Aircraft protection method and device and computer readable storage medium

Abstract

The invention discloses an aircraft protection method and device and a computer readable storage medium, and the method comprises the steps: judging whether the current height exceeds a first height threshold value or not when an aircraft enters an emergency state; if so, opening a main parachute of the aircraft; if not, the free landing speed of the current height is estimated, and whether the free landing speed exceeds a second speed threshold value or not is judged; if not, a main air bag of the aircraft is opened, and if yes, a delayed opening instruction of an auxiliary parachute and / or an auxiliary air bag of the delivery object is set firstly, and after the auxiliary parachute and / or the auxiliary air bag are / is separated from the aircraft, the main air bag of the aircraft is opened; therefore, the air bag protection scheme of the unmanned aerial vehicle can be optimized to a great extent aiming at building dense scenes such as commercial streets and residential districts, the distribution requirements of the building dense scenes such as the commercial streets and the residential districts are met, and the flight safety and object safety in emergency situations are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a method, device and computer-readable storage medium for protecting aircraft. Background Technology

[0002] In the current technology, with the continuous development of unmanned aerial vehicles (UAVs), the demand for logistics and delivery based on UAVs has also increased significantly, and the safety issues of aircraft cannot be ignored. For example, when an UAV encounters an emergency and there is a risk of losing control and crashing, the method of crashing into a safe area is usually adopted. However, this method cannot deal with situations where the aircraft is completely out of control, that is, the aircraft begins to crash out of control before it has a chance to reach a safe area.

[0003] To address these issues, one existing solution is to equip aircraft with airbags. In the event of an emergency, these airbags deploy to protect the aircraft and mitigate damage to itself or prevent harm to the ground. However, this solution is only suitable for applications where the aircraft is flying alone and is not applicable to current logistics and delivery tasks based on unmanned aerial vehicles (UAVs). In particular, it is unsuitable for densely populated areas such as commercial districts and residential communities. For example, if an aircraft performing a delivery mission loses control at a high altitude, it will still pose a risk to the delivered goods and the safety of people and property on the ground.

[0004] Therefore, optimizing the airbag protection scheme for unmanned aerial vehicles in densely populated building scenarios such as commercial districts and residential communities to meet the delivery needs of such scenarios and ensure flight safety and object safety in emergency situations 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 an aircraft protection method, device and computer-readable storage medium to solve the problem that the current airbag protection scheme for unmanned aerial vehicles in densely built-up scenarios such as commercial districts and residential communities cannot meet the delivery needs of such scenarios, nor can it effectively guarantee flight safety and object safety in emergency situations.

[0006] This invention proposes a protection method for aircraft, applied to unmanned aerial vehicles equipped with airbags and parachutes, the method comprising: When an aircraft enters an emergency, it is determined whether its current altitude exceeds the first altitude threshold. If the current altitude exceeds the first altitude threshold, the aircraft's main parachute will be deployed. If the current altitude does not exceed the first altitude threshold, the free fall speed at the current altitude is estimated, and it is determined whether the free fall speed exceeds the second speed threshold. If the freefall speed does not exceed the second speed threshold, the aircraft's main airbags are deployed; If the freefall speed exceeds the second speed threshold, the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivered item is first set, and the main airbag of the aircraft is deployed after the delivered item is separated from the aircraft.

[0007] Optionally, the step of setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: Determine whether the current height exceeds a third height threshold, wherein the third height threshold is set based on the shape characteristics of the delivered item; If the current altitude exceeds the third altitude threshold, then the first delayed opening command for the auxiliary parachute is set; If the current altitude does not exceed the third altitude threshold, then the second delayed deployment command for the auxiliary airbag is set.

[0008] Optionally, the step of setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: The material of the delivered item is checked to see if it meets the preset drop protection conditions and package protection conditions. If the material of the object meets the protection conditions for wrapping but not the fall protection conditions, then the third delayed opening command for the auxiliary airbag is set. If the material of the object meets the fall protection conditions but does not meet the wrapping protection conditions, then the fourth delayed opening command of the secondary parachute is set. If the material of the object meets the protection conditions for the package and the fall protection conditions, then a fifth delayed opening command for the auxiliary airbag and a sixth delayed opening command for the auxiliary parachute are set, wherein the delay duration of the fifth delayed command is shorter than the delay duration of the sixth delayed command.

