An emergency handling method and system for an aircraft in the event of power failure, and a medium

Abstract

The embodiment of the application provides an emergency handling method, system and medium under aircraft power failure, the method comprises the following steps: acquiring aircraft operation state data, and inputting a preset model to obtain an operation state characteristic value; comparing the operation state characteristic value with a preset operation state characteristic value to obtain a state deviation rate; determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; if yes, outputting aircraft failure information; performing difference calculation on the aircraft failure information and the preset failure information to obtain a failure difference value; if the failure difference value is greater than or equal to a set failure difference threshold, determining that the aircraft power fails, and generating an emergency strategy; generating aircraft control information according to the emergency strategy; controlling the aircraft to make an emergency landing according to the aircraft control information; determining the power failure state through the aircraft failure information and determining the maximum flight area of the aircraft according to the energy information, flexibly selecting an emergency landing point for emergency landing, and improving the safety of the aircraft.

Description

Technical Field

[0001] The present application relates to the field of aircraft emergency response, and more specifically, to an emergency response method, system, and medium for aircraft power failure. Background Art

[0002] With the continuous development of science and technology, the application of unmanned aerial vehicles has achieved unprecedented development. Aircraft are often more suitable for repetitive mechanical tasks or highly dangerous tasks. In the civil field, the application of unmanned aerial vehicles in the industry is a real rigid demand for unmanned aerial vehicles; their applications in aerial photography, agriculture, plant protection, micro selfies, express transportation, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, creating romance and other fields have greatly expanded the use of unmanned aerial vehicles themselves.

[0003] Existing emergency response methods are unable to determine the maximum flight area of ​​an aircraft based on the aircraft's power failure conditions and energy information, making it difficult to dynamically select the aircraft's emergency landing location. The aircraft's safety is poor during flight.

[0004] In response to the above problems, effective technical solutions are urgently needed. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide an emergency handling method, system and medium for aircraft power failure, which can determine the power failure state through aircraft fault information and the maximum flight area of ​​the aircraft based on energy information, and flexibly select an emergency landing point for emergency landing, thereby improving the safety of the aircraft.

[0006] The present application also provides an emergency response method for aircraft power failure, including:

[0007] Obtain aircraft operating status data and input it into a preset model to obtain operating status characteristic values;

[0008] Comparing the operating state characteristic value with the preset operating state characteristic value to obtain the state deviation rate;

[0009] Determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold;

[0010] If it is greater than or equal to, then output aircraft fault information;

[0011] Performing a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference;

[0012] If the fault difference is greater than or equal to the set fault difference threshold, the aircraft power failure is determined and an emergency strategy is generated;

[0013] Generate aircraft control information based on the emergency strategy; control the aircraft for emergency landing based on the aircraft control information.

[0014] Optionally, in the emergency response method for aircraft power failure described in the embodiment of the present application, obtaining aircraft operating status data and inputting a preset model to obtain operating status characteristic values ​​includes:

[0015] Obtain aircraft speed, direction, and yaw angle data and generate a data set;

[0016] Input the data set into the preset neural network model for training to obtain training result data;

[0017] Determining whether the training result data converges;

[0018] If convergence occurs, obtain the validation set data, verify the training result data based on the validation set data, and obtain the accuracy;

[0019] Determining whether the accuracy meets a preset condition;

[0020] If satisfied, the operating state characteristic value is output through the neural network model;

[0021] If not, correction information is generated and the neural network model parameters are corrected using the correction information.

[0022] Optionally, in the emergency handling method for aircraft power failure described in an embodiment of the present application, generating aircraft control information according to the emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information include:

[0023] When the aircraft power fails, obtain the aircraft operating status information and the nearest landing point location information;

[0024] Determine whether the aircraft can reach the landing point based on the latest landing point location information;

[0025] If yes, the aircraft returns the position information of the nearest landing point;

[0026] If not, obtain image information around the current position of the aircraft;

[0027] Extracting image feature values ​​based on the current surrounding image information of the aircraft;

[0028] Determining whether the flatness of the surrounding area is greater than a preset flatness threshold;

[0029] If it is greater, temporary landing point information is generated, and the aircraft is driven to perform an emergency landing according to the temporary landing point information.

