Parachute opening control method, aircraft, electronic equipment and storage medium

Abstract

The invention provides a parachute opening control method, an aircraft, electronic equipment and a storage medium. The parachute opening control method is applied to a falling detection unit in the aircraft. The method comprises the following steps: acquiring current state data, acquired by an air-ground state sensor, of an aircraft, current height, acquired by a height sensor, of the aircraft, and current acceleration, acquired by an acceleration sensor, of the aircraft; acquiring current attitude data of the aircraft by a gyroscope sensor and acquiring a current image of the aircraft by a visual sensor; determining whether the aircraft is in an out-of-control falling state or not according to the current state data, the current height, the current acceleration, the current attitude data and the current image; if yes, an ignition instruction is sent to an ignition triggering device, so that the ignition triggering device responds to the ignition instruction, and the umbrella body is opened through the gas generator. Parachute opening control of the whole parachute is automatically and rapidly triggered, and the survival rate of air crash of the multi-rotor manned aircraft is effectively increased.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a parachute opening control method, an aircraft, an electronic device and a storage medium. Background Art

[0002] When a multi-rotor manned aircraft encounters an emergency while flying in the air, it needs to open a parachute for an emergency landing.

[0003] The parachutes of traditional manned aircraft are basically triggered manually, requiring the pilot to pull the trigger handle of the rocket parachute with a certain force. For multi-rotor manned aircraft, due to the low flight altitude, when encountering an emergency, the aircraft cannot be controlled or even flipped, resulting in the pilot being unable to pull the parachute switch in time, causing casualties.

[0004] Therefore, it is necessary to provide a parachute control solution suitable for a multi-rotor manned aircraft. Summary of the invention

[0005] The purpose of the present application is to provide a parachute opening control method, an aircraft, an electronic device and a storage medium to achieve automatic opening of a parachute in view of the deficiencies in the above-mentioned prior art.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a parachute opening control method, which is applied to a fall detection unit in an aircraft, wherein the aircraft includes the fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor, and a complete parachute, wherein the complete parachute includes: an ignition trigger device, a gas generator, and a parachute body; the method includes:

[0008] Acquire current state data of the aircraft collected by an air-to-ground state sensor, current altitude of the aircraft collected by an altitude sensor, current acceleration of the aircraft collected by an acceleration sensor, current attitude data of the aircraft collected by a gyroscope sensor, and current image of the aircraft collected by a visual sensor;

[0009] Determining whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data, and the current image;

[0010] If so, an ignition instruction is sent to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction and opens the parachute body through the gas generator.

[0011] Optionally, determining whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data, and the current image includes:

[0012] Determining whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current state data and the current altitude;

[0013] If so, determine whether the aircraft is in an out-of-control falling state based on the current acceleration, the current attitude data and the current image.

[0014] Optionally, determining whether the aircraft meets the condition for using the whole-aircraft parachute according to the current state data and the current altitude includes:

[0015] Determine whether the aircraft is in an airborne state according to the current state data;

[0016] If so, it is determined whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current altitude.

[0017] Optionally, determining whether the aircraft is in an airborne state according to the current state data includes:

[0018] If the current first distance is greater than a first distance threshold, the current second distance is greater than a second distance threshold, and the current air pressure is greater than an air pressure threshold, it is determined that the aircraft is in an airborne state.

[0019] Optionally, determining whether the aircraft meets the condition for using the whole-aircraft parachute according to the current altitude includes:

[0020] If the current altitude is greater than the altitude threshold, it is determined that the aircraft meets the conditions for using the whole-aircraft parachute.

[0021] Optionally, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current attitude data, and the current image includes:

[0022] determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;

[0023] Determine whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;

[0024] Determining whether a rotor failure occurs in the aircraft according to the current image;

[0025] If the descent speed of the aircraft exceeds a speed threshold, or the current attitude of the aircraft is greater than an attitude threshold, or a rotor failure occurs in the aircraft, it is determined that the aircraft is in an uncontrolled falling state.

[0026] Optionally, determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration includes:

[0027] Determining a current speed of the aircraft and whether the aircraft is in a descending state according to the current acceleration;

[0028] If the aircraft is in a descending state and the current speed of the aircraft exceeds the speed threshold, it is determined that the descending speed of the aircraft exceeds the speed threshold.

