Parachute opening time selection method and system

Abstract

The invention is suitable for the technical field of unmanned aerial vehicle parachute opening, and particularly relates to a parachute opening time selection method and system.The method comprises the steps that a flight task of an unmanned aerial vehicle is obtained, the task state is inquired, and the task state at least comprises takeoff, cruising, homeward voyage and parachute landing; constructing an artificial parachute control interval composed of the maximum height and the minimum height by using the parachute opening height pre-stored in the unmanned aerial vehicle; a triggering mechanism is created and integrated into the unmanned aerial vehicle, and the triggering mechanism is that a visual camera integrated in the unmanned aerial vehicle in advance is activated. By collecting the parachute opening signal, parachute landing of the unmanned aerial vehicle can be manually guided, the obstacle avoidance capacity of the unmanned aerial vehicle can be improved, the equipment safety can be improved, out-of-control or air crash caused by manual signal loss can be prevented by conducting autonomous parachute landing at the minimum height, redundancy control over the unmanned aerial vehicle is achieved, the robustness of the unmanned aerial vehicle is further improved, and the unmanned aerial vehicle safety is improved. And the flight safety is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of parachute opening for unmanned aerial vehicles (UAVs), and in particular to a parachute opening time selection method and system. Background Art

[0002] When a drone loses signal, it will generally hover or return home autonomously. If there are dense obstacles in the mission area, some drones equipped with parachute modules will first enter a hovering waiting state after communication is interrupted. If the communication link cannot be re-established, the drone will trigger the emergency response mechanism and start the parachute procedure to land, so as to reduce the risk of crash and ensure the safety of equipment and the environment.

[0003] In existing technologies, when a drone enters the parachute landing program, a mechanical device will release and deploy the parachute at a pre-set altitude to achieve a safe landing. However, this parachute deployment method fails to take into account the actual ground terrain and surrounding obstacles, which may increase the difficulty of recovery and affect the safety of equipment and personnel.

[0004] Therefore, “how to visually trigger the parachute opening device through guidance by ground personnel” is the technical problem that the present invention needs to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for selecting the time of parachute opening, so as to solve the problem of "how to visually trigger the parachute opening device through guidance by ground personnel" raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method for selecting a parachute opening time, the method comprising:

[0008] Obtain the flight mission of the drone and query the mission status, where the mission status includes at least: takeoff, cruise, return, and parachute landing. When the drone enters the parachute landing program, use the parachute opening height pre-stored in the drone to construct a manual parachute control range consisting of maximum and minimum altitudes;

[0009] Creating a trigger mechanism and integrating it into the drone, wherein the trigger mechanism activates a visual camera pre-integrated in the drone to collect video data within the visual range and the real-time altitude of the drone, and activates the trigger mechanism when the real-time altitude coincides with the maximum altitude;

[0010] A plurality of snapshots are captured from the video data, color features in the snapshots are identified, and it is determined whether a parachute opening signal exists in the snapshots. If so, a parachute opening command is sent to a parachute opening device pre-installed in the drone. If not, the real-time altitude is dynamically updated. When the real-time altitude of the drone coincides with the minimum altitude, a pre-set parachute program is initiated.

[0011] Furthermore, the step of constructing a manual parachute control interval consisting of a maximum altitude and a minimum altitude by using the parachute opening altitude pre-stored in the drone includes:

[0012] Using sensor equipment pre-deployed in the UAV, sensor data is collected and the manual parachute control interval is corrected;

[0013] Create a collection of several emergency events and set the trigger conditions for each emergency event.

[0014] Furthermore, the steps of creating a trigger mechanism and integrating it into the drone include:

[0015] Delineate the landing area for the drone and establish a communication link between the drone and the control device using relay equipment pre-deployed within the landing area;

[0016] Receive the return command uploaded by the control device and forward it to the drone via the relay device.

[0017] Furthermore, when the real-time altitude coincides with the maximum altitude, the step of activating the trigger mechanism includes:

[0018] Create a trigger collection consisting of several trigger mechanisms;

[0019] When the trigger mechanism is activated, the warning device pre-deployed in the drone is activated.

[0020] Furthermore, the step of determining whether there is a parachute opening signal in the snapshot includes:

[0021] Construct a parachute opening signal composed of several color features and input the parachute opening signal into the drone before it enters the takeoff procedure;

[0022] The estimated execution time of the flight mission is edited, and a possible occurrence time period of the parachute opening signal is selected, and the possible occurrence time period is integrated into the parachute opening signal.