[0030] Optionally, in the emergency handling method for aircraft power failure described in the embodiment of the present application, generating aircraft control information according to the emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information include:

[0031] When the aircraft power fails, obtain the aircraft operating status information and energy information;

[0032] Determine whether the aircraft can reach the take-off position based on the aircraft's energy information;

[0033] If yes, control the aircraft to return to the take-off position;

[0034] If not, the energy information of the aircraft is input into the flight model to obtain the maximum flight distance of the aircraft;

[0035] Establish landing area information based on the aircraft's maximum flight distance;

[0036] Search for the best landing point based on the landing area information and collect the best landing point parameter information;

[0037] Generate aircraft landing parameters based on the optimal landing point parameter information to control the aircraft to fly and land.

[0038] Optionally, in the emergency handling method for aircraft power failure described in the embodiment of the present application, searching for the optimal landing point based on the landing area information and collecting optimal landing point parameter information includes:

[0039] Calculate the glide distance based on the optimal landing point parameter information;

[0040] determining whether the glide distance satisfies a preset glide distance, and if so, generating first landing parameters, and causing the aircraft to glide and land according to the first landing parameters;

[0041] If it is less than, a second landing parameter is generated, and the aircraft is controlled to make a vertical forced landing according to the second landing parameter;

[0042] During the vertical landing of the aircraft, the aircraft descent speed is collected;

[0043] Compare the aircraft's descent speed with the preset speed to obtain a speed deviation rate;

[0044] Determining whether the speed deviation rate is greater than a preset speed deviation rate threshold;

[0045] If it is greater, the second landing parameter is adjusted and updated.

[0046] Optionally, in the emergency handling method for aircraft power failure described in an embodiment of the present application, if is greater than , generating a first landing parameter, and causing the aircraft to glide and land according to the first landing parameter; comprising:

[0047] Obtain aircraft attitude information;

[0048] Comparing the aircraft attitude information with preset attitude information to obtain an attitude deviation rate;

[0049] Determining whether the posture deviation rate is greater than a preset deviation rate threshold;

[0050] If it is greater, adjustment information is generated and the first landing parameter is adjusted according to the adjustment information.

[0051] In a second aspect, an embodiment of the present application provides an emergency handling system for aircraft power failure, the system comprising: a memory and a processor, the memory including a program for an emergency handling method for aircraft power failure, and the program for the emergency handling method for aircraft power failure, when executed by the processor, performing the following steps:

[0052] Obtain aircraft operating status data and input it into a preset model to obtain operating status characteristic values;

[0053] Comparing the operating state characteristic value with the preset operating state characteristic value to obtain the state deviation rate;

[0054] Determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold;

[0055] If it is greater than or equal to, then output aircraft fault information;

[0056] Performing a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference;

[0057] If the fault difference is greater than or equal to the set fault difference threshold, the aircraft power failure is determined and an emergency strategy is generated;

[0058] Generate aircraft control information based on the emergency strategy; control the aircraft for emergency landing based on the aircraft control information.

[0059] Optionally, in the emergency response system for aircraft power failure described in the embodiment of the present application, obtaining aircraft operating status data and inputting a preset model to obtain operating status characteristic values ​​includes:

[0060] Obtain aircraft speed, direction, and yaw angle data and generate a data set;

[0061] Input the data set into the preset neural network model for training to obtain training result data;

[0062] Determining whether the training result data converges;

[0063] If convergence occurs, obtain the validation set data, verify the training result data based on the validation set data, and obtain the accuracy;

[0064] Determining whether the accuracy meets a preset condition;

[0065] If satisfied, the operating state characteristic value is output through the neural network model;

[0066] If not, correction information is generated and the neural network model parameters are corrected using the correction information.

