Backup umbrella automatic opening method and device, computer equipment and storage medium

Abstract

The invention discloses a backup parachute automatic opening method and device, computer equipment and a storage medium. The backup parachute automatic opening method comprises the steps that the real-time height of an air-dropped object is obtained according to a gas pressure sensor; according to the gas pressure sensor, the acceleration sensor and the gyroscope, the real-time descending speed and the real-time descending acceleration of the air-dropped object are obtained; and on the basis of the real-time height, the real-time descending speed and the real-time descending acceleration, automatic parachute opening condition judgment of the backup parachute is executed. According to the automatic parachute opening method for the backup parachute, the gas pressure sensor, the acceleration sensor and the gyroscope are combined, the acceleration sensor and the gyroscope are used for obtaining accurate vertical acceleration and speed, the speed obtained by the gas pressure sensor is used for compensation, and multi-source sensing is used for cooperative judgment; the influence of high-altitude airflow on the gas pressure sensor is reduced, the false triggering probability of the backup parachute is remarkably reduced, and the problem of judgment deviation of the automatic parachute opening condition under the complex high-altitude condition is effectively solved.

Description

Technical Field

[0001] The present application relates to the field of parachute technology, and in particular to a method, device, computer equipment and storage medium for automatically deploying a reserve parachute. Background Art

[0002] An automatic parachute deployment system is an emergency reserve parachute safety system primarily installed in the reserve parachute bag. Its purpose is to prevent parachutes from being unable to deploy their reserve parachutes due to extreme stress or loss of consciousness during a jump, potentially leading to casualties. Currently, mainstream automatic deployment systems rely on air pressure sensors to monitor altitude. Their typical workflow is as follows: 1. Air pressure monitoring: A barometer measures altitude changes or calculates descent velocity in real time. 2. Free fall detection: An abnormally high air pressure gradient indicates the onset of free fall. 3. Deployment timing: If the descent velocity exceeds a predetermined value after reaching a preset safe altitude, the reserve parachute is ejected.

[0003] However, under actual high-altitude conditions, air pressure changes are very complex and are easily affected by factors such as weather changes, airflow disturbances, and changes in the parachutist's posture. This leads to deviations in the automatic parachute opening condition judgment of the automatic parachute opening device that uses air pressure sensors to collect data, and reduces its reliability. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of the existing technology and provide a method, device, computer equipment and storage medium for automatically opening a backup parachute, so as to solve the technical problem that the existing method uses an air pressure sensor to collect data to execute the automatic opening condition judgment of the automatic parachute opening device, resulting in deviation and reduced reliability.

[0005] To achieve the above objectives, this application adopts the following technical solutions: In a first aspect, this embodiment provides a method for automatically deploying a reserve parachute, comprising: Obtain the real-time height of the airdrop according to the gas pressure sensor; Obtaining the real-time descent speed and real-time descent acceleration of the airdropped object according to the gas pressure sensor, acceleration sensor, and gyroscope; Based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration, automatic deployment condition determination of the reserve parachute is performed.

[0006] The method of obtaining the real-time descent speed and the real-time descent acceleration of the airdrop object based on the gas pressure sensor, the acceleration sensor, and the gyroscope includes: obtaining a first descending speed of the airdrop object according to the gas pressure sensor; The information data obtained by the acceleration sensor and the gyroscope are integrated through an AHRS algorithm to calculate the real-time descent acceleration and the second descent speed of the airdrop object; The real-time descent speed is obtained by combining the first descent speed and the second descent speed.

[0007] The step of determining the automatic deployment condition of the reserve parachute based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration includes: determining whether the airdropped object has returned to the ground based on the real-time altitude; if it is determined that the airdropped object has returned to the ground, setting the current state of the airdropped object to a landing state and terminating the determination of the conditions for automatic parachute deployment; If it is determined that the airdropped object has not returned to the ground, determining whether the parachute has been deployed based on the real-time descent speed and the real-time descent acceleration; wherein the parachute includes a main parachute and a reserve parachute; If it is determined that the parachute has been deployed, the current state of the airdrop object is set to the parachute deployed state, and whether the real-time descent speed is less than or equal to the steady descent speed is determined; if it is determined that the parachute has not been deployed, whether the real-time descent speed is less than or equal to the steady descent speed is determined; If it is determined that the real-time descent speed is less than or equal to the steady descent speed, returning to determine whether the airdropped object has returned to the ground; if it is determined that the real-time descent speed is greater than the steady descent speed, determining whether the airdropped object has left the cabin based on the real-time descent speed and the real-time descent acceleration; If it is determined that the airdropped object has not left the cabin, returning to determine whether the airdropped object has returned to the ground; if it is determined that the airdropped object has left the cabin, determining whether the reserve parachute needs to be deployed based on the real-time altitude, real-time descent speed, and real-time descent acceleration; If it is determined that the reserve parachute does not need to be deployed, returning to determine whether the airdropped object has returned to the ground; if it is determined that the reserve parachute needs to be deployed, sending an ignition signal to the ejection device of the reserve parachute and monitoring whether the ejection device is successfully ignited; If it is determined that the ejection device is ignited successfully, the process returns to determine whether the airdropped object has returned to the ground; if it is determined that the ejection device is ignited unsuccessfully, an ignition signal is continuously sent to the ejection device at least three times.

