Parachute opening method and device for building distribution aircraft and computer readable storage medium

Abstract

The invention discloses a parachute opening method and device for a building distribution aircraft and a computer readable storage medium, and the method comprises the steps: configuring a main parachute for an unmanned aircraft which executes a building distribution task, and configuring an auxiliary parachute for a to-be-distributed object; when the aircraft enters the emergency state, differentially opening a main parachute connected with the aircraft and / or an auxiliary parachute connected with the object to be delivered according to the current building structure information; therefore, the safety and the error-tolerant rate of the aircraft when the aircraft executes the building delivery task are improved, potential safety hazards to personal and property safety of a building area are avoided, and delivery objects are preserved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and more particularly to a method, device, and computer-readable storage medium for deploying a parachute for a building delivery aircraft. Background Technology

[0002] In the existing technology, with the continuous development of unmanned aerial vehicles, the demand for logistics and distribution based on unmanned aerial vehicles has also increased significantly.

[0003] However, current logistics and delivery strategies based on unmanned aerial vehicles are not applicable to actual building delivery scenarios, specifically in the following ways: First, in order to deal with emergencies, alternate landing areas are usually set up in open and flat public areas for aircraft to make emergency landings. However, the building environment cannot meet this requirement. Secondly, the building environment is complex and changeable, and conventional emergency landing methods cannot guarantee the safety of delivered items or the safety of people and property in the building area.

[0004] Therefore, for densely populated building scenarios such as commercial districts and residential communities, how to improve the safety and fault tolerance of aircraft delivery in buildings, avoid safety hazards to people and property in building areas, and protect delivered items has become an urgent technical problem to be solved. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide a method, device and computer-readable storage medium for opening the parachute of a building delivery aircraft, so as to solve the problems of low safety and fault tolerance of aircraft performing building delivery, which cannot avoid safety hazards to the personal and property safety of people in the building area and cannot protect the delivered items.

[0006] This invention proposes a parachute deployment method for a building delivery aircraft, applicable to unmanned aircraft performing building delivery tasks. The method includes: When an aircraft enters an emergency state, it acquires building structure information of the building area corresponding to its current location. Deploy the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information.

[0007] Optionally, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: The emergency situation is divided into a low-level first emergency situation and a high-level second emergency situation. When the aircraft enters the first emergency situation, it is navigated to a preset alternate landing area. When the aircraft enters the second emergency state, it determines whether it has reached the alternate landing area and the building structure information of the current location based on the current location.

[0008] Optionally, the step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: Detect whether the building structure information meets the preset safety conditions; If the alternate landing area has been reached and the currently located building structure information meets the safety conditions, the main parachute connected to the aircraft is deployed. If the alternate landing area has not been reached, or the currently located building structure information does not meet the safety conditions, the cargo hold is opened to deploy the item to be delivered, and the reserve parachute connected to the item to be delivered is deployed.

[0009] Optionally, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: The emergency situation is divided into a low-level third emergency situation and a high-level fourth emergency situation. When the aircraft enters the third emergency situation, the item information of the item to be delivered is obtained. The building structure information is filtered based on the object information to obtain the object's umbrella opening area.

[0010] Optionally, the step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: When the aircraft enters the fourth emergency state, it is detected whether it has reached the parachute deployment area of ​​the object. If the delivery area has been reached, the bottom cargo hold is opened and the reserve parachute connected to the delivery item is deployed. If the delivery area has not been reached, the main parachute connected to the aircraft is deployed.

[0011] Optionally, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: Obtain the structural information of the aircraft; The building structure information is filtered based on the structural information to obtain the aircraft parachute deployment area.

[0012] Optionally, the step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: When the aircraft enters the fourth emergency state, it is detected whether the aircraft’s parachute deployment area and / or the object’s parachute deployment area have been reached. If the aircraft's parachute deployment area has been reached, but the object's parachute deployment area has not been reached, then the main parachute connected to the aircraft is deployed. If the aircraft's parachute deployment area and the object's parachute deployment area have been reached, the bottom cargo hold will be deployed first, followed by the auxiliary parachute connected to the object to be delivered, and then the main parachute connected to the aircraft will be deployed. If the delivery area has been reached but the aircraft's parachute deployment area has not been reached, the bottom cargo hold is opened and the auxiliary parachute connected to the delivery item is deployed.