[0067] Optionally, in the emergency handling system for aircraft power failure described in the embodiment of the present application, generating aircraft control information according to the emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information include:

[0068] When the aircraft power fails, obtain the aircraft operating status information and the nearest landing point location information;

[0069] Determine whether the aircraft can reach the landing point based on the latest landing point location information;

[0070] If yes, the aircraft returns the position information of the nearest landing point;

[0071] If not, obtain image information around the current position of the aircraft;

[0072] Extracting image feature values ​​based on the current surrounding image information of the aircraft;

[0073] Determining whether the flatness of the surrounding area is greater than a preset flatness threshold;

[0074] If it is greater, temporary landing point information is generated, and the aircraft is driven to perform an emergency landing according to the temporary landing point information.

[0075] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes an emergency handling method program for aircraft power failure. When the emergency handling method program for aircraft power failure is executed by a processor, the steps of the emergency handling method for aircraft power failure as described in any one of the above items are implemented.

[0076] As can be seen from the above, an embodiment of the present application provides an emergency response method, system and medium for aircraft power failure, which obtains aircraft operating status data and inputs a preset model to obtain an operating status characteristic value; compares the operating status characteristic value with a preset operating status characteristic value to obtain a state deviation rate; determines whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; if it is greater than or equal to, outputs aircraft fault information; performs a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference; if the fault difference is greater than or equal to the set fault difference threshold, determines that the aircraft power has failed, and generates an emergency strategy; generates aircraft control information according to the emergency strategy; controls the aircraft for emergency landing according to the aircraft control information; determines the power failure state through the aircraft fault information and determines the maximum flight area of ​​the aircraft according to the energy information, and flexibly selects an emergency landing point for emergency landing, thereby improving the safety of the aircraft.

[0077] Other features and advantages of the present application will be described in the following description, and the advantages of the present application will become apparent in part from the description or be understood by practicing the embodiments of the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. 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 relevant drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 A flowchart of an emergency response method for aircraft power failure provided in an embodiment of the present application;

[0080] Figure 2 A flowchart of a neural network model training for an emergency response method for aircraft power failure provided in an embodiment of the present application;

[0081] Figure 3 A flowchart for obtaining a temporary landing point for an emergency response method for aircraft power failure provided in an embodiment of the present application;

[0082] Figure 4 An aircraft emergency landing flow chart of an emergency handling method for aircraft power failure provided in an embodiment of the present application;

[0083] Figure 5A second landing parameter update flow chart of the emergency handling method for aircraft power failure provided in an embodiment of the present application;

[0084] Figure 6 A schematic diagram of the structure of an emergency response system for aircraft power failure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] The technical solutions 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. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different 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 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 fall within the scope of protection of the present application.

[0086] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0087] Please refer to Figure 1 , Figure 1 This is a flow chart of an emergency handling method for aircraft power failure in some embodiments of the present application. The emergency handling method for aircraft power failure is used in a terminal device and includes the following steps:

[0088] S101, obtaining aircraft operation status data and inputting it into a preset model to obtain operation status characteristic values;

[0089] S102, comparing the operating state characteristic value with a preset operating state characteristic value to obtain a state deviation rate;

[0090] S103, determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; if so, outputting aircraft fault information;

[0091] S104: Calculate the difference between the aircraft fault information and the preset fault information to obtain a fault difference value; if the fault difference value is greater than or equal to a preset fault difference threshold value, determine that the aircraft power has failed, and generate an emergency strategy;

[0092] S105: Generate aircraft control information according to the emergency strategy; and control the aircraft to perform emergency landing according to the aircraft control information.