[0029] Optionally, the current image includes an image of each rotor on the aircraft;

[0030] Determining whether a rotor failure occurs in the aircraft according to the current image includes:

[0031] Performing image recognition and analysis processing on the images of each rotor to obtain image analysis results of each rotor on the aircraft, wherein the image analysis results of each rotor are used to indicate whether each rotor has a fault;

[0032] If there is a faulty rotor, it is determined that the aircraft has a rotor failure.

[0033] In a second aspect, an embodiment of the present application further provides a parachute opening control device, the device comprising:

[0034] an acquisition module, for acquiring current state data of the aircraft collected by an air-to-ground state sensor, a current altitude of the aircraft collected by an altitude sensor, a current acceleration of the aircraft collected by an acceleration sensor, current attitude data of the aircraft collected by a gyroscope sensor, and a current image of the aircraft collected by a visual sensor;

[0035] A determination module, configured to determine whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data, and the current image;

[0036] The sending module is used to send an ignition instruction to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction and opens the parachute body through the gas generator.

[0037] Optionally, the determining module is specifically used to:

[0038] Determining whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current state data and the current altitude;

[0039] If so, determine whether the aircraft is in an out-of-control falling state based on the current acceleration, the current attitude data and the current image.

[0040] Optionally, the determining module is specifically used to:

[0041] Determine whether the aircraft is in an airborne state according to the current state data;

[0042] If so, it is determined whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current altitude.

[0043] Optionally, the determining module is specifically used to:

[0044] If the current first distance is greater than a first distance threshold, the current second distance is greater than a second distance threshold, and the current air pressure is greater than an air pressure threshold, it is determined that the aircraft is in an airborne state.

[0045] Optionally, the determining module is specifically used to:

[0046] If the current altitude is greater than the altitude threshold, it is determined that the aircraft meets the conditions for using the whole-aircraft parachute.

[0047] Optionally, the determining module is specifically used to:

[0048] determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;

[0049] Determine whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;

[0050] Determining whether a rotor failure occurs in the aircraft according to the current image;

[0051] If the descent speed of the aircraft exceeds a speed threshold, or the current attitude of the aircraft is greater than an attitude threshold, or a rotor failure occurs in the aircraft, it is determined that the aircraft is in an uncontrolled falling state.

[0052] Optionally, the determined module is specifically used for:

[0053] Determining a current speed of the aircraft and whether the aircraft is in a descending state according to the current acceleration;

[0054] If the aircraft is in a descending state and the current speed of the aircraft exceeds the speed threshold, it is determined that the descending speed of the aircraft exceeds the speed threshold.

[0055] Optionally, the current image includes an image of each rotor on the aircraft;

[0056] The determination module is specifically used for:

[0057] Performing image recognition and analysis processing on the images of each rotor to obtain image analysis results of each rotor on the aircraft, wherein the image analysis results of each rotor are used to indicate whether each rotor has a fault;

[0058] If there is a faulty rotor, it is determined that the aircraft has a rotor failure.

[0059] In a third aspect, an embodiment of the present application further provides an aircraft, comprising: a fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor, and a complete parachute, wherein the complete parachute comprises: an ignition trigger device, a gas generator, and a parachute body;

[0060] The fall detection unit is used to execute the steps of the parachute opening control method described in the first aspect to achieve the opening control of the parachute body.

[0061] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to execute the steps of the parachute opening control method described in the first aspect above.

[0062] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the parachute opening control method described in the first aspect above.

[0063] The beneficial effects of this application are:

[0064] The present application provides a parachute opening control method, aircraft, electronic device and storage medium. By determining whether the aircraft is in an uncontrolled falling state based on the current state data of the aircraft collected by the air-ground state sensor, the current altitude of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor and the current image of the aircraft collected by the visual sensor, the aircraft status can be intelligently and quickly identified through the data collected by multiple sensors. If it is determined that the aircraft is in an uncontrolled falling state, an ignition command is immediately sent to the ignition trigger device, so that the ignition trigger device responds to the ignition command and opens the parachute body through the gas generator. The automatic and rapid triggering of the opening control of the whole parachute is realized, and the survival rate of the multi-rotor manned aircraft crash is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0066] Figure 1 A schematic diagram of the architecture of an aircraft provided in an embodiment of the present application;

