include a flight controller 161, and the method of this embodiment can be executed by the flight controller 161. The details of each step in the method of the disclosed embodiment are detailed in the functions implemented by the flight controller 161 in the aforementioned embodiment of the control system of the flight platform 100, and will not be repeated here.

[0122] 10 shows an overall control flow chart of the flight controller 161 and the parachute controller 1302 , wherein steps S1001 to S1005 may be executed by the flight controller 161 , and steps S1006 to S1012 may be executed by the parachute controller 1302 .

[0123] In step S1001 , the flight controller 161 may obtain the motion state of the flight platform 100 .

[0124] In step S1002, the flight controller 161 may determine whether the motion state of the flight platform 100 is abnormal. If the motion state of the flight platform 100 is abnormal and the communication connection between the flight controller 161 and the parachute device 130 is normal, step S1003 is executed, otherwise the process returns to step S1001.

[0125] In step S1003 , the flight controller 161 may shut down the power system 150 of the flight platform 100 and execute step S1004 .

[0126] In step S1004 , the flight controller 161 may control the parachute device 130 to open via the communication connection and execute step S1005 .

[0127] In step S1005 , the flight controller 161 may shut down the energy system of the flight platform 100 .

[0128] In step S1006, the parachute controller 1302 may obtain the motion state of the flying platform 100. This step may be performed in parallel with step S1001.

[0129] In step S1007, the parachute controller 1302 may determine whether the motion state of the flying platform 100 is abnormal. If so, step S1008 is executed, otherwise, the process returns to step S1006.

[0130] In step S1008, the parachute controller 1302 may determine whether the communication connection between the parachute device 130 and the flight controller 161 is abnormal. If so, step S1009 is executed, otherwise the process returns to step S1006. The order in which steps S1007 and S1008 are executed is not limited in this disclosure. In addition to the order shown in the figure, it is also possible to determine in parallel whether the communication connection between the parachute device 130 and the flight controller 161 and the motion state of the flight platform 100 are abnormal. Alternatively, it is possible to first determine whether the communication connection between the parachute device 130 and the flight controller 161 is abnormal, and if the determination result is "yes", then determine whether the motion state of the flight platform 100 is abnormal.

[0131] In step S1009 , the parachute controller 1302 may request the flight controller 161 to shut down the power system 150 and execute step S1010 .

[0132] In step S1010, parachute controller 1302 can determine whether the flight controller 161 has timed out in its response to the request to shut down power system 150. If so, step S1011 is executed; otherwise, step S1012 is executed. Alternatively, if the result of this determination is negative, flight controller 161 can execute steps S1004 and S1005 to deploy parachute system 130 and shut down the power system of flight platform 100.

[0133] In step S1011 , the parachute controller 1302 may shut down the energy system of the flying platform 100 and execute step S1012 .

[0134] In step S1012 , the parachute controller 1302 may control the parachute device 130 to open.

[0135] 3 to 5 , an embodiment of the present disclosure further provides a parachute device 130, which is mounted on an aircraft 110 and is in communication with the aircraft 110. The parachute device 130 includes a sensing system and a controller; wherein the controller is configured to execute instructions to implement the method performed by the parachute controller 1302 in any embodiment of the present disclosure.

[0136] Referring to Figure 1, an embodiment of the present disclosure further provides an aircraft 110, which is communicatively connected to a parachute device 130 installed on the aircraft 110, and the aircraft 110 includes a flight controller 161 and a sensing system; wherein the flight controller 161 is configured to execute instructions to implement the method executed by the flight controller 161 in any embodiment of the present disclosure.

[0137] An embodiment of the present disclosure provides a flying platform 100, which includes an aircraft 110 and a parachute device 130 installed on the aircraft 110. The aircraft 110 includes a flight controller 161 and a first sensor system. The parachute device 130 includes a parachute controller 1302 and a second sensor system. The flight controller 161 is used to implement the functions performed by the flight controller 161 in the control system of the flying platform 100 of the first aspect; the parachute controller 1302 is used to implement the functions performed by the parachute controller 1302 in the control system of the flying platform 100 of the first aspect.