[0093] It should be noted that the operating status characteristic values ​​are classified to obtain multiple sub-state characteristic values ​​of different categories. The sub-state characteristic values ​​belonging to the same category are differentially calculated with the preset operating status characteristic values, and the difference deviation is compared. The deviation rate of the same category is calculated based on the difference deviation. The sub-state characteristic values ​​of different categories are not comparable.

[0094] Please refer to Figure 2 , Figure 2 This is a flowchart of a neural network model training method for emergency response to aircraft power failure in some embodiments of the present application. According to an embodiment of the present invention, aircraft operating status data is obtained and input into a preset model to obtain operating status characteristic values, including:

[0095] S201, obtaining aircraft navigation speed, navigation direction, and yaw angle data, and generating a data set;

[0096] S202, inputting the data set into a preset neural network model for training to obtain training result data;

[0097] S203, determining whether the training result data has converged; if converged, obtaining validation set data, and verifying the training result data based on the validation set data to obtain accuracy;

[0098] S204, determining whether the accuracy meets a preset condition;

[0099] If satisfied, the operating state characteristic value is output through the neural network model;

[0100] If not, correction information is generated and the neural network model parameters are corrected using the correction information.

[0101] Please refer to Figure 3 , Figure 3 This is a flowchart of a temporary landing point acquisition method for an emergency handling method under aircraft power failure in some embodiments of the present application. According to an embodiment of the present invention, aircraft control information is generated according to an emergency strategy; and an aircraft is controlled for emergency landing according to the aircraft control information, including:

[0102] S301, when the aircraft power fails, obtain aircraft operation status information and the nearest landing point location information;

[0103] S302, judging whether the aircraft can reach the nearest landing point based on the nearest landing point location information; if so, the aircraft returns the nearest landing point location information; if not, obtaining image information around the aircraft's current location;

[0104] S303, extracting image feature values ​​based on the current surrounding image information of the aircraft;

[0105] S304: Determine whether the flatness of the surrounding area is greater than a preset flatness threshold; if so, generate temporary landing point information, and drive the aircraft to perform an emergency landing according to the temporary landing point information.

[0106] It should be noted that the temporary landing point information includes the location coordinates of the temporary landing point, topographic information, slope information, and geological information.

[0107] Please refer to Figure 4 , Figure 4 This is a flowchart of an aircraft emergency landing method for an emergency handling method under aircraft power failure in some embodiments of the present application. According to an embodiment of the present invention, aircraft control information is generated according to an emergency strategy; and an aircraft is controlled for emergency landing according to the aircraft control information, including:

[0108] S401, when the aircraft power fails, obtaining aircraft operation status information and energy information;

[0109] S402, judging whether the aircraft can reach the take-off position based on the energy information of the aircraft;

[0110] S403: If yes, control the aircraft to return to the take-off position; if no, input the energy information of the aircraft into the flight model to obtain the maximum flight distance of the aircraft;

[0111] S404, establishing landing area information based on the maximum flight distance of the aircraft;

[0112] S405, searching for an optimal landing point based on the landing area information, and collecting parameter information of the optimal landing point;

[0113] S406: Generate aircraft landing parameters based on the optimal landing point parameter information to control the aircraft to perform flight and landing.

[0114] Please refer to Figure 5 , Figure 5 This is a second landing parameter update flow chart of an emergency handling method for aircraft power failure in some embodiments of the present application. According to an embodiment of the present invention, searching for an optimal landing point based on landing area information and collecting optimal landing point parameter information includes:

[0115] S501, calculating the glide distance according to the optimal landing point parameter information;

[0116] S502, determining whether the sliding distance meets a preset sliding distance, if greater, generating a first landing parameter, and making the aircraft slide and land according to the first landing parameter; if smaller, generating a second landing parameter, and controlling the aircraft to vertically force land according to the second landing parameter;

[0117] S503, collecting the descending speed of the aircraft during the vertical forced landing of the aircraft.

[0118] S504, comparing the descending speed of the aircraft with a preset speed to obtain a speed deviation rate.