[0067] Figure 2 A schematic diagram of a flow chart of a parachute opening control method provided in an embodiment of the present application;

[0068] Figure 3 A schematic diagram of the structure of an aircraft provided in an embodiment of the present application;

[0069] Figure 4 A schematic diagram of the structure of another aircraft provided in an embodiment of the present application;

[0070] Figure 5 A schematic diagram of the structure of another aircraft provided in an embodiment of the present application;

[0071] Figure 6 A schematic flow chart of another parachute opening control method provided in an embodiment of the present application;

[0072] Figure 7 A schematic flow chart of another parachute opening control method provided in an embodiment of the present application;

[0073] Figure 8 A schematic diagram of a parachute opening control device provided in an embodiment of the present application;

[0074] Fig. 9 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0076] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0077] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0078] Figure 1 A schematic diagram of the architecture of an aircraft provided in an embodiment of the present application, such as Figure 1 As shown, the aircraft may include: a fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor and a complete parachute, wherein the complete parachute may include: an ignition trigger device, a gas generator and a parachute body. The air-ground state sensor, the altitude sensor, the acceleration sensor, the gyroscope sensor and the visual sensor may all be connected to the fall detection unit for communication, and the fall detection unit may also be connected to the ignition trigger device in the complete parachute for communication, then the fall detection unit may use the parachute opening control method provided in the embodiment of the present application to control the opening of the complete parachute, realize automatic triggering of the opening control of the complete parachute, and effectively improve the survival rate of a multi-rotor manned aircraft crash.

[0079] Figure 2The present invention provides a flow chart of a parachute opening control method provided in an embodiment of the present invention, wherein the execution subject of the method is the aforementioned fall detection unit. Figure 2 As shown, the method includes:

[0080] S101, obtaining the current state data of the aircraft collected by the air-to-ground state sensor, the current altitude of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor, and the current image of the aircraft collected by the visual sensor.

[0081] Optionally, the air-ground state sensor, the altitude sensor, the acceleration sensor, the gyroscope sensor, and the visual sensor can be installed at different positions of the aircraft, and the data of the aircraft can be collected in real time or at intervals, and can be set according to actual conditions. The aircraft can be a multi-rotor manned aircraft.

[0082] Among them, the air-ground status sensor and the altitude sensor can be installed at the bottom of the aircraft respectively. Figure 3 As shown, there may be multiple visual sensors, each of which may be installed at a rotor position of the aircraft, such as Figure 4 The whole parachute is installed on the upper side of the aircraft. The fall detection unit can be set in the parachute opening control device, and the parachute opening control device can be installed on the side end of the aircraft, such as Figure 5 As shown. The speed sensor and the gyro sensor can be installed inside the aircraft.

[0083] Optionally, at the current moment, the fall detection unit can receive the current state data of the aircraft collected by the air-to-ground state sensor, the current height of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor, and the current image of the aircraft collected by the visual sensor. Among them, the current state data of the aircraft collected by the air-to-ground state sensor can indicate whether the aircraft is in the air or on the ground at the current moment; the current height collected by the altitude sensor can indicate the height of the aircraft from the ground at the current moment; the current acceleration collected by the acceleration sensor can indicate the operating acceleration of the aircraft at the current moment; the current attitude data collected by the gyroscope sensor can indicate the attitude of the aircraft at the current moment, such as the pitch angle and roll angle of the aircraft at the current moment; the current image collected by the visual sensor can indicate the image information of the rotor of the aircraft at the current moment.

[0084] S102: Determine whether the aircraft is in an out-of-control falling state based on current state data, current altitude, current acceleration, current attitude data, and current image.

[0085] Specifically, the fall detection unit can use a preset method to determine whether the aircraft is in an out-of-control falling state at the current moment based on the received current state data, current altitude, current acceleration, current attitude data and current image of the aircraft at the current moment.

[0086] Optionally, if yes, that is, the aircraft is in an out-of-control falling state at the current moment, that is, the aircraft is in a dangerous state at this time, then execute the following S103; if no, that is, the aircraft is not in an out-of-control falling state at the current moment, that is, the aircraft is flying normally at the current moment, then return to execute S101, that is, continue to obtain the status data, altitude, acceleration, attitude data and images of the aircraft at other times.