[0023] Furthermore, the step of dynamically updating the real-time altitude and starting a pre-set parachute program when the real-time altitude of the drone coincides with the minimum altitude includes:

[0024] Using the visual camera, risk features within the landing range are collected, and offset rules corresponding to the risk features are constructed;

[0025] Allows control devices to edit offset rules.

[0026] Furthermore, the method further comprises:

[0027] Dynamically adjusting the minimum height based on the risk characteristics;

[0028] A redundant parachute deployment mechanism is configured and integrated into the UAV.

[0029] Furthermore, the system includes:

[0030] A construction module is used to obtain the flight mission of the UAV and query the mission status, where the mission status includes at least: takeoff, cruise, return and parachute landing. When the UAV enters the parachute landing program, the parachute opening height pre-stored in the UAV is used to construct a manual parachute control interval consisting of a maximum altitude and a minimum altitude;

[0031] An activation module is used to create a trigger mechanism and integrate it into the drone, wherein the trigger mechanism is to activate a visual camera pre-integrated in the drone to collect video data within the visual range and the real-time altitude of the drone, and activate the trigger mechanism when the real-time altitude coincides with the maximum altitude;

[0032] The startup module is used to extract a plurality of snapshots from the video data, identify color features in the snapshots, and determine whether a parachute opening signal exists in the snapshots. If so, a parachute opening command is sent to a parachute opening device preset and integrated in the drone. If not, the real-time altitude is dynamically updated. When the real-time altitude of the drone coincides with the minimum altitude, a preset parachute program is started.

[0033] Furthermore, the building blocks include:

[0034] A correction unit, configured to collect sensor data using sensor equipment pre-deployed in the UAV, and to correct the manual parachute control interval;

[0035] The setting unit is used to create a collection of several emergency events and set the triggering conditions of each emergency event.

[0036] Furthermore, the activation module includes:

[0037] An establishment unit is used to define the landing range of the UAV and establish a communication link between the UAV and the control device using a relay device pre-deployed in the landing range;

[0038] The forwarding unit is used to receive the return command uploaded by the control device and forward it to the drone via the relay device;

[0039] A creation unit is used to create a trigger collection consisting of several trigger mechanisms;

[0040] The warning unit is used to start the warning device pre-deployed in the drone when the trigger mechanism is activated.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] When the UAV enters the parachute program and reaches the maximum altitude, the visual camera is activated. It can avoid irrelevant image interference while judging whether there is a parachute opening signal, improve recognition accuracy, and reduce the data processing burden. By collecting the parachute opening signal, the UAV can be manually guided to parachute, improve the obstacle avoidance capability of the UAV, and increase equipment safety. By performing autonomous parachute landing at the minimum altitude, it can prevent loss of control or crash due to lack of human signals, realize redundant control of the UAV, further improve the robustness of the UAV, and effectively ensure flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flowchart of a method for selecting a parachute deployment time according to an embodiment of the present invention;

[0044] Figure 2 A block diagram of the first sub-process of the parachute opening time selection method provided in an embodiment of the present invention;

[0045] Figure 3 A block diagram of the second sub-process of the parachute opening time selection method provided in an embodiment of the present invention;

[0046] Figure 4 A block diagram of the third sub-process of the parachute opening time selection method provided in an embodiment of the present invention;

[0047] Figure 5 A block diagram of the method for selecting the parachute opening time provided in an embodiment of the present invention;

[0048] Figure 6 A block diagram of the components of the parachute deployment time selection system provided by an embodiment of the present invention;

[0049] Figure 7 A block diagram of the activation module in the parachute deployment time selection system provided by an embodiment of the present invention;

[0050] Figure 8 This is a block diagram of the composition of the start module in the parachute opening time selection system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] In Example 1, Figure 1 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown and described in detail below:

[0053] S100: Obtain the flight mission of the drone and query the mission status, where the mission status includes at least: takeoff, cruising, return and parachute landing. When the drone enters the parachute landing program, the parachute opening height pre-stored in the drone is used to construct a manual parachute control range consisting of a maximum altitude and a minimum altitude.