[0119] S505, determining whether the speed deviation rate is greater than a preset speed deviation rate threshold; if greater, adjusting the second landing parameter and updating the second landing parameter.

[0120] According to the embodiment of the present application, if greater, the first landing parameter is generated, and the aircraft slides and lands according to the first landing parameter; which comprises:

[0121] Obtaining aircraft attitude information.

[0122] Comparing the aircraft attitude information with preset attitude information to obtain an attitude deviation rate.

[0123] Determining whether the attitude deviation rate is greater than a preset deviation rate threshold.

[0124] If greater, adjustment information is generated, and the first landing parameter is adjusted according to the adjustment information.

[0125] According to the embodiment of the present application, further comprising:

[0126] Obtaining aircraft landing parameters, and generating a landing time according to the aircraft landing parameters.

[0127] Comparing the landing time with a preset landing time to obtain a time deviation rate.

[0128] Determining whether the time deviation rate is greater than a preset time deviation rate threshold.

[0129] If greater, capability remaining information is generated; aircraft attitude adjustment information is generated according to the capability remaining information; and the aircraft landing parameters are urgently adjusted according to the attitude adjustment information, so that the landing attitude of the aircraft reaches a predetermined attitude, and the aircraft is ensured to land stably.

[0130] Please refer to Figure 6 , Figure 6Schematic diagram of the structure of an emergency handling system for aircraft power failure in some embodiments of the present application. In a second aspect, embodiments of the present application provide an emergency handling system 6 for aircraft power failure, comprising: a memory 61 and a processor 62. The memory includes a program for an emergency handling method for aircraft power failure. When the program is executed by the processor, the following steps are implemented:

[0131] Obtain aircraft operating status data and input it into a preset model to obtain operating status characteristic values;

[0132] Comparing the operating state characteristic value with the preset operating state characteristic value to obtain the state deviation rate;

[0133] Determine whether the state deviation rate is greater than or equal to a preset state deviation rate threshold;

[0134] If it is greater than or equal to, then output aircraft fault information;

[0135] Performing a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference;

[0136] If the fault difference is greater than or equal to the set fault difference threshold, the aircraft power failure is determined and an emergency strategy is generated;

[0137] Generate aircraft control information based on the emergency strategy; control the aircraft for emergency landing based on the aircraft control information.

[0138] It should be noted that the operating status characteristic values ​​are classified to obtain multiple sub-state characteristic values ​​of different categories. The sub-state characteristic values ​​belonging to the same category are differentially calculated with the preset operating status characteristic values, and the difference deviation is compared. The deviation rate of the same category is calculated based on the difference deviation. The sub-state characteristic values ​​of different categories are not comparable.

[0139] According to an embodiment of the present invention, aircraft operating status data is obtained and input into a preset model to obtain operating status characteristic values, including:

[0140] Obtain aircraft speed, direction, and yaw angle data and generate a data set;

[0141] Input the data set into the preset neural network model for training to obtain training result data;

[0142] Determine whether the training result data converges;

[0143] If convergence occurs, obtain the validation set data, verify the training result data based on the validation set data, and obtain the accuracy;

[0144] Determine whether the accuracy meets the preset conditions;

[0145] If satisfied, the operating state characteristic value is output through the neural network model;

[0146] If not, correction information is generated and the neural network model parameters are corrected using the correction information.

[0147] According to an embodiment of the present invention, generating aircraft control information according to an emergency strategy; and controlling an aircraft for emergency landing according to the aircraft control information include:

[0148] When the aircraft power fails, obtain the aircraft operating status information and the nearest landing point location information;

[0149] Determine whether the aircraft can reach the landing point based on the latest landing point location information;

[0150] If yes, the aircraft returns the position information of the nearest landing point;

[0151] If not, obtain image information around the current position of the aircraft;

[0152] Extracting image feature values ​​based on the current surrounding image information of the aircraft;

[0153] Determining whether the flatness of the surrounding area is greater than a preset flatness threshold;

[0154] If it is greater, temporary landing point information is generated, and the aircraft is driven to perform an emergency landing according to the temporary landing point information.