[0138] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in any of the aforementioned embodiments when the program is executed by a processor.

[0139] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0140] 11 , an embodiment of the present disclosure further provides a method for controlling a flying platform 100. The flying platform 100 includes an aircraft 110 and a parachute device 130 mounted on the aircraft 110. The aircraft 110 includes a flight controller 161 and a first sensor system. The parachute device 130 includes a parachute controller 1302 and a second sensor system. The flight controller 161 is in communication with the parachute device 130. The method for controlling the flying platform includes:

[0141] Step S1101: The flight controller 161 determines whether the motion state of the flight platform 100 is abnormal based on the sensor data of the first sensor system. If the motion state of the flight platform 100 is abnormal and the communication connection is normal, the flight controller 161 sends a parachute opening command to the parachute device 130 through the communication connection to control the parachute device 130 to open; and

[0142] Step S1102: The parachute controller 1302 determines whether the motion state of the flight platform 100 is abnormal based on the sensing data of the second sensing system. If both the communication connection and the motion state of the flight platform 100 are abnormal, the parachute controller 1302 controls the parachute device 130 to open.

[0143] In some embodiments, the parachute device 130 is deployed after the power system of the flying platform 100 is shut down.

[0144] In some embodiments, the method further includes: controlling the power system to shut down when an abnormal motion state of the flying platform 100 is detected.

[0145] In some embodiments, the power system is shut down when the parachute device 130 detects an abnormal motion state of the flying platform 100 ; and / or the power system is shut down when the aircraft 110 detects an abnormal motion state of the flying platform 100 .

[0146] In some embodiments, in response to a request from the parachute controller 1302, the power system is controlled to be shut down, and the request from the parachute controller 1302 is sent when the parachute device 130 detects that the motion state of the flight platform 100 is abnormal; and / or in response to a request from the flight controller 161, the power system is controlled to be shut down, and the request from the flight controller 161 is sent when the aircraft 110 detects that the motion state of the flight platform 100 is abnormal.

[0147] In some embodiments, the energy system of the flying platform 100 is shut down after the parachute device 130 is deployed.

[0148] In some embodiments, the method further includes: shutting down the energy system after controlling the parachute device 130 to open.

[0149] In some embodiments, the parachute device 130 is in communication with an energy system; the energy system is controlled by the parachute controller 1302 to open and then close the parachute device 130.

[0150] In some embodiments, the energy system is shut down when preset conditions are met; the preset conditions include at least one of the following: the speed of the flying platform 100 is greater than a preset speed threshold, the flying platform 100 descends below a preset height, a first preset time has passed after the parachute device 130 is opened, and a second preset time has passed after the power system of the flying platform 100 is shut down.

[0151] In some embodiments, the parachute device 130 can be deployed in response to a remote control signal sent by the remote control device 140 .

[0152] In some embodiments, the method further includes: performing fault diagnosis on the parachute device 130 .

[0153] In some embodiments, a status indicator light is provided on the parachute device 130 to indicate the fault diagnosis result.

[0154] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that the embodiments of this specification can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solutions of the embodiments of this specification, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments of this specification.

[0155] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or any combination of these devices.

[0156] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they are not described one by one. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this disclosure.

[0157] Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow from the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0158] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0159] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control system for a flying platform, characterized in that: The flying platform includes an aircraft and a parachute device installed on the aircraft, the aircraft includes a flight controller and a first sensor system, the parachute device includes a parachute controller and a second sensor system, and the control system of the flying platform includes: the flight controller being in communication connection with the parachute device, the flight controller being used to determine whether the motion state of the flight platform is abnormal according to the sensing data of the first sensing system, and if the motion state of the flight platform is abnormal and the communication connection is normal, sending a parachute opening instruction to the parachute device through the communication connection to control the parachute device to open; and The parachute controller is used to determine whether the motion state of the flying platform is abnormal based on the sensing data of the second sensing system. If both the communication connection and the motion state of the flying platform are abnormal, the parachute controller controls the parachute device to open.