[0054] Collect the flight missions of the drone, where the flight missions are pre-determined by the pilots to determine the mission status at the current moment, including takeoff, cruise, return, and parachute landing. Due to signal loss or other reasons, the drone may not be able to enter the return home state. The parachute landing state refers to the state when the signal is lost and the drone begins to hover. When the drone hovers for more than the preset time, it enters the parachute landing program.

[0055] Before the flight mission begins, the parachute opening height is determined based on the design parameters of the drone and parachute and historical parachute landing data. The flight crew determines the maximum and minimum heights based on the obstacle type, maximum obstacle height and drone attribute data within the flight mission range, and generates a manual parachute control range.

[0056] S200: Create a trigger mechanism and integrate it into the drone, wherein the trigger mechanism is: activate the visual camera pre-integrated in the drone, and collect video data within the visual range and the real-time altitude of the drone, and activate the trigger mechanism when the real-time altitude coincides with the maximum altitude.

[0057] After the start-up conditions are met, the trigger mechanism in the drone is activated, where the trigger mechanism is as follows: activating the visual camera pre-integrated on the drone to collect video data within the drone's visual range; the collected video data is analyzed and identified by the drone's built-in processing unit to determine whether there is a parachute opening signal; the above-mentioned start-up conditions are: the drone's real-time altitude coincides with the maximum altitude; the drone's real-time altitude can be measured by a barometric altimeter and a laser rangefinder.

[0058] S300: Extract several snapshots from the video data, identify color features in the snapshots, and determine whether there is a parachute opening signal in the snapshots. If so, send a parachute opening command to a parachute opening device preset and integrated in the drone. If not, dynamically update the real-time altitude. When the real-time altitude of the drone coincides with the minimum altitude, start a pre-set parachute landing program.

[0059] At preset time intervals, several snapshots are extracted from the video data, and the color features in the snapshots are extracted through color histogram or color space conversion. The color features are the colored pixels in the snapshots. When the color features are detected, the parachute opening signals are compared with the color features to determine whether the two are the same. If so, a parachute opening command is sent to the parachute opening device in the drone. If not, an autonomous parachute landing is performed. When the real-time altitude of the drone coincides with the minimum altitude and the parachute opening signal is still not detected, the pre-set parachute landing program is started. In this application, the parachute opening signal refers to a color signal preset by the flight operator, such as a flag with a specific color combination or other ground markings.

[0060] For example, the preset parachute opening height of a certain drone is 110 meters, the maximum value is 180 meters, and the minimum value is 90 meters. During the performance of the flight mission, the drone enters a hovering state due to signal loss or equipment failure. After hovering for a period of time, it is unable to reconnect to the network, enter the parachute program, and find a suitable location for parachuting.

[0061] After determining the appropriate position for the drone, the drone slowly descended. When it descended to 180 meters, it turned on the visual camera and scanned the ground for parachute opening signals. When the ground flight crew discovered that the drone was hovering, due to the presence of lakes, woodlands, etc. below the drone, it was not conducive to the recovery of the drone. The flight crew visually believed that the drone had reached the appropriate position and waved or placed a flag consisting of "blue, black, and red" on the ground. When the drone detected the "blue, black, and red" color characteristics, it generated a parachute opening command and immediately parachuted.

[0062] Furthermore, in the present application, the position adjustment and parachute landing of the UAV can be achieved by setting multiple groups of color identifications; for example, "red and yellow" flags can be placed on the ground, and after the UAV detects the corresponding color characteristics, it will shift to the area where the flag is located. When it shifts to the appropriate position, the pilot adjusts the flag to "blue, black, and red", and after the UAV detects the corresponding color characteristics, it will immediately parachute.

[0063] In Example 2, Figure 2 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown. The following details the steps of constructing a manual parachute control interval consisting of a maximum altitude and a minimum altitude using the parachute opening altitude pre-stored in the drone.

[0064] S101: Utilize sensor equipment pre-deployed in the UAV to collect sensor data and correct the manual parachute control interval.

[0065] Using sensor equipment pre-deployed in the drone (such as altimeter, barometer, accelerometer, gyroscope and wind speed sensor, etc.), sensor data related to the flight status is collected, and the maximum and minimum altitudes are adjusted to re-establish the manual parachute control range.

[0066] S102: Create a collection of several emergency events and set a trigger condition for each emergency event.