[0155] It should be noted that the temporary landing point information includes the location coordinates of the temporary landing point, topographic information, slope information, and geological information.

[0156] According to an embodiment of the present invention, generating aircraft control information according to an emergency strategy; and controlling an aircraft for emergency landing according to the aircraft control information include:

[0157] When the aircraft power fails, obtain the aircraft operating status information and energy information;

[0158] Determine whether the aircraft can reach the take-off position based on the aircraft's energy information;

[0159] If yes, control the aircraft to return to the take-off position;

[0160] If not, the energy information of the aircraft is input into the flight model to obtain the maximum flight distance of the aircraft;

[0161] Establish landing area information based on the aircraft's maximum flight distance;

[0162] Search for the best landing point based on the landing area information and collect the best landing point parameter information;

[0163] Generate aircraft landing parameters based on the optimal landing point parameter information to control the aircraft to fly and land.

[0164] According to an embodiment of the present invention, searching for an optimal landing point based on landing area information and collecting optimal landing point parameter information includes:

[0165] Calculate the glide distance based on the optimal landing point parameter information;

[0166] determining whether the glide distance satisfies a preset glide distance, and if so, generating first landing parameters, and causing the aircraft to glide and land according to the first landing parameters;

[0167] If it is less than, a second landing parameter is generated, and the aircraft is controlled to make a vertical forced landing according to the second landing parameter;

[0168] During the vertical landing of the aircraft, the aircraft descent speed is collected;

[0169] Compare the aircraft's descent speed with the preset speed to obtain a speed deviation rate;

[0170] Determine whether the speed deviation rate is greater than a preset speed deviation rate threshold;

[0171] If it is greater, the second landing parameter is adjusted and updated.

[0172] According to an embodiment of the present invention, if is greater than , generating a first landing parameter, and causing the aircraft to glide and land according to the first landing parameter; comprising:

[0173] Obtain aircraft attitude information;

[0174] Compare the aircraft attitude information with the preset attitude information to obtain the attitude deviation rate;

[0175] Determine whether the posture deviation rate is greater than a preset deviation rate threshold;

[0176] If it is greater, adjustment information is generated and the first landing parameter is adjusted according to the adjustment information.

[0177] According to an embodiment of the present invention, the further embodiment includes:

[0178] Obtain aircraft landing parameters and generate landing time according to the aircraft landing parameters;

[0179] Compare the landing time with the preset landing time to obtain the time deviation rate;

[0180] Determine whether the time deviation rate is greater than a preset time deviation rate threshold;

[0181] If it is greater, the remaining capability information is generated; the aircraft attitude adjustment information is generated based on the remaining capability information; the aircraft landing parameters are urgently adjusted based on the attitude adjustment information to make the aircraft landing attitude reach the predetermined attitude, thereby ensuring a smooth landing of the aircraft.

[0182] A third aspect of the present invention provides a computer-readable storage medium, which includes an emergency handling method program for aircraft power failure. When the emergency handling method program for aircraft power failure is executed by a processor, the steps of the emergency handling method for aircraft power failure as described above are implemented.

[0183] The present invention discloses an emergency handling method, system and medium for aircraft power failure, which obtains aircraft operating status data and inputs a preset model to obtain an operating status characteristic value; compares the operating status characteristic value with a preset operating status characteristic value to obtain a state deviation rate; determines whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; if so, outputs aircraft fault information; performs a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference; if the fault difference is greater than or equal to the set fault difference threshold, determines that the aircraft power has failed and generates an emergency strategy; generates aircraft control information according to the emergency strategy; controls the aircraft for emergency landing according to the aircraft control information; determines the power failure state through the aircraft fault information and determines the aircraft's maximum flight area according to energy information, and flexibly selects an emergency landing point for emergency landing, thereby improving the safety of the aircraft.