[0009] Optionally, the step of determining whether the current height exceeds a first height threshold includes, prior to: Determine whether the current ground area is a water area; If the current ground area is a water area, then the main airbag is activated; If the current ground area is not a water area, then the current height relative to the current ground area is collected.

[0010] Optionally, the step of deploying the aircraft's main parachute if the current altitude exceeds the first altitude threshold specifically includes: Estimate the parachute descent speed at the current altitude; If the parachute's landing speed exceeds the fourth speed threshold, the seventh delayed opening command for the auxiliary parachute is first set, and the main parachute is opened only after the delivered item is separated. If the parachute's landing speed does not exceed the fourth speed threshold, then the main parachute is deployed.

[0011] Optionally, the step of setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: If the current ground area is a water area, then set the delayed deployment command for the auxiliary airbag; If the current ground area is not a water area, then set the delayed deployment command for the auxiliary parachute and / or auxiliary airbag.

[0012] Optionally, the method further includes: The first altitude threshold is set according to one or more of the aircraft’s structural strength level, crash safety level, and environmental impact level. The second speed threshold is set according to the morphological characteristics of the aircraft.

[0013] Optionally, the step of setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item further includes: If the delayed opening command fails to be set, or if the aircraft door used to store the delivered items cannot be opened, the auxiliary airbag will be opened first, followed by the main airbag.

[0014] The present invention also proposes an aircraft protection device, 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 aircraft protection method as described in any of the preceding claims.

[0015] The present invention also proposes a computer-readable storage medium storing an airbag protection program for an aircraft, which, when executed by a processor, implements the steps of the airbag protection method for an aircraft as described in any of the preceding claims.

[0016] The airbag protection method, device, and computer-readable storage medium for aircraft implementing the present invention, by configuring airbags for aircraft and delivery items and flexibly adjusting the airbag deployment strategy according to different altitudes and speeds, can greatly optimize the airbag protection scheme for unmanned aerial vehicles in densely populated building scenarios such as commercial districts and residential communities, meet the delivery needs of such scenarios, and ensure flight safety and item safety in emergency situations. 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 aircraft protection method of the present invention; Figure 2 This is a flowchart of the second embodiment of the aircraft protection method of the present invention; Figure 3 This is a flowchart of the third embodiment of the aircraft protection method of the present invention; Figure 4 This is a flowchart of the fourth embodiment of the aircraft protection method of the present invention; Figure 5 This is a flowchart of the fifth embodiment of the aircraft protection method of the present invention; Figure 6 This is a flowchart of the sixth embodiment of the aircraft protection method of the present invention; Figure 7 This is a flowchart of the seventh embodiment of the aircraft protection method of the present invention; Figure 8 This is a flowchart of the eighth embodiment of the aircraft protection method 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 airbag protection method for an aircraft according to the present invention. An airbag protection method for an aircraft, applied to an unmanned aerial vehicle equipped with airbags and a parachute, the method includes: S1. When an aircraft enters an emergency state, determine whether its current altitude exceeds the first altitude threshold. S2. If the current altitude exceeds the first altitude threshold, then the main parachute of the aircraft is deployed. S3. If the current altitude does not exceed the first altitude threshold, estimate the free fall speed at the current altitude and determine whether the free fall speed exceeds the second speed threshold. S4. If the freefall speed does not exceed the second speed threshold, then the main airbag of the aircraft is deployed; S5. If the freefall speed exceeds the second speed threshold, the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivery item is first set, and the main airbag of the aircraft is deployed after the delivery item is separated from the aircraft.