[0087] S103, sending an ignition instruction to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction and opens the parachute body through the gas generator.

[0088] Specifically, when the fall detection unit determines that the aircraft is in an out-of-control falling state at the current moment, the fall detection unit can send an ignition command to the ignition trigger device in the parachute of the entire aircraft. When the ignition trigger device receives the ignition command, it immediately performs the ignition operation. When the ignition operation is started, gas will be generated, and the parachute body can be opened through the gas generator.

[0089] In this embodiment, by determining whether the aircraft is in an uncontrolled falling state based on the current state data of the aircraft collected by the air-ground state sensor, the current height of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor, and the current image of the aircraft collected by the visual sensor, the aircraft status can be intelligently and quickly identified through the data collected by multiple sensors. If it is determined that the aircraft is in an uncontrolled falling state, an ignition command is immediately sent to the ignition trigger device, so that the ignition trigger device responds to the ignition command and opens the parachute body through the gas generator. Automatic and rapid triggering of the opening control of the whole parachute is achieved, effectively improving the survival rate of a multi-rotor manned aircraft crash.

[0090] Figure 6 A flow chart of another parachute opening control method provided in an embodiment of the present application is shown as follows: Figure 6 As shown, the above S102 determines whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data and the current image, which may include:

[0091] S201. Determine whether the aircraft meets the conditions for using a whole-aircraft parachute based on current state data and current altitude.

[0092] Optionally, if yes, that is, when the aircraft meets the conditions for using the whole-machine parachute at the current moment, execute the following S202; otherwise, execute the following S203.

[0093] S202: Determine whether the aircraft is in an out-of-control falling state according to the current acceleration, current attitude data and current image.

[0094] Specifically, a preset method may be used to determine whether the aircraft is in an out-of-control falling state at the current moment according to the current acceleration, current attitude data, and current image of the aircraft.

[0095] S203: Disable the whole aircraft parachute.

[0096] Optionally, when the aircraft does not meet the conditions for using the whole-aircraft parachute at the current moment, the whole-aircraft parachute cannot be opened at this time, that is, the whole-aircraft parachute is disabled.

[0097] Optionally, the process of determining whether the aircraft is in an out-of-control falling state may also include: first determining whether the aircraft is in an out-of-control falling state based on the current acceleration, current attitude data and current image; if so, determining whether the conditions for using a whole-aircraft parachute are met based on the current state data and the current altitude; if the current aircraft is in an out-of-control falling state and the conditions for using a whole-aircraft parachute are met, the fall detection unit may send an ignition command to the ignition device of the whole-aircraft parachute.

[0098] Optionally, the above step S201 of determining whether the aircraft meets the conditions for using a whole-aircraft parachute according to the current state data and the current altitude may include:

[0099] Optionally, it is possible to determine whether the aircraft is in the air based on the current state data, and if so, determine whether the aircraft meets the conditions for using the whole aircraft parachute based on the current altitude. If it is determined based on the current state that the aircraft is still on the ground, it is not necessary to determine whether the conditions for using the whole aircraft parachute are met based on the current altitude, that is, when the aircraft is on the ground at the current moment, it is not necessary to use the whole aircraft parachute.

[0100] Optionally, the above-mentioned determining whether the aircraft is in the air state according to the current state data may include:

[0101] The current status data is collected by the air-ground status sensor, which can include: millimeter wave radar sensor, ultrasonic radar sensor and air pressure sensor. The millimeter wave radar works in the millimeter wave frequency band, usually between 30GHz and 300GHz, with a wavelength between 1mm and 10mm. It determines the position of the object by transmitting and receiving millimeter wave signals and using the reflection of the signal by the target object. The detection distance is relatively long, usually up to several hundred meters; the ultrasonic radar works in the ultrasonic frequency band, the frequency is usually between 20kHz and 200kHz (some say 20kHz to 100kHz), and measures the distance by transmitting ultrasonic pulses and receiving the echo reflected by the object. The detection distance is relatively short, generally within a few meters. The air pressure sensor can collect the changes in the atmospheric pressure of the environment around the aircraft. Then the millimeter wave radar can collect the current first distance between the aircraft and the ground, the ultrasonic radar can collect the current second distance between the aircraft and the ground, and the air pressure sensor can collect the current air pressure around the aircraft.