[0184] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0185] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0186] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0187] Those skilled in the art will understand that all or part of the steps of the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0188] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. A method for emergency response to aircraft power failure, characterized in that: include: Acquiring aircraft operating status data and inputting it into a preset model to obtain operating status characteristic values; wherein the acquiring aircraft operating status data and inputting it into the preset model to obtain operating status characteristic values ​​includes: acquiring aircraft navigation speed, navigation direction, and yaw angle data and generating a data set; inputting the data set into a preset neural network model for training to obtain training result data; determining whether the training result data has converged; if so, obtaining validation set data, verifying the training result data based on the validation set data to obtain accuracy; determining whether the accuracy meets preset conditions; if so, outputting the operating status characteristic values ​​through the neural network model; if not, generating correction information, and correcting the neural network model parameters using the correction information; Comparing the operating state characteristic value with the preset operating state characteristic value to obtain the state deviation rate; Determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; If it is greater than or equal to, then output aircraft fault information; Performing a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference; If the fault difference is greater than or equal to the set fault difference threshold, the aircraft power failure is determined and an emergency strategy is generated; Generating aircraft control information according to an emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information; wherein generating aircraft control information according to an emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information include at least one of the following: When the aircraft power fails, the aircraft operating status information and the nearest landing point location information are obtained; based on the nearest landing point location information, it is determined whether the aircraft can reach the nearest landing point; if so, the aircraft returns the nearest landing point location information; if not, image information surrounding the aircraft's current location is obtained; image feature values ​​are extracted based on the aircraft's current surrounding image information; it is determined whether the flatness of the surrounding area is greater than a preset flatness threshold; if so, temporary landing point information is generated, and the aircraft is driven to perform an emergency landing based on the temporary landing point information; When the aircraft power fails, the aircraft operating status information and energy information are obtained; based on the aircraft's energy information, it is determined whether the aircraft can reach the take-off position; if so, the aircraft is controlled to return to the aircraft's take-off position; if not, the aircraft's energy information is input into the flight model to obtain the aircraft's maximum flight distance; landing area information is established based on the aircraft's maximum flight distance; the best landing point is searched for based on the landing area information, and parameter information of the best landing point is collected; aircraft landing parameters are generated based on the best landing point parameter information to control the aircraft to perform flight and landing.

2. The method for emergency response to aircraft power failure according to claim 1, characterized in that: The step of searching for the best landing point based on the landing area information and collecting parameter information of the best landing point includes: Calculate the glide distance based on the optimal landing point parameter information; determining whether the glide distance satisfies a preset glide distance, and if so, generating first landing parameters, and causing the aircraft to glide and land according to the first landing parameters; If it is less than, a second landing parameter is generated, and the aircraft is controlled to make a vertical forced landing according to the second landing parameter; During the vertical landing of the aircraft, the aircraft descent speed is collected; Compare the aircraft's descent speed with the preset speed to obtain a speed deviation rate; Determining whether the speed deviation rate is greater than a preset speed deviation rate threshold; If it is greater, the second landing parameter is adjusted and updated.

3. The emergency handling method for aircraft power failure according to claim 2, characterized in that: If the above value is greater than , generating a first landing parameter, and causing the aircraft to glide and land according to the first landing parameter; comprising: Obtain aircraft attitude information; Comparing the aircraft attitude information with preset attitude information to obtain an attitude deviation rate; Determining whether the posture deviation rate is greater than a preset deviation rate threshold; If it is greater, adjustment information is generated and the first landing parameter is adjusted according to the adjustment information.