[0008] Wherein, judging whether the airdropped object has returned to the ground according to the real-time altitude includes: Determining whether the real-time height of the airdropped object is always less than a first preset height within a first preset time; If so, it is determined that the airdropped object has returned to the ground; if not, it is determined that the airdropped object has not returned to the ground.

[0009] Wherein, judging whether the parachute has been deployed according to the real-time descent speed and the real-time descent acceleration includes: Determining whether the airdrop object satisfies the requirement that, within a second preset time, the real-time descent speed is always less than the first preset speed, and the real-time descent acceleration is always less than the first preset acceleration; If so, it is determined that the parachute has been deployed; if not, it is determined that the parachute has not been deployed.

[0010] The determining whether the airdropped object has left the cabin according to the real-time descent speed and the real-time descent acceleration includes: Determining whether the airdrop object satisfies the conditions that the real-time descent speed is greater than a second preset speed and the real-time descent acceleration is greater than a second preset acceleration; If so, it is determined that the airdrop object has left the cabin; if not, it is determined that the airdrop object has not left the cabin.

[0011] Wherein, judging whether it is necessary to deploy the reserve parachute according to the real-time altitude, real-time descent speed, and real-time descent acceleration includes: Determining whether the airdropped object satisfies a condition where the real-time altitude is lower than a preset parachute opening altitude, and within a third preset time, the real-time descent speed is greater than a first preset speed, and the real-time descent acceleration is greater than the first preset acceleration; If so, it is determined that the reserve parachute needs to be deployed; if not, it is determined that the reserve parachute does not need to be deployed.

[0012] In a second aspect, this embodiment provides an automatic umbrella opening device, comprising: An altitude measurement unit, used to obtain the real-time altitude of the airdropped object based on the gas pressure sensor; A speed and acceleration measuring unit, configured to obtain the real-time descent speed and acceleration of the airdropped object based on the gas pressure sensor, the acceleration sensor, and the gyroscope; The judgment unit is used to judge the automatic opening condition of the reserve parachute based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration.

[0013] In a third aspect, this embodiment provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for automatically opening a reserve parachute as described in the first aspect is implemented.

[0014] In a fourth aspect, this embodiment provides a storage medium storing a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the method for automatically opening a reserve parachute as described in the first aspect can be implemented.

[0015] The automatic deployment method of the reserve parachute of the present application combines a gas pressure sensor, an acceleration sensor and a gyroscope, uses the acceleration sensor and the gyroscope to obtain accurate vertical acceleration and velocity, uses the velocity obtained by the gas pressure sensor for compensation, and uses multi-source sensing for collaborative judgment, thereby reducing the influence of high-altitude airflow on the gas pressure sensor, significantly reducing the probability of false triggering of the reserve parachute, and effectively solving the problem of deviation in judgment of automatic deployment conditions under complex high-altitude conditions.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the process of automatically deploying a reserve parachute provided in this application; Figure 2 This is a schematic diagram of the first sub-process of the automatic deployment method of a reserve parachute provided in this application; Figure 3 This is a schematic diagram of the second sub-flow of the method for automatically deploying a reserve parachute provided in this application; Figure 4 This is a schematic diagram of the third sub-flow of the method for automatically deploying a reserve parachute provided in this application; Figure 5 This is a schematic diagram of the fourth sub-flow of the method for automatically deploying a reserve parachute provided in this application; Figure 6 This is a schematic diagram of the fifth sub-flow of the method for automatically deploying a reserve parachute provided in this application; Figure 7 This is a schematic diagram of the sixth sub-flow of the method for automatically deploying a reserve parachute provided in this application; Figure 8 A schematic structural diagram of an automatic umbrella opening device provided in an embodiment of the present application; Figure 9 A schematic block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "resin", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship described in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0022] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0023] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0024] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0025] See also Figure 1 , Figure 1 This is a flow chart of a method for automatically deploying a reserve parachute provided in the present application. The present application provides a method for automatically deploying a reserve parachute, comprising the following steps S100-S300: S100: Obtain the real-time height of the airdropped object according to the gas pressure sensor.