[0102] Optionally, if the current first distance is greater than the first distance threshold, the current second distance is greater than the second distance threshold, and the current air pressure is greater than the air pressure threshold, it is determined that the aircraft is in the air at the current moment, wherein the first distance threshold is greater than the second distance threshold.

[0103] Optionally, the above-mentioned determining whether the aircraft meets the condition of using the whole-aircraft parachute according to the current altitude may include:

[0104] If the current altitude of the aircraft collected by the altitude sensor is greater than the altitude threshold, it is determined that the aircraft meets the condition of using the whole aircraft parachute at the current moment. The altitude threshold is greater than the first distance threshold and the second distance threshold.

[0105] Figure 7 A flow chart of another parachute opening control method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the above S202, according to the current acceleration, the current attitude data and the current image, determines whether the aircraft is in an out-of-control falling state, which may include:

[0106] S301. Determine whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration.

[0107] Specifically, a preset method may be used to determine whether the descent speed of the aircraft at the current moment exceeds a speed threshold according to the current acceleration.

[0108] S302: Determine whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data.

[0109] The current attitude data may include the current elevation angle and the current roll angle of the aircraft, and the attitude threshold may include an elevation angle threshold and a roll angle threshold. Specifically, it may be determined whether the current elevation angle is greater than the elevation angle threshold and whether the roll angle is greater than the roll angle threshold.

[0110] Optionally, if the current pitch angle is greater than the pitch angle threshold and the roll angle is greater than the roll angle threshold, it is determined that the current attitude of the aircraft at the current moment is greater than the attitude threshold; otherwise, it is determined that the current attitude of the aircraft at the current moment is less than or equal to the attitude threshold, specifically, if the current pitch angle is not greater than the pitch angle threshold and / or the roll angle is not greater than the roll angle threshold, it is determined that the current attitude of the aircraft at the current moment is less than or equal to the attitude threshold.

[0111] S303: Determine whether the aircraft has a rotor failure according to the current image.

[0112] Specifically, the current image may be identified, analyzed and processed to obtain image information in the current image, and whether a rotor failure occurs in the aircraft at the current moment may be determined based on the image information.

[0113] S304: If the descent speed of the aircraft exceeds the speed threshold, or the current attitude of the aircraft is greater than the attitude threshold, or the aircraft has a rotor failure, it is determined that the aircraft is in an out-of-control falling state.

[0114] Specifically, if it is determined that the descent speed of the aircraft at the current moment exceeds the speed threshold, it can be determined that the aircraft is in an out-of-control falling state; if the current attitude of the aircraft at the current moment is greater than the attitude threshold, it can also be determined that the aircraft is in an out-of-control falling state; if the aircraft has a rotor failure at the current moment, it can also be determined that the aircraft is in an out-of-control falling state.

[0115] Optionally, determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration in S301 may include:

[0116] Optionally, the current speed of the aircraft and whether the aircraft is in a descending state can be determined according to the current acceleration. Specifically, if the current acceleration is a negative value, it can be determined that the aircraft is in a descending state at the current moment, and the current speed of the aircraft is calculated according to the current acceleration to determine whether the current speed is greater than the speed threshold.

[0117] Optionally, if the aircraft is in a descending state and the current speed of the aircraft exceeds the speed threshold, it can be determined that the descending speed of the aircraft at the current moment exceeds the speed threshold. Otherwise, the descending speed of the aircraft does not exceed the speed threshold.

[0118] Optionally, the above S303, determining whether a rotor failure occurs in the aircraft according to the current image, may include:

[0119] The current image may include images of each rotor on the aircraft at the current moment. For example, if the aircraft includes four rotors, the current image may include current image 1 of rotor 1, current image 2 of rotor 2, current image 3 of rotor 3, and current image 4 of rotor 4.

[0120] Optionally, image recognition analysis is performed on the image of each rotor to obtain image analysis results of each rotor on the aircraft, wherein the analysis results of each rotor can be used to indicate whether each rotor has a fault.