[0067] Identify emergencies during flight missions, such as rainfall, strong winds, and malfunctions; detect continuous raindrop signals, a sharp rise in ambient humidity, or typical raindrop interference in images through humidity sensors, raindrop sensors, or camera image recognition systems deployed in the drone, and initiate corresponding emergencies; further, each emergency corresponds to a different response mode or handling rule. When an emergency is identified, the drone is controlled to enter the corresponding response mode.

[0068] In Example 3, Figure 3 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown. The steps of creating the trigger mechanism and integrating it into the drone are described in detail as follows:

[0069] S201: Delineate the landing range of the UAV and establish a communication link between the UAV and the control device using a relay device pre-deployed in the landing range.

[0070] Based on the visual position of the drone, the approximate landing range of the drone is delineated, and the relay equipment within the landing range (such as communication relay nodes, signal boosters or low-power ground terminals, etc.) is found. When the drone approaches or enters the landing range, it automatically connects to the relay equipment, thereby establishing a communication link between the drone, the relay equipment, and the control equipment.

[0071] S202: Receive the return command uploaded by the control device and forward it to the drone via the relay device.

[0072] Use relay equipment to forward the return command to the drone, control the drone to return or parachute to a selected location.

[0073] In Example 4, Figure 3 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown. The steps of activating the trigger mechanism when the real-time altitude coincides with the maximum altitude are described in detail below:

[0074] S203: Create a trigger collection consisting of several trigger mechanisms.

[0075] Create multiple trigger mechanisms. For example, another trigger mechanism is: after identifying the "red and black" color features, move horizontally to this position until it moves directly above the color features; the set of all trigger mechanisms is the trigger collection.

[0076] S204: When the trigger mechanism is activated, a warning device pre-deployed in the drone is started.

[0077] After the drone moves horizontally or enters the parachute program, the warning device in the drone is activated, including a flashing light. The advantage of this is that it is convenient for ground flight personnel to perform visual positioning.

[0078] In Example 5, Figure 4 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown. The steps of determining whether there is a parachute opening signal in the snapshot are described in detail below:

[0079] S301: Construct a parachute opening signal composed of a plurality of color features, and input the parachute opening signal into the drone before the drone enters the takeoff procedure.

[0080] Before the UAV enters the take-off procedure, the parachute opening signal needs to be pre-input into the UAV; the parachute opening signal is obtained by "combining multiple color features as described in S300."

[0081] S302: Editing the expected execution time of the flight mission, selecting a possible occurrence time period of the parachute opening signal, and integrating the possible occurrence time period into the parachute opening signal.

[0082] Based on the estimated execution time of the flight mission, combined with the flight path, altitude changes, mission load, historical environmental data and parachute landing strategy, the time period when the parachute opening signal may appear is selected; in other words, in order to refine the startup time of the visual camera, when the drone reaches the maximum altitude, the visual camera is not turned on immediately, but after reaching the maximum altitude and being within the possible occurrence time period, the visual camera is started to monitor the ground color characteristics; if the pilot does not set the possible occurrence time period, the visual camera is turned on at the maximum altitude.

[0083] In Example 6, Figure 4 The implementation process of the parachute opening time selection method provided by an embodiment of the present invention is shown. The following details the steps of dynamically updating the real-time altitude and starting the pre-set parachute program when the real-time altitude of the drone coincides with the minimum altitude.

[0084] S303: Using the visual camera, collect risk features within the landing range, and construct offset rules corresponding to the risk features.

[0085] Using visual cameras, it is determined whether there are risk features within the landing range. Risk features can include residential areas, lakes, etc. Each risk feature corresponds to a different offset rule. For example, when the risk feature is a residential area, the corresponding offset rule is: offset the scheduled parachute point at least 50 meters away from the residential area, and give priority to open areas or vacant land.

[0086] S304: Opening the editing authority of the offset rule to the control device.

[0087] The editing authority of the offset rules is issued to the control device, and the control device used by the flight crew adjusts the offset rules.

[0088] In Example 7, different from Example 1, in this embodiment of the present invention, the method further includes:

[0089] Dynamically adjusting the minimum height based on the risk characteristics;

[0090] A redundant parachute deployment mechanism is configured and integrated into the UAV.