[0026] In some embodiments, the airdropped objects can be cargo or parachutists. Preferably, the airdropped objects described in this embodiment are all parachutists. Therefore, the automatic deployment method for the reserve parachute proposed in this embodiment is intended to protect the safety of the parachutist and safeguard the parachutist's parachuting process. In the event that the parachutist encounters an accident and fails to deploy the main parachute or the main parachute fails to deploy, the reserve parachute is automatically deployed, allowing the parachutist to land safely. It should be noted that the parachutes carried by parachutists generally include a main parachute and a reserve parachute. Under normal circumstances, the parachutist will deploy the main parachute to slow down and land. However, in certain special circumstances, such as when the main parachute fails to deploy or the parachutist falls unconscious, the reserve parachute can serve as the parachutist's last line of defense during the parachute's descent, automatically deploying in critical situations to protect the parachutist's life.

[0027] In some embodiments, the gas pressure sensor measures altitude based on the physical law that air pressure varies with altitude. Atmospheric pressure decreases with increasing altitude because air density is lower at higher altitudes, reducing the force exerted by air molecules per unit area. The gas pressure sensor detects this pressure change and converts it into an electrical signal, which it then uses to calculate the current real-time altitude using the pressure-altitude equation.

[0028] In some embodiments, the gas pressure sensor detects changes in air pressure and converts them into electrical signals, which are then sent to the microcontroller. The microcontroller then calculates the current real-time altitude using the air pressure-altitude formula.

[0029] S200: Obtain the real-time descent velocity and acceleration of the airdropped object based on the gas pressure sensor, acceleration sensor, and gyroscope. In this embodiment, the velocity and acceleration are both positive in the downward direction and negative in the upward direction.

[0030] In some embodiments, the accelerometer and the gyroscope are components of an IMU (Inertial Measurement Unit). Generally, the IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signals of the object in the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the object's posture.

[0031] In some embodiments, as Figure 2 As shown, Figure 2 This is a schematic diagram of the first sub-process of the automatic deployment method of a reserve parachute provided in this application, wherein step S200 includes steps S210-S230: S210: Obtain a first descending speed of the airdrop object according to the gas pressure sensor.

[0032] It is understandable that when the gas pressure sensor measures the air pressure, the air pressure value will change with the change of altitude, and the descent speed reflects the rate of change of altitude over time. Based on this, the gas pressure sensor continuously measures the air pressure value. , and calculate the rate of change of air pressure over time , the measured pressure change rate Substitute into the formula , the first descent speed can be obtained. In order to improve the measurement accuracy, the air pressure data can be filtered to reduce noise interference. The filtering methods include low-pass filtering, sliding average filtering, etc., which will not be described in detail here.

[0033] S220: Using an AHRS algorithm to fuse the information data obtained by the acceleration sensor and the gyroscope, the real-time descent acceleration and the second descent speed of the airdrop object are calculated.

[0034] It's understandable that the AHRS (Attitude and Heading Reference System) algorithm, which fuses data from the accelerometer and gyroscope, can calculate the real-time descent acceleration and secondary descent velocity of the airdrop. Specifically, when calculating the real-time descent acceleration, the accelerometer measures the linear acceleration of the airdrop in three axes, including the vertical acceleration component. The gyroscope measures the angular velocity along three axes, reflecting the rotational motion of the airdrop. The AHRS algorithm fuses the accelerometer and gyroscope data. Firstly, it leverages the gyroscope's high dynamic response to provide real-time updates of the airdrop's attitude change rate. Second, the algorithm uses the accelerometer data, performs integration operations, and, combined with the gyroscope's attitude information, removes the influence of gravity, thereby accurately calculating the vertical descent acceleration caused by the airdrop's descent. When calculating the second descent speed, based on the calculated real-time descent acceleration data, the descent acceleration is integrated over time to obtain the change in the descent speed of the airdrop. The speed change obtained from each integration is added to the initial speed to obtain the real-time descent speed of the airdrop. Throughout the measurement process, the AHRS algorithm also performs operations such as filtering and error compensation on the data. It utilizes the redundant information between the acceleration sensor, gas pressure sensor, and gyroscope data, as well as assumptions about the airdrop motion model, to continuously correct errors such as noise and drift in the measurement data, thereby improving the accuracy and reliability of the calculated real-time descent acceleration and second descent speed, making them more consistent with the actual descent motion state of the airdrop.