[0121] Optionally, if there is a faulty rotor, it is determined that a rotor failure occurs in the aircraft.

[0122] Exemplarily, current image 1, current image 2, current image 3, and current image 4 may be respectively identified and analyzed to obtain image analysis result 1 of rotor 1, image analysis result 2 of rotor 2, image analysis result 3 of rotor 3, and image analysis result 4 of rotor 4. If there is a faulty rotor, that is, image analysis result 1 indicates that rotor 1 has a fault, or image analysis result 2 indicates that rotor 2 has a fault, or image analysis result 3 indicates that rotor 3 has a fault, or image analysis result 4 indicates that rotor 4 has a fault, then it can be determined that the aircraft has a rotor fault.

[0123] The embodiment of the present application also provides an aircraft, which may include: a fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor, and a complete parachute, wherein the complete parachute includes: an ignition trigger device, a gas generator, and a parachute body;

[0124] The fall detection unit is used to execute the steps of the parachute opening control method in the above specific embodiment to achieve the opening control of the parachute body.

[0125] Figure 8 A schematic diagram of a parachute opening control device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device comprises:

[0126] The acquisition module 401 is used to acquire the current state data of the aircraft collected by the air-ground state sensor, the current altitude of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor, and the current image of the aircraft collected by the visual sensor;

[0127] A determination module 402, configured to determine whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data, and the current image;

[0128] The sending module 403 is used to send an ignition instruction to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction and opens the parachute body through the gas generator.

[0129] Optionally, the determining module 402 is specifically configured to:

[0130] Determining whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current state data and the current altitude;

[0131] If so, determine whether the aircraft is in an out-of-control falling state based on the current acceleration, the current attitude data and the current image.

[0132] Optionally, the determining module 402 is specifically configured to:

[0133] Determine whether the aircraft is in an airborne state according to the current state data;

[0134] If so, it is determined whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current altitude.

[0135] Optionally, the determining module 402 is specifically configured to:

[0136] If the current first distance is greater than a first distance threshold, the current second distance is greater than a second distance threshold, and the current air pressure is greater than an air pressure threshold, it is determined that the aircraft is in an airborne state.

[0137] Optionally, the determining module 402 is specifically configured to:

[0138] If the current altitude is greater than the altitude threshold, it is determined that the aircraft meets the conditions for using the whole-aircraft parachute.

[0139] Optionally, the determining module 402 is specifically configured to:

[0140] determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;

[0141] Determine whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;

[0142] Determining whether a rotor failure occurs in the aircraft according to the current image;

[0143] If the descent speed of the aircraft exceeds a speed threshold, or the current attitude of the aircraft is greater than an attitude threshold, or a rotor failure occurs in the aircraft, it is determined that the aircraft is in an uncontrolled falling state.

[0144] Optionally, the determining module 402 is specifically configured to:

[0145] Determining a current speed of the aircraft and whether the aircraft is in a descending state according to the current acceleration;

[0146] If the aircraft is in a descending state and the current speed of the aircraft exceeds the speed threshold, it is determined that the descending speed of the aircraft exceeds the speed threshold.

[0147] Optionally, the current image includes an image of each rotor on the aircraft;

[0148] The determining module 402 is specifically used for:

[0149] Performing image recognition and analysis processing on the images of each rotor to obtain image analysis results of each rotor on the aircraft, wherein the image analysis results of each rotor are used to indicate whether each rotor has a fault;

[0150] If there is a faulty rotor, it is determined that the aircraft has a rotor failure.

[0151] The embodiment of the present application also provides an aircraft, comprising: a fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor and a complete parachute, wherein the complete parachute comprises: an ignition trigger device, a gas generator and a parachute body;

[0152] The fall detection unit is used to execute the steps of the parachute opening control method described in the first aspect to achieve the opening control of the parachute body.

[0153] Fig. 9 This is a structural block diagram of an electronic device 500 provided in an embodiment of the present application. The electronic device may be, for example, a parachute opening control device as described in the above embodiment. As shown in FIG9 , the electronic device may include: a processor 501 and a memory 502 .

[0154] Optionally, a bus 503 may also be included, wherein the memory 502 is used to store machine-readable instructions executable by the processor 501. When the electronic device 500 is running, the processor 501 communicates with the memory 502 through the bus 503. When the machine-readable instructions are executed by the processor 501, the method steps in the above method embodiment are performed.