2. The control system of the flying platform according to claim 1, characterized in that: The parachute device is opened after the power system of the flying platform is shut down.

3. The control system of the flying platform according to claim 2, characterized in that: The flight controller is used to: When an abnormal motion state of the flying platform is detected, the power system is controlled to shut down.

4. The control system of the flying platform according to claim 2, characterized in that: The parachute controller is used to: When an abnormal motion state of the flying platform is detected, the power system is controlled to shut down.

5. The control system of the flying platform according to claim 4, characterized in that: The parachute controller is used to: When an abnormal motion state of the flight platform is detected, the flight controller is requested to shut down the power system.

6. The control system of the flying platform according to claim 1, characterized in that: The energy system of the flying platform is shut down after the parachute device is opened.

7. The control system of the flying platform according to claim 6, characterized in that: The flight controller is also used for: After controlling the parachute device to open, controlling the energy system to close.

8. The control system of the flying platform according to claim 6, characterized in that: The parachute controller is in communication with the energy system; the parachute controller is also used for: After controlling the parachute device to open, controlling the energy system to close.

9. The control system of the flying platform according to any one of claims 6 to 8, characterized in that: When a preset condition is met, the energy system is shut down; the preset condition includes at least one of the following: The speed of the flying platform is greater than a preset speed threshold, the flying platform descends below a preset height, a first preset time has passed after the parachute device is opened, and a second preset time has passed after the power system of the flying platform is shut down.

10. The control system of the flying platform according to claim 5, characterized in that: The parachute controller is used to: If the flight controller fails to respond to the request within a time limit, the energy system of the flight platform is controlled to shut down; After controlling the energy system to be turned off, controlling the parachute device to be turned on.

11. The control system of the flying platform according to claim 1, characterized in that: The parachute controller is also used for: If the communication connection is abnormal, a control signal is sent to the power system of the flying platform so that the power system maintains the current motion state of the flying platform.

12. The control system of the flying platform according to claim 11, characterized in that: The parachute controller is also used for: If the communication connection does not return to normal within a preset time period, the aircraft is controlled to land.

13. The control system of the flying platform according to claim 11 or 12, characterized in that: The parachute controller is used to: If the communication connection does not return to normal within a preset time period and the motion state of the flying platform is abnormal, the parachute device is controlled to open.

14. The control system of the flying platform according to claim 1, characterized in that: Also includes: A remote control device is used to control the opening of the parachute device.

15. The control system of the flying platform according to claim 14, characterized in that: The remote control device is in communication with the flight controller so as to send a remote control signal for controlling the opening of the parachute device to the parachute device through the flight controller; or The remote control device is in communication connection with the parachute controller so as to send a remote control signal for controlling the opening of the parachute device to the parachute device through the parachute controller.

16. The control system of the flying platform according to claim 1, characterized in that: The parachute controller is used to: Receiving a heartbeat signal sent by the flight controller at a preset frequency; It is determined whether the communication connection between the parachute device and the flight controller is abnormal based on the heartbeat signal.

17. The control system of the flying platform according to claim 1, characterized in that: The parachute device comprises a parachute cabin and a parachute cover, and a waterproof and breathable material is provided at the connection between the parachute cabin and the parachute cover; and / or A barometer is provided in the parachute cabin of the parachute device, and a waterproof and breathable material is provided around the air bag of the barometer; and / or The parachute device comprises a control box for accommodating the parachute controller, and a waterproof and breathable material is provided at the connection between the control box and the parachute cabin.

18. The control system of the flying platform according to claim 17, characterized in that: The waterproof and breathable material is foam, thermoplastic polyurethane rubber or polytetrafluoroethylene film.

19. The control system of the flying platform according to claim 17, characterized in that: The parachute device also includes an audible and visual alarm device, which is contained in a control box of the parachute device and is used to output audible and visual alarm information after the parachute device is opened.