[0035] S230: Obtain a real-time descent speed by combining the first descent speed and the second descent speed.

[0036] It is understood that the first descent speed is calculated based on a gas pressure sensor, which measures the rate of change of air pressure to reflect altitude changes. This first descent speed may suffer from short-term accuracy deviations due to air pressure fluctuations. The second descent speed is derived by fusing data from the accelerometer and gyroscope using an AHRS algorithm. This better reflects short-term dynamic speed changes, but may be affected by noise and drift. Therefore, in this embodiment, the first descent speed is used to compensate the second descent speed to obtain a real-time descent speed. In some embodiments, a weighted fusion algorithm can be employed to assign weights to the first and second descent speeds based on their data reliability. The weights can be determined based on factors such as environmental conditions. This compensation mechanism effectively leverages the advantages of the first and second descent speed data, reduces the impact of errors in single sensor data on the results, improves the accuracy and reliability of descent speed measurements, and provides more accurate real-time descent speed information for airdrop deployment decisions.

[0037] S300: Based on the real-time altitude, real-time descent speed, and real-time descent acceleration, determine the automatic deployment condition of the reserve parachute.

[0038] It should be emphasized that the automatic parachute opening method using a gas pressure sensor in the prior art relies solely on altitude and speed to determine the parachute opening conditions, and is susceptible to airflow disturbances. For example, when encountering a sudden downdraft, the gas pressure sensor cannot accurately measure the atmospheric pressure at its location, miscalculates the absolute altitude, and may falsely report real-time descent speed fluctuations. Compared to the prior art, this embodiment combines a gas pressure sensor, an acceleration sensor, and a gyroscope, uses the acceleration sensor and gyroscope to obtain accurate vertical acceleration and speed, uses the speed obtained by the gas pressure sensor for compensation, and uses multi-source sensing for collaborative judgment, thereby reducing the influence of high-altitude airflow on the gas pressure sensor, significantly reducing the probability of false triggering of the backup parachute, and effectively solving the problem of deviation in automatic parachute opening condition judgment under complex high-altitude conditions.

[0039] In some embodiments, as Figure 3 As shown, Figure 3 This is a schematic diagram of the second sub-process of the automatic deployment method of the reserve parachute provided in this application, wherein step S300 includes steps S310-S370: S310. Determine whether the airdrop object has returned to the ground based on the real-time altitude. If it is determined that the airdrop object has returned to the ground, set the current state of the airdrop object to a landing state, and terminate the condition determination for automatic parachute deployment.

[0040] It's understandable that after the airdrop safely lands, there's no need to determine the conditions for automatic parachute deployment. Furthermore, if the airdrop has returned to the ground, terminating the process promptly avoids unnecessary computation and energy consumption, improving overall system efficiency. The airdrop's status is clearly defined as landing, and this is reflected in the product structure by displaying a graphic representing the landing status on the automatic parachute opener's screen. This graphic can be text, graphics, or lights.

[0041] In some embodiments, as Figure 4 As shown, Figure 4 This is a schematic diagram of the third sub-flow of the method for automatically deploying a reserve parachute provided in this application, wherein step S310 includes steps S311-312: S311: Determine whether the real-time height of the airdrop object is always less than a first preset height within a first preset time.

[0042] In some embodiments, the first preset time is 300 ms, and the first preset height is 40 m.

[0043] S312: If yes, determine that the airdropped object has returned to the ground; if no, determine that the airdropped object has not returned to the ground.

[0044] It is understandable that if the return of an airdrop is determined solely based on the altitude at a certain moment, there may be errors, because the altitude data may fluctuate momentarily due to sensor noise or short-term airflow. By setting a first preset time (such as 300ms) and a first preset altitude (such as 40m), the altitude status of the airdrop can be verified multiple times in a short period of time, thereby more accurately determining whether it has landed stably and reducing misjudgments caused by momentary altitude fluctuations.

[0045] S320: If it is determined that the airdropped object has not returned to the ground, determine whether the parachute has been deployed based on the real-time descent speed and the real-time descent acceleration; wherein the parachute includes a main parachute and a backup parachute.

[0046] Understandably, during the descent of an airdrop, it's crucial to accurately determine whether the main parachute has deployed successfully. Deployment typically means the descent speed and acceleration have significantly decreased due to the parachute's drag. By monitoring changes in real-time descent speed and acceleration, it's possible to effectively identify whether the main parachute is functioning properly and determine whether the reserve parachute needs to be deployed. If the system can accurately determine that the main parachute has deployed, it can avoid erroneous triggering of the reserve parachute. This not only extends the reserve parachute's lifespan but also prevents other safety issues that could arise from abnormal reserve deployment, such as line entanglement.