[0091] After the risk characteristics are determined, the pre-set minimum altitude is corrected. For example, if a lake or building complex is detected below the drone, the minimum altitude is lowered to delay parachute deployment, thereby increasing the horizontal drift distance and avoiding the dangerous area. To enhance the robustness of the drone, a redundant parachute deployment mechanism is configured. The redundant parachute deployment mechanism includes multiple deployments of the main parachute and the backup parachute. When a parachute deployment signal is detected but the main parachute does not deploy within the specified time, the backup parachute deployment command is automatically triggered.

[0092] Figure 5 The following is a structural block diagram of a parachute opening time selection system according to an embodiment of the present invention. The parachute opening time selection system 1 includes:

[0093] A construction module 11 is configured to obtain the flight mission of the UAV and query the mission status, wherein the mission status includes at least takeoff, cruise, return, and parachute landing. When the UAV enters the return program, a manual parachute control interval consisting of a maximum altitude and a minimum altitude is constructed using the parachute opening altitude pre-stored in the UAV;

[0094] An activation module 12 is configured to create a trigger mechanism and integrate it into the drone, wherein the trigger mechanism is configured to: activate a visual camera pre-integrated in the drone, collect video data within the visual range, and collect the real-time altitude of the drone; and activate the trigger mechanism when the real-time altitude coincides with the maximum altitude;

[0095] The starting module 13 is used to extract a plurality of snapshots from the video data, identify color features in the snapshots, and determine whether a parachute opening signal is present in the snapshots. If so, a parachute opening command is sent to a parachute opening device pre-installed in the drone. If not, the real-time altitude is dynamically updated. When the real-time altitude of the drone coincides with the minimum altitude, a pre-set parachute program is initiated.

[0096] Figure 6 The following is a structural block diagram of the parachute opening time selection system provided by an embodiment of the present invention. The building block 11 includes:

[0097] The correction unit 111 is used to collect sensor data using sensor equipment pre-deployed in the UAV and correct the manual parachute control interval;

[0098] The setting unit 112 is used to create a collection of several emergency events and set the triggering condition of each emergency event.

[0099] Figure 7 The following is a structural block diagram of the parachute opening time selection system provided by an embodiment of the present invention. The activation module 12 includes:

[0100] Establishing unit 121, configured to define a landing range of the UAV and establish a communication link between the UAV and the control device using a relay device pre-deployed in the landing range;

[0101] The forwarding unit 122 is used to receive the return command uploaded by the control device and forward it to the drone via the relay device.

[0102] A creation unit 123, configured to create a trigger collection consisting of a plurality of trigger mechanisms;

[0103] The warning unit 124 is configured to activate a warning device pre-deployed in the drone when the trigger mechanism is activated.

[0104] Figure 8 The following is a structural block diagram of the parachute opening time selection system provided by an embodiment of the present invention. The starting module 13 includes:

[0105] The input unit 131 is used to construct a parachute opening signal composed of a plurality of color features and input the parachute opening signal into the drone before the drone enters the takeoff procedure;

[0106] An editing unit 132 is used to edit the expected execution time of the flight mission, select a possible occurrence period of the parachute opening signal, and integrate the possible occurrence period into the parachute opening signal;

[0107] The collecting unit 133 is used to collect risk features within the landing range using the visual camera and construct an offset rule corresponding to each risk feature;

[0108] The opening unit 134 is configured to open the editing authority of the offset rule to the control device.

[0109] The construction module 11 is mainly used to complete step S100, the activation module 12 is mainly used to complete step S200, and the startup module 13 is mainly used to complete step S300;

[0110] The correction unit 111 is mainly used to complete step S101, and the setting unit 112 is mainly used to complete step S102;

[0111] The establishment unit 121 is mainly used to complete step S201, and the forwarding unit 122 is mainly used to complete step S202; the creation unit 123 is mainly used to complete step S203, and the warning unit 124 is mainly used to complete step S204;

[0112] The input unit 131 is mainly used to complete step S301, the editing unit 132 is mainly used to complete step S302, the collection unit 133 is mainly used to complete step S303, and the opening unit 134 is mainly used to complete step S304.