[0013] Optionally, the aircraft is equipped with a top-mounted cargo hold, characterized in that the method further includes: When the aircraft enters an emergency state related to low battery and / or insufficient power, the building structure information is acquired; The cargo hold parachute connected to the overhead cargo hold is deployed based on the building structure information.

[0014] The present invention also proposes a parachute deployment device for a building delivery aircraft, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the parachute deployment method for the building delivery aircraft as described in any of the preceding claims.

[0015] The present invention also proposes a computer-readable storage medium storing a parachute deployment program for a building delivery aircraft, wherein the parachute deployment program for the building delivery aircraft, when executed by a processor, implements the steps of the parachute deployment method for the building delivery aircraft as described in any of the preceding claims.

[0016] The parachute deployment method, apparatus, and computer-readable storage medium for building delivery aircraft of the present invention improve the safety and fault tolerance of the aircraft when performing building delivery tasks by configuring a main parachute for the aircraft and a reserve parachute for the items to be delivered. When the aircraft enters an emergency, the main parachute connected to the aircraft and / or the reserve parachute connected to the items to be delivered can be deployed differently according to the current building structure information. This avoids safety hazards to the personal and property safety of people in the building area and protects the delivered items. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart of the first embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 2 This is a flowchart of the second embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 3This is a flowchart of the third embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 4 This is a flowchart of the fourth embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 5 This is a flowchart of the fifth embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 6 This is a flowchart of the sixth embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 7 This is a flowchart of the seventh embodiment of the parachute deployment method for the building delivery aircraft of the present invention; Figure 8 This is a flowchart of the eighth embodiment of the parachute deployment method for the building delivery aircraft of the present invention. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0020] Example 1 Figure 1 This is a flowchart of the first embodiment of the parachute deployment method for a building delivery aircraft according to the present invention. A parachute deployment method for a building delivery aircraft, applied to an unmanned aircraft performing a building delivery task, the method comprising: S1. When an aircraft enters an emergency state, obtain the building structure information of the building area corresponding to the current location; S2. Deploy the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered, based on the building structure information.

[0021] In this embodiment, the aircraft is an unmanned aircraft performing a building delivery task, and the aircraft is equipped with a main parachute; optionally, the main parachute is deployed after the aircraft's power is interrupted.

[0022] In this embodiment, when an aircraft is performing a building delivery task, if the aircraft directly carries the item to be delivered, a reserve parachute is provided for the item. Optionally, when the aircraft carries the item to be delivered through the cargo hold, if the cargo hold can be separated from the aircraft, a reserve parachute is provided for the cargo hold, wherein the reserve parachute is deployed after the cargo hold is separated from the aircraft. Optionally, when the aircraft carries the item to be delivered through the cargo hold, if the cargo hold cannot be separated from the aircraft, a reserve parachute is provided for the item to be delivered, wherein the reserve parachute is deployed after the cargo hold door is opened. Optionally, the cargo hold is located at the bottom of the aircraft fuselage, which is called a bottom-mounted cargo hold, and the cargo hold is located at the top of the aircraft fuselage, which is called a top-mounted cargo hold. Optionally, if the bottom-mounted cargo hold door opens downwards, there is no need to provide an item delivery mechanism; if the bottom-mounted cargo hold door opens to the side, an item delivery mechanism is required to deliver the item when necessary.

[0023] In this embodiment, for the application scenario where the aircraft holds the item to be delivered through the cargo hold and the cargo hold can be separated from the aircraft, a first parachute and a second parachute are configured for the cargo hold and the item to be delivered, respectively; wherein, the first parachute is deployed after the cargo hold is separated from the aircraft, and the second parachute is deployed after the cargo hold door is opened.

[0024] In this embodiment, the aforementioned emergency states include power interruption, power failure, etc. When the aircraft enters an emergency state, it acquires the building structure information of the building area corresponding to the current location. The identification range is determined based on the current location altitude, and the area with buildings is identified within the identification range, which is used as the building area in this embodiment. The higher the current location altitude, the larger the corresponding identification range.

[0025] In this embodiment, the aforementioned building structure information includes the building height, roof area, roof flatness, and building spacing.