4. An emergency handling system for aircraft power failure, used to implement the emergency handling method for aircraft power failure according to claim 1, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program for an emergency handling method under aircraft power failure, and when the program for the emergency handling method under aircraft power failure is executed by the processor, the following steps are implemented: Acquiring aircraft operating status data and inputting it into a preset model to obtain operating status characteristic values; wherein the acquiring aircraft operating status data and inputting it into the preset model to obtain operating status characteristic values ​​includes: acquiring aircraft navigation speed, navigation direction, and yaw angle data and generating a data set; inputting the data set into a preset neural network model for training to obtain training result data; determining whether the training result data has converged; if so, obtaining validation set data, verifying the training result data based on the validation set data to obtain accuracy; determining whether the accuracy meets preset conditions; if so, outputting the operating status characteristic values ​​through the neural network model; if not, generating correction information, and correcting the neural network model parameters using the correction information; Comparing the operating state characteristic value with the preset operating state characteristic value to obtain the state deviation rate; Determining whether the state deviation rate is greater than or equal to a preset state deviation rate threshold; If it is greater than or equal to, then output aircraft fault information; Performing a difference calculation between the aircraft fault information and the preset fault information to obtain a fault difference; If the fault difference is greater than or equal to the set fault difference threshold, the aircraft power failure is determined and an emergency strategy is generated; Generating aircraft control information according to an emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information; wherein generating aircraft control information according to an emergency strategy; and controlling the aircraft for emergency landing according to the aircraft control information include at least one of the following: When the aircraft power fails, the aircraft operating status information and the nearest landing point location information are obtained; based on the nearest landing point location information, it is determined whether the aircraft can reach the nearest landing point; if so, the aircraft returns the nearest landing point location information; if not, image information surrounding the aircraft's current location is obtained; image feature values ​​are extracted based on the aircraft's current surrounding image information; it is determined whether the flatness of the surrounding area is greater than a preset flatness threshold; if so, temporary landing point information is generated, and the aircraft is driven to perform an emergency landing based on the temporary landing point information; When the aircraft power fails, the aircraft operating status information and energy information are obtained; based on the aircraft's energy information, it is determined whether the aircraft can reach the take-off position; if so, the aircraft is controlled to return to the aircraft's take-off position; if not, the aircraft's energy information is input into the flight model to obtain the aircraft's maximum flight distance; landing area information is established based on the aircraft's maximum flight distance; the best landing point is searched for based on the landing area information, and parameter information of the best landing point is collected; aircraft landing parameters are generated based on the best landing point parameter information to control the aircraft to perform flight and landing.

5. The emergency handling system for aircraft power failure according to claim 4, characterized in that: The step of searching for the best landing point based on the landing area information and collecting parameter information of the best landing point includes: Calculate the glide distance based on the optimal landing point parameter information; determining whether the glide distance satisfies a preset glide distance, and if so, generating first landing parameters, and causing the aircraft to glide and land according to the first landing parameters; If it is less than, a second landing parameter is generated, and the aircraft is controlled to make a vertical forced landing according to the second landing parameter; During the vertical landing of the aircraft, the aircraft descent speed is collected; Compare the aircraft's descent speed with the preset speed to obtain a speed deviation rate; Determining whether the speed deviation rate is greater than a preset speed deviation rate threshold; If it is greater, the second landing parameter is adjusted and updated.

6. The emergency handling system for aircraft power failure according to claim 5, characterized in that: If the above value is greater than , generating a first landing parameter, and causing the aircraft to glide and land according to the first landing parameter; comprising: Obtain aircraft attitude information; Comparing the aircraft attitude information with preset attitude information to obtain an attitude deviation rate; Determining whether the posture deviation rate is greater than a preset deviation rate threshold; If it is greater, adjustment information is generated and the first landing parameter is adjusted according to the adjustment information.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium includes an emergency handling method program for aircraft power failure. When the emergency handling method program for aircraft power failure is executed by a processor, the steps of the emergency handling method for aircraft power failure according to any one of claims 1 to 3 are implemented.

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