[0113] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for selecting a parachute opening time, characterized in that: The method comprises: Obtain the flight mission of the drone and query the mission status, where the mission status includes at least: takeoff, cruise, return, and parachute landing. When the drone enters the parachute landing program, use the parachute opening height pre-stored in the drone to construct a manual parachute control range consisting of maximum and minimum altitudes; Creating a trigger mechanism and integrating it into the drone, wherein the trigger mechanism activates a visual camera pre-integrated in the drone to collect video data within the visual range and the real-time altitude of the drone, and activates the trigger mechanism when the real-time altitude coincides with the maximum altitude; A plurality of snapshots are captured from the video data, color features in the snapshots are identified, and it is determined whether a parachute opening signal exists in the snapshots. If so, a parachute opening command is sent to a parachute opening device pre-installed in the drone. If not, the real-time altitude is dynamically updated. When the real-time altitude of the drone coincides with the minimum altitude, a pre-set parachute program is initiated.

2. The method for selecting the parachute opening time according to claim 1, characterized in that: The step of constructing an artificial parachute control interval consisting of a maximum altitude and a minimum altitude using the parachute opening altitude pre-stored in the drone includes: Using sensor equipment pre-deployed in the UAV, sensor data is collected and the manual parachute control interval is corrected; Create a collection of several emergency events and set the trigger conditions for each emergency event.

3. The method for selecting the parachute opening time according to claim 1, characterized in that: The steps for creating a trigger mechanism and integrating it into a drone include: Delineate the landing area for the drone and establish a communication link between the drone and the control device using relay equipment pre-deployed within the landing area; Receive the return command uploaded by the control device and forward it to the drone via the relay device.

4. The method for selecting the parachute opening time according to claim 1, wherein: When the real-time altitude coincides with the maximum altitude, the step of activating the trigger mechanism comprises: Create a trigger collection consisting of several trigger mechanisms; When the trigger mechanism is activated, the warning device pre-deployed in the drone is activated.

5. The method for selecting the parachute opening time according to claim 1, characterized in that: The step of determining whether there is a parachute opening signal in the snapshot includes: Construct a parachute opening signal composed of several color features and input the parachute opening signal into the drone before it enters the takeoff procedure; The estimated execution time of the flight mission is edited, and a possible occurrence time period of the parachute opening signal is selected, and the possible occurrence time period is integrated into the parachute opening signal.

6. The method for selecting the parachute opening time according to claim 3, characterized in that: The step of dynamically updating the real-time altitude and starting a preset parachute program when the real-time altitude of the drone coincides with the minimum altitude includes: Using the visual camera, risk features within the landing range are collected, and offset rules corresponding to the risk features are constructed; Allows control devices to edit offset rules.

7. The method for selecting the parachute opening time according to claim 6, characterized in that: The method further comprises: Dynamically adjusting the minimum height based on the risk characteristics; A redundant parachute deployment mechanism is configured and integrated into the UAV.

8. A parachute opening time selection system, characterized in that: The system comprises: A construction module is used to obtain the flight mission of the UAV and query the mission status, where the mission status includes at least: takeoff, cruise, return and parachute landing. When the UAV enters the parachute landing program, the parachute opening height pre-stored in the UAV is used to construct a manual parachute control interval consisting of a maximum altitude and a minimum altitude; An activation module is used to create a trigger mechanism and integrate it into the drone, wherein the trigger mechanism is to activate a visual camera pre-integrated in the drone to collect video data within the visual range and the real-time altitude of the drone, and activate the trigger mechanism when the real-time altitude coincides with the maximum altitude; The startup module is used to extract a plurality of snapshots from the video data, identify color features in the snapshots, and determine whether a parachute opening signal exists in the snapshots. If so, a parachute opening command is sent to a parachute opening device preset and integrated in the drone. If not, the real-time altitude is dynamically updated. When the real-time altitude of the drone coincides with the minimum altitude, a preset parachute program is started.

9. The parachute opening time selection system according to claim 8, characterized in that: The building blocks include: A correction unit, configured to collect sensor data using sensor equipment pre-deployed in the UAV, and to correct the manual parachute control interval; The setting unit is used to create a collection of several emergency events and set the triggering conditions of each emergency event.

10. The parachute opening time selection system according to claim 8, characterized in that: The activation module includes: An establishment unit is used to define the landing range of the UAV and establish a communication link between the UAV and the control device using a relay device pre-deployed in the landing range; The forwarding unit is used to receive the return command uploaded by the control device and forward it to the drone via the relay device; A creation unit is used to create a trigger collection consisting of several trigger mechanisms; The warning unit is used to start the warning device pre-deployed in the drone when the trigger mechanism is activated.

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