[0026] In this embodiment, one method of parachute deployment is to determine the current flight altitude based on the obtained current location. If the current flight altitude does not exceed a first preset altitude, the main parachute connected to the aircraft is deployed to prevent the freely falling aircraft from damaging buildings or the ground in the building area. However, if the altitude exceeds the first preset altitude, the landing position of the aircraft after the main parachute is deployed cannot be determined. For example, the first preset altitude is set according to the building heights in the current building area. Optionally, the first preset altitude is between 50 and 100 meters, or alternatively, the first preset altitude is the height of the building closest to the aircraft.

[0027] In this embodiment, another parachute deployment method is to deploy the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the aforementioned building structure information. Specifically, the current flight altitude is determined based on the obtained current location. If the current flight altitude exceeds a second preset altitude (e.g., 100 meters or 150 meters), the main parachute connected to the aircraft is deployed to prevent the freely falling aircraft from damaging the building roof. Optionally, if the flatness of the roof exceeds a preset flatness and the distance between buildings exceeds a preset distance, the reserve parachute connected to the item to be delivered is deployed after the main parachute connected to the aircraft is deployed. This allows the aircraft to safely land on the roof platform, avoiding injury to ground personnel, and also allows the item to be delivered to safely land on the ground between buildings, minimizing damage to the item. The second preset altitude is greater than or equal to the maximum building height in the building area.

[0028] The beneficial effect of this embodiment is that by equipping the aircraft with a main parachute and the delivery item with a reserve parachute, and when the aircraft enters an emergency, the main parachute connected to the aircraft and / or the reserve parachute connected to the delivery item can be opened differently according to the current building structure information, thereby improving the safety and fault tolerance of the aircraft when performing building delivery tasks, avoiding safety hazards to the personal and property safety of people in the building area, and protecting the delivery item.

[0029] Example 2 Figure 2 This is a flowchart of the second embodiment of the parachute deployment method for a building delivery aircraft of the present invention. Based on the above embodiment, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: S11. Divide the emergency state into a low-level first emergency state and a high-level second emergency state, and when the aircraft enters the first emergency state, navigate to a preset alternate landing area. S12. When the aircraft enters the second emergency state, determine whether it has reached the alternate landing area and the building structure information of the current location based on the current location.

[0030] In this embodiment, the aircraft still has the ability to output power in the first emergency state, while in the second emergency state, the aircraft is unable to output power. For example, in the first emergency state, the remaining power is lower than a first preset threshold, or one of the multiple battery packs malfunctions. In the second emergency state, at least one rotor in the multi-rotor malfunctions and cannot output power normally, or the aircraft detects that its flight attitude is difficult to control due to environmental factors.

[0031] In this embodiment, when the aircraft enters the first emergency state, it is navigated to a preset alternate landing area, which is an area that facilitates the aircraft to deploy its main parachute for an emergency landing.

[0032] In this embodiment, when the aircraft enters the second emergency state, it is determined whether it can reach the alternate landing area based on the current location. For example, when the aircraft enters the second emergency state, the trajectory is calculated based on the current altitude and the speed at the time of power interruption to determine whether it can reach the alternate landing area.

[0033] In this embodiment, when the aircraft enters the second emergency state, if the trajectory calculation fails to reach the alternate landing area, the building structure information within the landing area is determined based on the trajectory calculation result.

[0034] The beneficial effect of this embodiment is that by determining the corresponding handling measures according to different emergency situations, the opening of the parachute is more in line with the current actual needs, avoiding blind opening of the parachute and delays in opening the parachute.

[0035] Example 3 Figure 3 This is a flowchart of the third embodiment of the parachute deployment method for building delivery aircraft of the present invention. Based on the above embodiment, the step of deploying the main parachute connected to the aircraft and / or the auxiliary parachute connected to the item to be delivered according to the building structure information further includes: S21. Detect whether the currently located building structure information meets the preset safety conditions; S22. If the alternate landing area has been reached and the currently located building structure information meets the safety conditions, the main parachute connected to the aircraft is deployed. If the alternate landing area has not been reached, or the currently located building structure information does not meet the safety conditions, the cargo hold is opened to deploy the item to be delivered, and the auxiliary parachute connected to the item to be delivered is deployed.