[0155] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps of the parachute opening control method embodiment described above are executed.

[0156] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0157] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0158] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A parachute opening control method, characterized in that: A fall detection unit applied to an aircraft, the aircraft comprising the fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor and a complete parachute, the complete parachute comprising: an ignition trigger device, a gas generator and a parachute body; the method comprising: Acquire current state data of the aircraft collected by an air-to-ground state sensor, current altitude of the aircraft collected by an altitude sensor, current acceleration of the aircraft collected by an acceleration sensor, current attitude data of the aircraft collected by a gyroscope sensor, and current image of the aircraft collected by a visual sensor; Determining whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data, and the current image; If so, an ignition instruction is sent to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction and opens the parachute body through the gas generator.

2. The parachute opening control method according to claim 1, characterized in that: The determining whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data and the current image includes: Determining whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current state data and the current altitude; If so, determine whether the aircraft is in an out-of-control falling state based on the current acceleration, the current attitude data and the current image; otherwise, disable the whole-aircraft parachute.

3. The parachute opening control method according to claim 2, characterized in that: The determining, based on the current state data and the current altitude, whether the aircraft meets the condition for using the whole-aircraft parachute comprises: Determine whether the aircraft is in an airborne state according to the current state data; If so, it is determined whether the aircraft meets the conditions for using the whole-aircraft parachute according to the current altitude.

4. The parachute opening control method according to claim 3, characterized in that: The current state data includes: a current first distance between the aircraft and the ground collected by a millimeter-wave radar on the aircraft, a current second distance between the aircraft and the ground collected by an ultrasonic radar on the aircraft, and a current air pressure of the aircraft collected by a barometer on the aircraft; The determining whether the aircraft is in an airborne state according to the current state data includes: If the current first distance is greater than a first distance threshold, the current second distance is greater than a second distance threshold, and the current air pressure is greater than an air pressure threshold, it is determined that the aircraft is in an airborne state.

5. The parachute opening control method according to claim 3, characterized in that: The determining, according to the current altitude, whether the aircraft meets the condition for using the whole-aircraft parachute comprises: If the current altitude is greater than the altitude threshold, it is determined that the aircraft meets the conditions for using the whole-aircraft parachute.

6. The parachute opening control method according to claim 2, characterized in that: The determining, according to the current acceleration, the current attitude data and the current image, whether the aircraft is in an out-of-control falling state comprises: determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration; Determine whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data; Determining whether a rotor failure occurs in the aircraft according to the current image; If the descent speed of the aircraft exceeds a speed threshold, or the current attitude of the aircraft is greater than an attitude threshold, or a rotor failure occurs in the aircraft, it is determined that the aircraft is in an uncontrolled falling state.

7. The parachute opening control method according to claim 6, characterized in that: The determining, according to the current acceleration, whether the descent speed of the aircraft exceeds a speed threshold comprises: determining a current speed of the aircraft and whether the aircraft is in a descending state according to the current acceleration; If the aircraft is in a descending state and the current speed of the aircraft exceeds the speed threshold, it is determined that the descending speed of the aircraft exceeds the speed threshold.

8. The parachute opening control method according to claim 6, characterized in that: The current image includes images of each rotor on the aircraft; Determining whether a rotor failure occurs in the aircraft according to the current image includes: Performing image recognition and analysis processing on the images of each rotor to obtain image analysis results of each rotor on the aircraft, wherein the image analysis results of each rotor are used to indicate whether each rotor has a fault; If there is a faulty rotor, it is determined that the aircraft has a rotor failure.

9. An aircraft, characterized in that: The aircraft includes: a fall detection unit, an air-ground state sensor, an altitude sensor, an acceleration sensor, a gyroscope sensor, a visual sensor and a complete parachute, and the complete parachute includes: an ignition trigger device, a gas generator and a parachute body; The fall detection unit is used to execute the steps of the parachute opening control method according to any one of claims 1 to 8 to achieve the opening control of the parachute body.

10. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the steps of the parachute opening control method according to any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the parachute opening control method as described in any one of claims 1 to 7.

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