[0047] In some embodiments, as Figure 5 As shown, Figure 5 This is a schematic diagram of the fourth sub-process of the method for automatically deploying a reserve parachute provided in this application, wherein step S320 includes steps S321-322: S321: Determine whether the airdrop object satisfies the following conditions: within a second preset time, the real-time descent speed is always less than the first preset speed, and the real-time descent acceleration is always less than the first preset acceleration.

[0048] In some embodiments, the second preset time is 300ms, the first preset speed is 13m / s, and the first preset acceleration is -2m / s. 2 It should be explained that when the real-time descent acceleration satisfies the requirement of being less than the first preset acceleration, it can be -3m / s 2 ; When the real-time descent speed is less than the first preset speed, it can be 10m / s.

[0049] S322: If yes, determine that the parachute is deployed; if not, determine that the parachute is not deployed.

[0050] It is understandable that after the parachute is deployed, it will produce significant resistance to the descent of the airdropped object, resulting in a significant decrease in the descent speed and acceleration. This embodiment can effectively determine whether the parachute has been successfully deployed by monitoring whether the real-time descent speed and real-time descent acceleration are continuously lower than the set first preset speed and first preset acceleration within the second preset time, thereby avoiding misjudging the parachute's deployment status due to occasional data fluctuations or short-term deceleration. Specifically, it is set that within the second preset time (such as 300ms), the real-time descent speed is always lower than the first preset speed (such as 13m / s) and the real-time descent acceleration is always lower than the first preset acceleration (such as -2m / s). 2 ) is to ensure that the state of the parachute is stable after deployment. Only when the speed and acceleration are continuously maintained at a low level can it be confirmed that the parachute has been reliably deployed.

[0051] S330: If it is determined that the parachute has been deployed, the current state of the airdrop object is set to the parachute open state, and whether the real-time descent speed is less than or equal to the steady descent speed is determined; if it is determined that the parachute has not been deployed, whether the real-time descent speed is less than or equal to the steady descent speed is determined.

[0052] It is understood that the steady descent speed refers to the speed at which the airdropped object reaches a uniform descent under the action of the parachute. If the real-time descent speed is less than or equal to the steady descent speed, it indicates that the system is stable and no further parachute opening operation is required. If the parachute has not deployed, the real-time descent speed is also determined to be less than or equal to the steady descent speed. In this case, it may be a system misjudgment or failure, and the triggering of the parachute opening operation needs to be reassessed. The current state of the airdropped object is set to the parachute opening state. In terms of product structure, this is reflected in the display of a pattern representing the parachute opening state on the screen of the automatic parachute opener. This pattern can be text, graphics, or lights.

[0053] S340. If it is determined that the real-time descent speed is less than or equal to the steady descent speed, return to determine whether the airdropped object has returned to the ground; if it is determined that the real-time descent speed is greater than the steady descent speed, determine whether the airdropped object has left the cabin based on the real-time descent speed and the real-time descent acceleration.

[0054] If the real-time descent speed is less than or equal to the steady descent speed, it indicates that the airdrop may have entered a stable descent phase or is about to land. At this point, the system returns to re-determine whether the airdrop has returned to the ground. This is to further confirm the airdrop's status, avoid unnecessary parachute deployment operations when landing is imminent, reduce the probability of system misjudgment, and ensure that the system can make correct decisions based on actual landing conditions. If the real-time descent speed is greater than the steady descent speed, it indicates that the airdrop may still be in a high-speed descent phase. At this point, it is necessary to further determine whether the airdrop has cleared the cabin based on the real-time descent speed and the actual descent acceleration. This is because the reserve parachute deployment conditions are only considered after the airdrop has completely cleared the cabin. If the airdrop has not yet cleared the cabin, prematurely deploying the reserve parachute may cause safety accidents, such as collision or entanglement between the reserve parachute and the cabin structure.

[0055] In some embodiments, as Figure 6 As shown, Figure 6 This is a schematic diagram of the fifth sub-process of the method for automatically deploying a reserve parachute provided in this application, wherein step S340 includes S341-S342: S341. Determine whether the airdrop object satisfies the conditions that the real-time descent speed is greater than a second preset speed, and the real-time descent acceleration is greater than a second preset acceleration.

[0056] In some embodiments, the second preset speed is 10 m / s and the second preset acceleration is 5 m / s 2 .