[0021] In this embodiment, for a multi-rotor unmanned aerial vehicle, the main airbag configuration includes several forms: First, a single main airbag opening from the fuselage encloses the fuselage and all rotors; second, two annular main airbags opening from the fuselage enclose the fuselage and all rotors respectively, wherein the main airbag enclosing the fuselage is the inner annular airbag, and the main airbag enclosing all rotors is the outer annular airbag; third, a single annular main airbag opening from the fuselage encloses all rotors, wherein the thickness of this annular main airbag exceeds the fuselage height; fourth, when the aircraft is equipped with retractable rotors, if... When an aircraft enters an emergency and the main airbags need to be deployed, the rotors retract first, and then a main airbag deployed from the fuselage covers the fuselage and all rotors; fifth, each rotor is equipped with a separate main airbag, and if the aircraft enters an emergency and the main airbags need to be deployed, all main airbags of all rotors are deployed simultaneously, with the thickness of each main airbag exceeding the height of the fuselage; sixth, each rotor and fuselage are equipped with a separate main airbag, and if the aircraft enters an emergency and the main airbags need to be deployed, all main airbags of all rotors and the fuselage's own main airbag are deployed simultaneously.

[0022] In this embodiment, for an aircraft performing a delivery task in a building environment, a reserve parachute and / or reserve airbag are configured for the delivered items. The configuration of the reserve parachute and / or reserve airbag includes several forms: First, when the aircraft directly carries the delivered item, a reserve parachute assembly and / or reserve airbag assembly are connected to the outer packaging of the delivered item, wherein the deployment of the reserve parachute assembly and / or reserve airbag assembly occurs after the aircraft actively detaches from the delivered item; Second, when the aircraft carries the delivered item through a cargo box, a reserve parachute assembly and / or reserve airbag assembly are connected to the cargo box. The aircraft can actively detach from the cargo box, and the deployment of the aforementioned auxiliary parachute assembly and / or auxiliary airbag assembly occurs after the aircraft actively detaches from the cargo box; thirdly, when the aircraft carries delivery items through the cargo box, an auxiliary parachute assembly is connected to the cargo box, and an auxiliary airbag assembly is connected to the outer packaging of the delivery items, wherein the aircraft can actively detach from the cargo box, and the deployment of the aforementioned auxiliary parachute assembly occurs after the aircraft actively detaches from the cargo box, and the deployment of the auxiliary airbag assembly occurs after the cargo box is separated from the delivery items; fourthly, when the aircraft carries delivery items through a top-mounted cargo box... When transporting items, a secondary airbag assembly is connected to the cargo box. The aircraft can actively detach from the cargo box, and the deployment of the secondary airbag assembly occurs after the aircraft has actively detached from the cargo box. This allows the aircraft to quickly and actively detach from the cargo box when its attitude is uncontrollable, regardless of the cargo box's attitude, without affecting the airbag's protective function. In contrast, if a secondary parachute were configured for a top-mounted cargo box, its deployment might be hindered by attitude variations. Fifthly, when the aircraft carries items via a bottom-mounted cargo box, a secondary parachute assembly is connected to the cargo box. The aircraft can actively detach from the cargo box, and the opening time of the aforementioned auxiliary parachute assembly is after the aircraft actively detaches from the cargo box. Thus, the aircraft can actively detach from the bottom cargo box before its attitude becomes uncontrollable. At this time, the detached cargo box is in a stable falling attitude and can successfully deploy the parachute. Sixth, when the aircraft carries the delivery item through the bottom cargo box, and the opening of the cargo box is the bottom surface, the auxiliary parachute assembly is connected to the outer packaging of the delivery item. In this case, the aircraft cannot actively detach from the cargo box, and the opening time of the aforementioned auxiliary parachute assembly is after the delivery item is separated from the cargo box.

[0023] In this embodiment, the above-mentioned configurations of various main airbags can be combined with the above-mentioned configurations of various auxiliary parachutes and / or auxiliary airbags.

[0024] In this embodiment, when the aircraft enters an emergency state such as disconnection, power failure, or loss of control, it is determined whether the current altitude exceeds a first altitude threshold. The first altitude threshold is used to determine whether the current altitude meets the conditions for the aircraft to deploy its parachute. For example, if the altitude is too low, the parachute cannot be deployed, or the deceleration effect from deployment to landing is not good.

[0025] In this embodiment, if the current altitude exceeds the first altitude threshold, the main parachute of the aircraft is deployed. For example, if the first altitude threshold is 100 meters, the main parachute can be deployed when the aircraft is at an altitude of 200 meters, but not when the aircraft is at an altitude of 80 meters. Alternatively, the main parachute can be deployed after the aircraft has urgently increased its flight altitude and exceeded the first altitude threshold. Optionally, the first altitude threshold can be set based on the attributes of the aircraft and the parachute. For example, if the weight and size of the aircraft are larger, the first altitude threshold will be higher if the parachute canopy area is fixed. Conversely, if the parachute canopy area is larger, the first altitude threshold will be lower if the weight and size of the aircraft are fixed.