20. The control system of the flying platform according to claim 1, characterized in that: The parachute device comprises a plurality of parachute lines, wherein the plurality of parachute lines comprises at least one elastic line and at least one inelastic line, wherein the length of the elastic line is shorter than the length of the inelastic line.

21. The control system of the flying platform according to claim 1, characterized in that: The parachute controller is also used for: A fault diagnosis is performed on the parachute device.

22. The control system of the flying platform according to claim 21, characterized in that: The parachute device is provided with a status indicator light for indicating a fault diagnosis result.

23. The control system of the flying platform according to claim 1, characterized in that: The communication connection is used to transmit the sensing data of the first sensing system and the sensing data of the second sensing system.

24. The control system of the flying platform according to claim 23, characterized in that: When the communication connection is abnormal, the parachute controller obtains the motion state of the flight platform based on the received sensing data of the first sensing system and the received sensing data of the second sensing system; and / or The flight controller is used to obtain the motion state of the flight platform based on the received sensing data of the first sensing system and the received sensing data of the second sensing system.

25. A method for controlling a parachute device, wherein the parachute device is mounted on an aircraft and is in communication connection with the aircraft, characterized in that: The parachute device includes a sensor system, and the method includes: In response to receiving a parachute opening command sent by the aircraft via the communication connection, controlling the parachute device Open; and Whether the motion state of the parachute device is abnormal is determined according to the sensing data of the sensing system, and when it is determined that both the communication connection and the motion state of the parachute device are abnormal, the parachute device is controlled to open.

26. The method according to claim 25, characterized in that The parachute device is opened after the power system of the aircraft is shut down.

27. The method according to claim 26, characterized in that The power system is shut down by the aircraft when it is detected that the motion state of the parachute device is abnormal.

28. The method according to claim 26, characterized in that The method further comprises: When it is detected that the movement state of the parachute device is abnormal, the parachute device controls the power system to shut down.

29. The method according to claim 28, characterized in that The controlling the power system to shut down includes: The aircraft is requested to shut down the power system.

30. The method according to claim 25, characterized in that The energy system of the aircraft is shut down after the parachute device is deployed.

31. The method according to claim 30, characterized in that After the parachute device is deployed, the aircraft is requested to shut down the energy system.

32. The method according to claim 30, characterized in that The parachute device is communicatively connected to the energy system; the method further comprises: After the parachute device is opened, the energy system is controlled to be closed.

33. The method according to any one of claims 30 to 32, characterized in that When a preset condition is met, the energy system is shut down; the preset condition includes at least one of the following: The speed of the aircraft is greater than a preset speed threshold, the aircraft descends below a preset altitude, a first preset time has passed after the parachute device is opened, and a second preset time has passed after the power system of the aircraft is shut down.

34. The method according to claim 29, characterized in that The controlling the parachute device to open comprises: If the aircraft does not respond to the request to shut down the power system within a time limit, control the energy system of the aircraft to shut down; After controlling the energy system to be turned off, controlling the parachute device to be turned on.

35. The method according to claim 25, characterized in that The method further comprises: If the communication connection is abnormal and the motion state of the parachute device is normal, a control signal is sent to the power system of the aircraft so that the power system maintains the current motion state of the aircraft.

36. The method according to claim 35, characterized in that The method further comprises: If the communication connection does not return to normal within a preset time period, the aircraft is controlled to land.

37. The method according to claim 35 or 36, characterized in that The controlling the parachute device to open comprises: If the communication connection does not return to normal within a preset time period and the motion state of the parachute device is abnormal, the parachute device is controlled to open.

38. The method according to claim 25, characterized in that The parachute device can be opened in response to a remote control signal sent by a remote control device.

39. The method according to claim 38, characterized in that The remote control device is in communication connection with the aircraft, and the remote control signal is sent to the parachute device through the aircraft.

40. The method according to claim 25, characterized in that The method further comprises: Receiving a heartbeat signal sent by the aircraft at a preset frequency; It is determined whether the communication connection between the parachute device and the aircraft is abnormal based on the heartbeat signal.