[0057] S342: If yes, determine that the airdropped object has left the cabin; if no, determine that the airdropped object has not left the cabin.

[0058] In this embodiment, it is determined whether the real-time descent speed of the airdrop is greater than the second preset speed (e.g., 10 m / s), and whether the real-time descent acceleration is greater than the second preset acceleration (e.g., 5 m / s). 2 ), and then determine whether the airdrop has sufficient speed and acceleration to confirm whether it has successfully separated from the cabin and entered the free fall phase. This effectively prevents the reserve parachute from being deployed incorrectly when the airdrop is still in the cabin or has not fully separated, thereby avoiding possible mechanical interference or safety accidents.

[0059] S350: If it is determined that the airdropped object has not left the cabin, return to determine whether the airdropped object has returned to the ground; if it is determined that the airdropped object has left the cabin, determine whether the backup parachute needs to be deployed based on the real-time altitude, real-time descent speed, and real-time descent acceleration.

[0060] Understandably, if the airdrop is determined to have not left the cabin, it may still be inside or have just begun to leave but have not yet fully entered the free-fall phase. Returning to determine whether the airdrop has returned to the ground at this point is to avoid erroneously triggering the reserve parachute deployment if it has not yet left the cabin. The system also continues to monitor the airdrop's status changes, waiting for it to fully leave the cabin before making further decisions. If the airdrop has left the cabin, the system then determines whether to deploy the reserve parachute based on the real-time altitude, real-time descent speed, and real-time descent acceleration. This ensures that the reserve parachute deploys promptly at a safe altitude and when the real-time descent speed and real-time descent acceleration reach a certain dangerous level.

[0061] In some embodiments, as Figure 7 As shown, Figure 7 This is a sixth sub-flow diagram of the method for automatically deploying a reserve parachute provided in this application, wherein step S350 includes steps S351-S352: S351. Determine whether the real-time altitude of the airdropped object is lower than the preset parachute opening altitude, and within a third preset time, the real-time descent speed is greater than the first preset speed, and the real-time descent acceleration is greater than the first preset acceleration.

[0062] In some embodiments, the preset parachute opening height is 200m, the third preset time is 500ms, the first preset speed is 13m / s, and the first preset acceleration is -2m / s. 2 .

[0063] S352: If yes, determine that the reserve parachute needs to be deployed; if not, determine that the reserve parachute does not need to be deployed.

[0064] It is understood that simultaneously evaluating the real-time altitude, real-time descent speed, and real-time descent acceleration of the airdrop can ensure that the backup parachute is promptly triggered to deploy when the airdrop is in a dangerous, high-speed descent and close to the ground. If all the conditions for real-time altitude, real-time descent speed, and real-time descent acceleration are met, it is determined that the backup parachute needs to be deployed to slow the airdrop's descent speed, prevent it from impacting the ground at excessive speed, and ensure a safe landing. If any of the real-time altitude, real-time descent speed, and real-time descent acceleration do not meet the above conditions, it is determined that the backup parachute does not need to be deployed at this time, indicating that the airdrop may not have entered a dangerous descent state or is still at a sufficient height from the ground, the main parachute may be operating normally, or the airdrop's descent has not yet reached a level that requires the backup parachute to intervene.

[0065] S360: If it is determined that the reserve parachute does not need to be deployed, return to determine whether the airdrop has returned to the ground; if it is determined that the reserve parachute needs to be deployed, send an ignition signal to the ejection device of the reserve parachute, and monitor whether the ejection device is successfully ignited.

[0066] Understandably, when the reserve parachute doesn't need to be deployed, continuously monitoring the return of the airdrop to the ground ensures full monitoring of the entire descent and promptly detects any anomalies. When the reserve parachute needs to be deployed, timely sending of the ignition signal and monitoring of the ignition status ensures reliable deployment at the critical moment, ensuring a safe landing.

[0067] S370: If it is determined that the ejection device is ignited successfully, return to determine whether the airdropped object has returned to the ground; if it is determined that the ejection device is ignited unsuccessfully, send an ignition signal to the ejection device continuously for at least three times.

[0068] It is understood that if the ejection device successfully ignites, indicating that the reserve parachute has deployed, returning to determine whether the airdrop has returned to the ground is primarily to continue monitoring the status of the airdrop and confirm its safe landing. This is because after the reserve parachute deploys, the airdrop is still in the process of descending and requires continuous monitoring until it lands safely. If the ejection device fails to ignite, at least three consecutive ignition signals (for example, three times) are sent to the ejection device to increase the probability of successful ignition and ensure reliable deployment of the reserve parachute. A certain interval may be allowed between ignition signals to provide the ejection device with sufficient time to react and prepare.