[0026] In this embodiment, one implementation method is to use the estimated landing speed as the criterion for determining whether the airbags will deploy. It is understood that, assuming the aircraft structure remains unchanged, i.e., the air resistance remains unchanged, the estimated landing speed is independent of the object's weight and is only related to the current altitude and the estimated landing time. Therefore, if the current altitude does not exceed the first altitude threshold, the freefall speed at the current altitude is estimated, and it is determined whether the freefall speed exceeds a second speed threshold. The second speed threshold is used to determine whether the airbag deployment conditions of the aircraft are met at the current speed. For example, if the speed is too high, the airbags cannot provide effective protection.

[0027] In this embodiment, another implementation method is to use the estimated landing time as the criterion for determining whether the airbags will deploy. It can be understood that, assuming the aircraft structure remains unchanged, i.e., the air resistance remains unchanged, the estimated landing speed is independent of the object's weight and is only related to the current altitude and the estimated landing time. Therefore, if the estimated landing time at the current altitude is less than a first preset duration, it is determined that the estimated landing time is insufficient for the airbags to fully deploy and cannot provide effective protection. Conversely, if the estimated landing time at the current altitude is greater than or equal to the first preset duration, it is determined that the estimated landing time is sufficient for the airbags to fully deploy, and the deployed airbags can provide effective protection.

[0028] In this embodiment, if the freefall speed does not exceed the second speed threshold, the main airbag of the aircraft is activated. For example, if the second speed threshold is 10 meters per second, the main airbag is not activated when the aircraft anticipates its landing speed to be 15 meters per second, but it is activated when the aircraft anticipates its landing speed to be 7 meters per second. Alternatively, the main airbag is activated when the aircraft is about to land, using its last remaining battery power to perform reverse thrust and reduce its speed to less than 10 meters per second.

[0029] In this embodiment, if the freefall speed exceeds the second speed threshold, a delayed deployment command for the delivery item's reserve parachute and / or reserve airbag is first set, and the aircraft's main airbag is deployed only after the delivery item is separated from the aircraft. The delayed deployment command ensures that the delivery item maintains a sufficient distance from the aircraft after deployment or separation, or that the delivery item has a sufficient descent speed, allowing the delivery item to effectively deploy its reserve parachute and / or reserve airbag. Similarly, if the freefall speed exceeds the second speed threshold, a delayed deployment command for the cargo box's reserve parachute and / or reserve airbag is first set, and the aircraft's main airbag is deployed only after the cargo box is separated. The delayed deployment command ensures that the cargo box maintains a sufficient distance from the aircraft after deployment or separation, or that the cargo box has a sufficient descent speed, allowing the cargo box to effectively deploy its reserve parachute and / or reserve airbag.

[0030] The beneficial effect of this embodiment is that by equipping the aircraft and the delivered items with airbags and flexibly adjusting the airbag deployment strategy according to different altitudes and speeds, the airbag protection scheme of unmanned aerial vehicles can be greatly optimized for densely built-up scenarios such as commercial districts and residential communities, meeting the delivery needs of such scenarios and ensuring flight safety and item safety in emergency situations.

[0031] Example 2 Figure 2 This is a flowchart of a second embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the step of setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: S51. Determine whether the current height exceeds the third height threshold, wherein the third height threshold is set based on the shape characteristics of the delivered item; S52. If the current altitude exceeds the third altitude threshold, then set the first delayed opening command for the auxiliary parachute; S53. If the current altitude does not exceed the third altitude threshold, then set the second delayed opening command for the auxiliary airbag.

[0032] In this embodiment, the example of an aircraft directly carrying a delivery item is used for illustration. If the current altitude exceeds the third altitude threshold, a first delayed opening command for the auxiliary parachute is set to improve the success rate of parachute opening and achieve a slow descent effect. If the current altitude does not exceed the third altitude threshold, a second delayed opening command for the auxiliary airbag is set to avoid parachute failure. Activating the airbag at a lower altitude can have a more effective buffering effect.