[0036] In this embodiment, the preset safety conditions include three aspects: first, the safety conditions of the aircraft; second, the safety conditions of the items to be delivered; and third, the safety conditions of people and property on the ground.

[0037] In this embodiment, based on the building structure information such as the height of the building, the area of ​​the roof, the flatness of the roof, and the spacing between buildings, it is determined whether the safety conditions for the aircraft, the safety conditions for the items to be delivered, and the safety conditions for people and property on the ground are met.

[0038] In this embodiment, one optional determination method is that if the building height exceeds a preset height, the roof area exceeds a preset area, and the roof flatness exceeds a preset flatness, then the safety conditions for the aircraft, the safety conditions for the items to be delivered, and the safety conditions for personal and property safety on the ground are satisfied. Another optional determination method is that if the building height does not exceed a preset height, the roof area exceeds a preset area, and the roof flatness exceeds a preset flatness, then the safety conditions for the aircraft, the safety conditions for the items to be delivered, and the safety conditions for personal and property safety on the ground are satisfied. Yet another optional determination method is that if the distance between buildings exceeds a preset distance, then the safety conditions for the aircraft, the safety conditions for the items to be delivered, and the safety conditions for personal and property safety on the ground are satisfied.

[0039] In this embodiment, another optional determination method is to obtain the current flight altitude and determine whether the safety conditions of the aircraft, the safety conditions of the items to be delivered, and the safety conditions of people and property on the ground are met based solely on the relationship between the flight altitude and the building height. For example, if the current flight altitude does not exceed the first preset altitude of the above embodiment, the main parachute connected to the aircraft is deployed to prevent the freely falling aircraft from causing damage to the buildings or the ground in the building area. For example, the first preset altitude is set according to the building height in the current building area. Optionally, the first preset altitude is between fifty meters and one hundred meters, or alternatively, the first preset altitude is the height of the building closest to the aircraft.

[0040] In this embodiment, another optional determination method is to obtain the current flight altitude, emergency status, building height, and building spacing, and determine whether the safety conditions for the aircraft, the safety conditions for the items to be delivered, and the safety conditions for people and property on the ground are met by using at least two of these factors. For example, when in a first emergency status and the building spacing is greater than a first preset width, it is determined that the safety conditions for the aircraft and the safety conditions for the items to be delivered are met. Or, for example, when in a second emergency status and the flight altitude is lower than a first preset altitude, it is determined that the safety conditions for people and property on the ground are met.

[0041] In this embodiment, if the alternate landing area has been reached and the building structure information meets the safety conditions, the main parachute connected to the aircraft is deployed. Since it is determined that the aircraft can reach the alternate landing area and the building structure information of this area meets the aforementioned safety conditions, only the main parachute connected to the aircraft needs to be deployed, without deploying the reserve parachute for the item to be delivered. This saves on parachute deployment costs and avoids the need for additional searching of the item to be delivered due to parachute deployment. Optionally, the alternate landing area includes ground areas between buildings, covered walkways between buildings, rooftop areas, balcony areas, etc.

[0042] In this embodiment, if the alternate landing area is not reached, or the building structure information does not meet the safety conditions, the cargo hold is opened to release the items to be delivered, and the auxiliary parachute connected to the items to be delivered is deployed. Since the alternate landing area has not been reached, the conditions for parachute deployment cannot be met; or, the building structure information does not meet the aforementioned safety conditions, the conditions for parachute deployment cannot be met either. In this case, only the items to be delivered need to be released, and the auxiliary parachute connected to the items to be delivered is deployed after release, thereby reducing losses and preserving the items to be delivered. It is understood that the risk to personal safety and property on the ground posed by items to be delivered via auxiliary parachute is far less than that posed by an aircraft.

[0043] The beneficial effect of this embodiment is that by determining the corresponding parachute deployment measures according to different building structures and alternate landing areas, the parachute deployment method is more in line with the current actual needs, avoiding safety hazards to the ground caused by aircraft parachute deployment, and also avoiding damage to the items due to failure to deploy the parachute separately for the items to be delivered.

[0044] Example 4 Figure 4 This is a flowchart of the fourth embodiment of the parachute deployment method for a building delivery aircraft of the present invention. Based on the above embodiment, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: S13. Divide the emergency state into a low-level third emergency state and a high-level fourth emergency state, and when the aircraft enters the third emergency state, obtain the item information of the item to be delivered. S14. Filter the building structure information according to the object information to obtain the object's umbrella opening area.