[0069] In some embodiments, after determining that the ejection device has failed to ignite and sending at least three ignition signals to the ejection device continuously, the airdrop state is set to the parachute open state.

[0070] In some embodiments, monitoring whether the ejection device is successfully ignited is achieved by relying on the ignition circuit and single chip microcomputer of the ejection device, which will not be described in detail here.

[0071] See also Figure 8 , Figure 8 This is a schematic diagram of an automatic umbrella opening device 400 provided in an embodiment of the present application. The automatic umbrella opening device 400 includes: a height measuring unit 401, a speed and acceleration measuring unit 402, and a judging unit 403.

[0072] The height measurement unit 401 is used to obtain the real-time height of the airdrop object according to the gas pressure sensor; The speed and acceleration calculation unit 402 is used to obtain the real-time descent speed and real-time descent acceleration of the airdrop object based on the gas pressure sensor, acceleration sensor and gyroscope; The judgment unit 403 is used to perform automatic deployment condition judgment of the reserve parachute based on the real-time altitude, real-time descent speed, and real-time descent acceleration.

[0073] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned device and each unit can refer to the corresponding description in the aforementioned method embodiment. For the convenience and brevity of description, it will not be repeated here.

[0074] The above automatic umbrella opening device can be realized in the form of a computer program. The computer program can be used in Figure 8 Runs on the computer equipment shown.

[0075] See Figure 9 The computer device 500 includes a processor 502 , a memory, and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0076] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions that, when executed, cause the processor 502 to execute a method for automatically deploying a reserve parachute: obtaining the real-time altitude of an aerial object based on a gas pressure sensor; obtaining the real-time descent speed and real-time descent acceleration of the aerial object based on the gas pressure sensor, an acceleration sensor, and a gyroscope; and determining the conditions for automatically deploying the reserve parachute based on the real-time altitude, real-time descent speed, and real-time descent acceleration.

[0077] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500.

[0078] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a method for automatically deploying a reserve parachute.

[0079] The network interface 505 is used to communicate with other devices through the network. Figure 9 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 500 to which the solution of the present application is applied. The specific computer device 500 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0080] The processor 502 is configured to execute a computer program 5032 stored in the memory to implement the following steps S100 to S300: S100, obtaining the real-time height of the airdropped object according to the gas pressure sensor; S200: Obtaining a real-time descent speed and a real-time descent acceleration of the airdropped object based on the gas pressure sensor, the acceleration sensor, and the gyroscope; S300: Based on the real-time altitude, real-time descent speed, and real-time descent acceleration, determine the automatic deployment condition of the reserve parachute.

[0081] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0082] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program includes program instructions, which can be stored in a storage medium that is computer-readable. The program instructions are executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0083] Therefore, the present application also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the above-mentioned method for automatically deploying a reserve parachute can be implemented. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the above-mentioned method can be implemented. The program instructions include the following steps: S100, obtaining the real-time height of the airdropped object according to the gas pressure sensor; S200: Obtaining a real-time descent speed and a real-time descent acceleration of the airdrop object based on the gas pressure sensor, the acceleration sensor, and the gyroscope; S300: Based on the real-time altitude, real-time descent speed, and real-time descent acceleration, determine the automatic deployment condition of the reserve parachute.

[0084] The storage medium may be any computer-readable storage medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk.

[0085] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and other division methods may be used in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented.

[0087] The steps in the method of the embodiment of the present application can be adjusted in order, combined, and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided, and deleted according to actual needs. In addition, the functional units in the various embodiments 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 a single unit.

[0088] If this integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this application.

[0089] The above examples are merely used to further illustrate the technical content of this application to facilitate understanding by the reader, but do not limit the implementation of this application to these examples. Any technical extension or re-creation based on this application is protected by this application. The scope of protection of this application shall be based on the claims.

Claims

1. A method for automatically opening a reserve parachute, characterized in that: include: Obtain the real-time height of the airdrop according to the gas pressure sensor; Obtaining the real-time descent speed and real-time descent acceleration of the airdropped object according to the gas pressure sensor, acceleration sensor, and gyroscope; Based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration, automatic deployment condition determination of the reserve parachute is performed.

2. The automatic deployment method of a reserve parachute according to claim 1, characterized in that: The method of obtaining the real-time descent speed and the real-time descent acceleration of the airdrop object according to the gas pressure sensor, the acceleration sensor, and the gyroscope includes: obtaining a first descending speed of the airdrop object according to the gas pressure sensor; The information data obtained by the acceleration sensor and the gyroscope are integrated through an AHRS algorithm to calculate the real-time descent acceleration and the second descent speed of the airdrop object; The real-time descent speed is obtained by combining the first descent speed and the second descent speed.