41. The method according to claim 25, characterized in that The parachute device comprises a parachute cabin and a parachute cover, and a waterproof and breathable material is provided at the connection between the parachute cabin and the parachute cover; and / or A barometer is arranged in the parachute cabin of the parachute device, and a waterproof and breathable material is arranged around the air bag of the barometer.

42. The method according to claim 41, characterized in that The waterproof and breathable material is foam, thermoplastic polyurethane rubber or polytetrafluoroethylene film.

43. The method according to claim 41, characterized in that The parachute device also includes an audible and visual alarm device, which is contained in a control box of the parachute device and is used to output audible and visual alarm information after the parachute device is opened.

44. The method according to claim 25, characterized in that The parachute device comprises a plurality of parachute lines, wherein the plurality of parachute lines comprises at least one elastic line and at least one inelastic line, wherein the length of the elastic line is shorter than the length of the inelastic line.

45. The method according to claim 25, characterized in that The method further comprises: A fault diagnosis is performed on the parachute device.

46. ​​The method according to claim 45, characterized in that The parachute device is provided with a status indicator light for indicating a fault diagnosis result.

47. A method for controlling an aircraft, wherein the aircraft is in communication with a parachute device mounted on the aircraft, characterized in that: The aircraft includes a sensor system, and the method includes: Determining whether the motion state of the aircraft is abnormal according to the sensing data of the sensing system; When it is determined that the motion state of the aircraft is abnormal and the communication connection is normal, sending a parachute opening instruction to the parachute device through the communication connection to control the parachute device to open; The abnormal state of the communication connection can be detected by the parachute device, so that the parachute device is opened when the communication connection is abnormal and the movement state of the parachute device is detected to be abnormal.

48. The method according to claim 47, characterized in that The parachute device is opened after the power system of the aircraft is shut down.

49. The method according to claim 48, characterized in that The method further comprises: When an abnormal motion state of the aircraft is detected, the power system is controlled to shut down.

50. The method according to claim 48, characterized in that The power system is shut down when an abnormal motion state of the aircraft is detected.

51. The method according to claim 50, characterized in that In response to a request from the parachute device, the power system is controlled to shut down; the request is sent when the motion state of the aircraft is abnormal.

52. The method of claim 47, wherein: The energy system of the aircraft is shut down after the parachute device is deployed.

53. The method according to claim 52, characterized in that The method further comprises: After controlling the parachute device to open, the energy system is turned off.

54. The method according to claim 52, characterized in that After the parachute device is opened, the parachute device is connected to the energy system through communication; the aircraft shuts down the energy system in response to the request of the parachute device.

55. The method according to any one of claims 52 to 54, characterized in that When a preset condition is met, the energy system is shut down; the preset condition includes at least one of the following: The speed of the parachute device is greater than a preset speed threshold, the parachute device descends below a preset height, a first preset time has passed after the parachute device is opened, and a second preset time has passed after the power system of the aircraft is shut down.

56. The method of claim 48, wherein: The parachute device can be opened in response to a remote control signal sent by a remote control device.

57. The method according to claim 56, characterized in that The method further comprises: The remote control signal sent by the remote control device is forwarded to the parachute device to control the opening of the parachute device.

58. The method according to claim 47, characterized in that The parachute device comprises a parachute controller, a parachute cabin and a parachute cover, wherein the parachute controller is used to control the opening of the parachute device, and a waterproof and breathable material is provided at the connection between the parachute cabin and the parachute cover; and / or A barometer is provided in the parachute cabin of the parachute device, and a waterproof and breathable material is provided around the air bag of the barometer; and / or The parachute device comprises a control box for accommodating the parachute controller, and a waterproof and breathable material is provided at the connection between the control box and the parachute cabin.

59. The method according to claim 58, characterized in that The waterproof and breathable material is foam, thermoplastic polyurethane rubber or polytetrafluoroethylene film.