[0045] In this embodiment, the aircraft still has the ability to output power in the third emergency state, while in the fourth emergency state, the aircraft cannot output power. For example, in the third emergency state, the remaining power is lower than the second preset threshold, which is lower than the first preset threshold in the above embodiment. In the second emergency state, at least two rotors of the multi-rotor malfunction and cannot output power normally.

[0046] In this embodiment, when the aircraft enters the third emergency state, the object information of the object to be delivered is obtained. The object information is used to filter the building structure information to obtain the parachute deployment area of ​​the object. The parachute deployment area is an area that facilitates the separation of the object to be delivered and the deployment of the auxiliary parachute for object dropping after the aircraft arrives with the object to be delivered.

[0047] The beneficial effect of this embodiment is that by determining the corresponding handling measures according to different emergency situations, the opening of the parachute is more in line with the current actual needs, avoiding blind opening of the parachute and delays in opening the parachute.

[0048] Example 5 Figure 5 This is a flowchart of the fifth embodiment of the parachute deployment method for building delivery aircraft of the present invention. Based on the above embodiment, the step of deploying the main parachute connected to the aircraft and / or the auxiliary parachute connected to the item to be delivered according to the building structure information further includes: S23. When the aircraft enters the fourth emergency state, it is detected whether it has reached the parachute deployment area of ​​the object; S24. If the parachute deployment area for the object has been reached, the bottom cargo hold is opened and the auxiliary parachute connected to the object to be delivered is deployed. If the parachute deployment area for the object has not been reached, the main parachute connected to the aircraft is deployed.

[0049] In this embodiment, when the aircraft enters the fourth emergency state, it is determined whether it can reach the parachute deployment area based on the current location. For example, when the aircraft enters the fourth emergency state, the trajectory is calculated based on the current altitude and the speed at which power was interrupted, thereby determining whether the aircraft carrying the object to be delivered can reach the parachute deployment area.

[0050] In this embodiment, when the aircraft enters the fourth emergency state, if the trajectory calculation fails to reach the parachute deployment area of ​​the object, the building structure information within the landing area is determined based on the trajectory calculation result, and then the main parachute connected to the aircraft can be deployed in accordance with the above embodiment.

[0051] In this embodiment, when the aircraft enters the fourth emergency state, if the trajectory calculation shows that it can reach the parachute deployment area of ​​the object, the bottom cargo hold is opened and the auxiliary parachute connected to the object to be delivered is deployed, thereby avoiding damage to the object.

[0052] The beneficial effect of this embodiment is that by determining the corresponding parachute opening measures based on the arrival status of the parachute opening area of ​​the object, the parachute opening method is more in line with the current actual needs, avoiding safety hazards to the ground caused by the aircraft opening the parachute, and also avoiding damage to the object due to the failure to open the parachute separately for the object to be delivered.

[0053] Example 6 Figure 6 This is a flowchart of the sixth embodiment of the parachute deployment method for a building delivery aircraft of the present invention. Based on the above embodiment, the step of obtaining building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: S15. Obtain the structural information of the aircraft; S16. Filter the building structure information according to the structural information to obtain the aircraft parachute deployment area.

[0054] In this embodiment, the structural information of the aircraft includes the aircraft's dimensions, weight, rotor dimensions, number of rotors, and rotor protection structure.

[0055] In this embodiment, when the aircraft is a large multi-rotor aircraft, the roof area with an area exceeding a preset area and a flatness exceeding a preset flatness is selected as the aircraft's parachute deployment area.

[0056] In this embodiment, when the aircraft is a small multi-rotor aircraft and each rotor is equipped with a protective structure, the corridor area where the distance between buildings exceeds a preset distance is selected as the aircraft's parachute deployment area.

[0057] The beneficial effect of this embodiment is that by filtering the building structure information based on the aircraft's structural information, the aircraft's parachute deployment area can be obtained, thereby reducing the impact on the safety of people and property on the ground in the landing area after the aircraft deploys its parachute.