3. The automatic deployment method of a reserve parachute according to claim 1, characterized in that: The step of determining the automatic deployment condition of the reserve parachute based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration includes: determining whether the airdropped object has returned to the ground based on the real-time altitude; if it is determined that the airdropped object has returned to the ground, setting the current state of the airdropped object to a landing state and terminating the determination of the conditions for automatic parachute deployment; If it is determined that the airdropped object has not returned to the ground, determining whether the parachute has been deployed based on the real-time descent speed and the real-time descent acceleration; wherein the parachute includes a main parachute and a reserve parachute; If it is determined that the parachute has been deployed, the current state of the airdrop object is set to the parachute deployed state, and whether the real-time descent speed is less than or equal to the steady descent speed is determined; if it is determined that the parachute has not been deployed, whether the real-time descent speed is less than or equal to the steady descent speed is determined; If it is determined that the real-time descent speed is less than or equal to the steady descent speed, returning to determine whether the airdropped object has returned to the ground; if it is determined that the real-time descent speed is greater than the steady descent speed, determining whether the airdropped object has left the cabin based on the real-time descent speed and the real-time descent acceleration; If it is determined that the airdropped object has not left the cabin, returning to determine whether the airdropped object has returned to the ground; if it is determined that the airdropped object has left the cabin, determining whether the reserve parachute needs to be deployed based on the real-time altitude, real-time descent speed, and real-time descent acceleration; If it is determined that the reserve parachute does not need to be deployed, returning to determine whether the airdropped object has returned to the ground; if it is determined that the reserve parachute needs to be deployed, sending an ignition signal to the ejection device of the reserve parachute and monitoring whether the ejection device is successfully ignited; If it is determined that the ejection device is ignited successfully, the process returns to determine whether the airdropped object has returned to the ground; if it is determined that the ejection device is ignited unsuccessfully, an ignition signal is continuously sent to the ejection device at least three times.

4. The automatic deployment method of a reserve parachute according to claim 3, characterized in that: The determining whether the airdropped object has returned to the ground according to the real-time altitude includes: Determining whether the real-time height of the airdropped object is always less than a first preset height within a first preset time; If so, it is determined that the airdropped object has returned to the ground; if not, it is determined that the airdropped object has not returned to the ground.

5. The automatic deployment method of a reserve parachute according to claim 3, characterized in that: The determining whether the parachute has been deployed according to the real-time descent speed and the real-time descent acceleration includes: Determining whether the airdrop object satisfies the requirement that, within a second preset time, the real-time descent speed is always less than the first preset speed, and the real-time descent acceleration is always less than the first preset acceleration; If so, it is determined that the parachute has been deployed; if not, it is determined that the parachute has not been deployed.

6. The automatic deployment method of a reserve parachute according to claim 3, characterized in that: The determining whether the airdropped object has left the cabin according to the real-time descent speed and the real-time descent acceleration includes: Determining whether the airdrop object satisfies the conditions that the real-time descent speed is greater than a second preset speed and the real-time descent acceleration is greater than a second preset acceleration; If so, it is determined that the airdrop object has left the cabin; if not, it is determined that the airdrop object has not left the cabin.

7. The automatic deployment method of a reserve parachute according to claim 3 or 4, characterized in that: The determining whether the reserve parachute needs to be deployed according to the real-time altitude, the real-time descent speed, and the real-time descent acceleration includes: Determining whether the airdropped object satisfies a condition where the real-time altitude is lower than a preset parachute opening altitude, and within a third preset time, the real-time descent speed is greater than a first preset speed, and the real-time descent acceleration is greater than the first preset acceleration; If so, it is determined that the reserve parachute needs to be deployed; if not, it is determined that the reserve parachute does not need to be deployed.

8. An automatic umbrella opening device, characterized in that: include: An altitude measurement unit, used to obtain the real-time altitude of the airdropped object based on the gas pressure sensor; A speed and acceleration measuring unit, configured to obtain the real-time descent speed and acceleration of the airdropped object based on the gas pressure sensor, the acceleration sensor, and the gyroscope; The judgment unit is used to judge the automatic opening condition of the reserve parachute based on the real-time altitude, the real-time descent speed, and the real-time descent acceleration.

9. A computer device, characterized in that: The invention comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for automatically opening a reserve parachute according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the method for automatically opening a reserve parachute according to any one of claims 1 to 7 can be implemented.

Images