60. The method according to claim 58, characterized in that The parachute device also includes an audible and visual alarm device, which is contained in a control box of the parachute device and is used to output audible and visual alarm information after the parachute device is opened.

61. The method of claim 47, wherein: The parachute device comprises a plurality of parachute lines, wherein the plurality of parachute lines comprises at least one elastic line and at least one inelastic line, wherein the length of the elastic line is shorter than the length of the inelastic line.

62. A parachute device, the parachute device being mounted on an aircraft and being in communication connection with the aircraft, characterized in that: The parachute device includes a sensor system and a controller; wherein, The controller is configured to execute instructions to implement the method of any one of claims 25 to 46.

63. An aircraft, the aircraft being in communication connection with a parachute device mounted on the aircraft, characterized in that: The aircraft includes a flight controller and a sensor system; wherein, The flight controller is configured to execute instructions to implement the method described in any one of claims 47 to 61.

64. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the instructions are executed by a processor, the method described in any one of claims 25 to 61 is implemented.

65. A flying platform, characterized in that: The flying platform includes an aircraft and a parachute device installed on the aircraft, the aircraft includes a flight controller and a first sensor system, and the parachute device includes a parachute controller and a second sensor system, wherein: The flight controller is used to implement the functions performed by the flight controller in the control system of the flight platform according to any one of claims 1 to 24; The parachute controller is used to implement the functions performed by the parachute controller in the control system of the flight platform described in any one of claims 1 to 24.

66. A method for controlling a flying platform, characterized in that: The flying platform comprises an aircraft and a parachute device mounted on the aircraft, the aircraft comprises a flight controller and a first sensor system, the parachute device comprises a parachute controller and a second sensor system, the flight controller is in communication connection with the parachute device, and the control method of the flying platform comprises: The flight controller determines whether the motion state of the flight platform is abnormal according to the sensing data of the first sensing system, and if the motion state of the flight platform is abnormal and the communication connection is normal, sends a parachute opening instruction to the parachute device through the communication connection to control the parachute device to open; and The parachute controller determines whether the motion state of the flying platform is abnormal based on the sensing data of the second sensing system. If both the communication connection and the motion state of the flying platform are abnormal, the parachute controller controls the parachute device to open.

67. The method according to claim 66, characterized in that The parachute device is opened after the power system of the flying platform is shut down.

68. The method according to claim 67, characterized in that The method further comprises: When an abnormal motion state of the flying platform is detected, the power system is controlled to shut down.

69. The method according to claim 67, characterized in that The power system is shut down when the parachute device detects that the motion state of the flying platform is abnormal; and / or The power system is shut down when the aircraft detects that the motion state of the flying platform is abnormal.

70. The method according to claim 69, characterized in that In response to a request from the parachute controller, controlling the power system to shut down, wherein the request is sent when the parachute device detects that the motion state of the flight platform is abnormal; and / or In response to a request from the flight controller, the power system is controlled to be shut down, and the request is sent when the aircraft detects that the motion state of the flight platform is abnormal.

71. The method of claim 66, wherein: The energy system of the flying platform is shut down after the parachute device is opened.

72. The method according to claim 71, characterized in that The method further comprises: After controlling the parachute device to open, the energy system is turned off.

73. The method according to claim 71, characterized in that The parachute device is in communication connection with the energy system; the energy system is controlled by the parachute controller to open and then close the parachute device.

74. The method according to any one of claims 71 to 73, characterized in that When a preset condition is met, the energy system is shut down; the preset condition includes at least one of the following: The speed of the flying platform is greater than the preset speed threshold, and the flying platform descends below the preset height. A first preset time has passed after the parachute device is opened, and a second preset time has passed after the power system of the flight platform is shut down.

75. The method of claim 67, wherein: The parachute device can be opened in response to a remote control signal sent by a remote control device.

76. The method of claim 66, wherein: The method further comprises: A fault diagnosis is performed on the parachute device.

77. The method according to claim 76, characterized in that The parachute device is provided with a status indicator light for indicating a fault diagnosis result.

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