[0058] Example 7 Figure 7 This is a flowchart of the seventh embodiment of the parachute deployment method for building delivery aircraft of the present invention. Based on the above embodiment, the step of deploying the main parachute connected to the aircraft and / or the auxiliary parachute connected to the item to be delivered according to the building structure information further includes: S25. When the aircraft enters the fourth emergency state, detect whether it has reached the aircraft's parachute deployment area and / or the object's parachute deployment area; S26. If the aircraft's parachute deployment area has been reached, but the object's parachute deployment area has not been reached, then the main parachute connected to the aircraft shall be deployed. S27. If the aircraft's parachute deployment area and the object's parachute deployment area have been reached, the bottom cargo hold shall be opened first, and the auxiliary parachute connected to the object to be delivered shall be opened, and then the main parachute connected to the aircraft shall be opened. S28. If the parachute deployment area of ​​the object has been reached, but the parachute deployment area of ​​the aircraft has not been reached, the bottom cargo hold is opened and the auxiliary parachute connected to the object to be delivered is deployed.

[0059] In this embodiment, unlike the separate parachute deployment scheme described above, differentiated deployment zones and determination strategies are specifically set to ensure the protection of both the aircraft and the items to be delivered. Specifically: on one hand, for the detected object, after the aircraft enters the fourth emergency state, it is simultaneously detected whether it has reached the aircraft's deployment zone and / or the item's deployment zone; on the other hand, parachute deployment is performed separately based on the different arrival states of the two zones. That is, if the aircraft's deployment zone has been reached but the item's deployment zone has not, the main parachute connected to the aircraft is deployed; if both the aircraft's and item's deployment zones have been reached, the bottom cargo hold is deployed first, followed by the reserve parachute connected to the item to be delivered, and then the main parachute connected to the aircraft is deployed; if the item's deployment zone has been reached but the aircraft's deployment zone has not, the bottom cargo hold is deployed, followed by the reserve parachute connected to the item to be delivered.

[0060] The beneficial effect of this embodiment is that by determining the corresponding parachute deployment type according to the arrival status of different areas, the deployment of two different parachutes is more in line with the current actual needs, avoiding blind deployment of parachutes and incorrect deployment of parachutes, and achieving a balanced realization of aircraft safety, delivery item safety and ground safety.

[0061] Example 8 Figure 8 This is a flowchart of the eighth embodiment of the parachute deployment method for a building delivery aircraft of the present invention. Based on the above embodiment, the aircraft is equipped with a top-mounted cargo hold, and the method further includes: S31. When the aircraft enters an emergency state related to low battery and / or insufficient power, the building structure information is obtained; S32. Deploy the cargo hold parachute connected to the top cargo hold according to the building structure information.

[0062] In this embodiment, considering that the above implementation is based on the case of a bottom cargo hold, and for the case of an aircraft with a top cargo hold, when the aircraft enters an emergency state related to low battery and / or insufficient power, the building structure information is obtained, and then the cargo hold parachute connected to the top cargo hold is deployed according to the building structure information; therefore, it is not necessary to deploy the main parachute or the reserve parachute separately.

[0063] In this embodiment, one approach is to use the cargo hold parachute connected to the top cargo hold as the main parachute in the above-described implementation, for aircraft with an inseparable top cargo hold, thereby implementing the corresponding main parachute control strategy.

[0064] In this embodiment, another approach is to implement a main parachute control strategy for aircraft with detachable overhead cargo compartments, whereby the cargo compartment parachute connected to the overhead cargo compartment can be used as the main parachute in the above embodiment, and the parachute connected to the aircraft can be used as the reserve parachute in the above embodiment.

[0065] The beneficial effect of this embodiment is that by configuring an overhead cargo compartment for the aircraft and implementing the main and auxiliary parachute control strategies corresponding to the above embodiments, the safety of the aircraft, the safety of the items to be delivered, and the ground safety are achieved in a balanced manner.

[0066] Example 9 Based on the above embodiments, the present invention also proposes a parachute deployment device for a building delivery aircraft. The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the parachute deployment method for the building delivery aircraft as described in any of the preceding embodiments.

[0067] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0068] Example 10 Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a parachute deployment program for a building delivery aircraft, wherein the parachute deployment program for the building delivery aircraft, when executed by a processor, implements the steps of the parachute deployment method for the building delivery aircraft as described in any of the above claims.

[0069] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0070] The parachute deployment method, apparatus, and computer-readable storage medium for building delivery aircraft of the present invention improve the safety and fault tolerance of the aircraft when performing building delivery tasks by configuring a main parachute for the aircraft and a reserve parachute for the items to be delivered. When the aircraft enters an emergency, the main parachute connected to the aircraft and / or the reserve parachute connected to the items to be delivered can be deployed differently according to the current building structure information. This avoids safety hazards to the personal and property safety of people in the building area and protects the delivered items.

[0071] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0072] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0073] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0074] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for deploying a parachute on a building delivery aircraft, applied to an unmanned aircraft performing building delivery tasks, characterized in that, The method includes: When an aircraft enters an emergency state, it acquires building structure information of the building area corresponding to its current location. Deploy the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information.

2. The parachute deployment method for a building delivery aircraft according to claim 1, characterized in that, The step of acquiring building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: The emergency situation is divided into a low-level first emergency situation and a high-level second emergency situation. When the aircraft enters the first emergency situation, it is navigated to a preset alternate landing area. When the aircraft enters the second emergency state, it determines whether it has reached the alternate landing area and the building structure information of the current location based on the current location.

3. The parachute deployment method for a building delivery aircraft according to claim 2, characterized in that, The step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: Detect whether the currently located building structure information meets the preset safety conditions; If the alternate landing area has been reached and the currently located building structure information meets the safety conditions, the main parachute connected to the aircraft is deployed. If the alternate landing area has not been reached, or the currently located building structure information does not meet the safety conditions, the cargo hold is opened to deploy the item to be delivered, and the reserve parachute connected to the item to be delivered is deployed.

4. The parachute deployment method for a building delivery aircraft according to claim 1, characterized in that, The step of acquiring building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: The emergency situation is divided into a low-level third emergency situation and a high-level fourth emergency situation. When the aircraft enters the third emergency situation, the item information of the item to be delivered is obtained. The building structure information is filtered based on the object information to obtain the object's umbrella opening area.

5. The parachute deployment method for a building delivery aircraft according to claim 4, characterized in that, The step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: When the aircraft enters the fourth emergency state, it is detected whether it has reached the parachute deployment area of ​​the object. If the delivery area has been reached, the bottom cargo hold is opened and the reserve parachute connected to the delivery item is deployed. If the delivery area has not been reached, the main parachute connected to the aircraft is deployed.

6. The parachute deployment method for a building delivery aircraft according to claim 4, characterized in that, The step of acquiring building structure information of the building area corresponding to the current location when the aircraft enters an emergency state further includes: Obtain the structural information of the aircraft; The building structure information is filtered based on the structural information to obtain the aircraft parachute deployment area.

7. The parachute deployment method for a building delivery aircraft according to claim 6, characterized in that, The step of deploying the main parachute connected to the aircraft and / or the reserve parachute connected to the item to be delivered based on the building structure information further includes: When the aircraft enters the fourth emergency state, it is detected whether the aircraft’s parachute deployment area and / or the object’s parachute deployment area have been reached. If the aircraft's parachute deployment area has been reached, but the object's parachute deployment area has not been reached, then the main parachute connected to the aircraft is deployed. If the aircraft's parachute deployment area and the object's parachute deployment area have been reached, the bottom cargo hold will be deployed first, followed by the auxiliary parachute connected to the object to be delivered, and then the main parachute connected to the aircraft will be deployed. If the delivery area has been reached but the aircraft's parachute deployment area has not been reached, the bottom cargo hold is opened and the auxiliary parachute connected to the delivery item is deployed.

8. The method for deploying a parachute on a building delivery aircraft according to claim 1, wherein the aircraft is equipped with a top-mounted cargo hold, characterized in that, The method further includes: When the aircraft enters an emergency state related to low battery and / or insufficient power, the building structure information is acquired; The cargo hold parachute connected to the overhead cargo hold is deployed based on the building structure information.

9. A parachute deployment device for a building delivery aircraft, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the parachute deployment method for a building delivery aircraft as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a parachute deployment program for a building delivery aircraft, which, when executed by a processor, implements the steps of the parachute deployment method for a building delivery aircraft as described in any one of claims 1 to 8.

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