[0033] In this embodiment, similar to the function of the first height threshold in the above embodiment, the third height threshold is used to determine whether the current height meets the conditions for the delivery object to open the umbrella. For example, if the height of the delivery object is too low, the umbrella cannot be opened, or the deceleration effect of the delivery object from opening the umbrella to landing is not good.

[0034] In this embodiment, the third height threshold is set according to the shape characteristics of the delivered object, including structural characteristics and material characteristics. For example, if the delivered object is an elastic object, such as a soccer ball or a basketball, a lower third height threshold is set to make the deployment conditions of the auxiliary airbag more lenient. On the other hand, if the delivered object is a glass product, a higher third height threshold is set to increase the deployment conditions of the auxiliary airbag and maximize the deployment of the parachute, thereby enhancing the protection effect.

[0035] The beneficial effect of this embodiment is that by setting a third altitude threshold separately for the delivery item and applying it in combination with the aforementioned first altitude threshold, both the aircraft and the delivery item can be effectively protected according to their respective circumstances in an emergency.

[0036] Example 3 Figure 3 This is a flowchart of the third embodiment of the airbag protection method for aircraft of the present invention. Based on the above embodiment, the step of setting the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: S54. Detect whether the material of the delivered item meets the preset fall protection conditions and package protection conditions; S55. If the material of the object meets the protection conditions for wrapping but not the fall protection conditions, then set the third delayed opening command for the auxiliary airbag. S56. If the material of the object meets the fall protection conditions but does not meet the package protection conditions, then set the fourth delayed opening command for the secondary parachute. S57. If the material of the object meets the package protection conditions and the fall protection conditions, then set the fifth delayed opening command for the auxiliary airbag and the sixth delayed opening command for the auxiliary parachute, wherein the delay duration of the fifth delayed command is shorter than the delay duration of the sixth delayed command.

[0037] In this embodiment, the fall protection conditions are proposed for the scenario of emergency landing with a parachute and are the structural strength corresponding to the material of the object. For example, the fall protection conditions are higher for glass products and lower for elastic products.

[0038] In this embodiment, the package protection conditions are proposed for the scenario of emergency landing with the auxiliary airbag deployed, and are based on the structural form corresponding to the material of the object. For example, the package protection conditions are lower for ball-shaped items such as basketballs and soccer balls, while the package protection conditions are higher for irregularly shaped items such as monitors and headphones.

[0039] In this embodiment, if the material of the object meets the package protection conditions but not the fall protection conditions, a third delayed opening command for the auxiliary airbag is set. That is, the auxiliary airbag is opened to force the delivery object to land, so that the object can be preserved as much as possible under the cushioning effect of the airbag landing.

[0040] In this embodiment, if the material of the object meets the fall protection conditions but does not meet the package protection conditions, a fourth delayed opening command for the secondary parachute is set. That is, the delivery object is forced to land by opening the secondary parachute, so that the object can reduce its ground speed as much as possible under the slow action of the parachute surface.

[0041] In this embodiment, if the material of the object meets the package protection conditions and the fall protection conditions, a fifth delayed deployment command for the auxiliary airbag and a sixth delayed deployment command for the auxiliary parachute are set, wherein the delay duration of the fifth delayed command is shorter than the delay duration of the sixth delayed command. This allows the delivery object to simultaneously utilize the auxiliary airbag and auxiliary parachute for a combined forced landing. Furthermore, because the delay duration of the fifth delayed command is shorter than that of the sixth delayed command, the delivery object can deploy the airbag protection first, followed by the parachute deployment. This avoids damage caused by excessively high fall speed and prevents the deployed parachute from affecting the subsequent package protection effect after the airbag deployment.

[0042] The beneficial effect of this embodiment is that by adaptively adjusting the combined protective measures of its auxiliary airbag and auxiliary parachute according to the fall protection conditions and package protection conditions of the delivered item, the delivered item can be effectively protected, avoiding damage to itself, and also reducing the safety risks to people and property on the ground when the delivered item makes an emergency landing.

[0043] Example 4 Figure 4 This is a flowchart of the fourth embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the step of determining whether the current altitude exceeds the first altitude threshold includes: S11. Determine whether the current ground area is a water area; S12. If the current ground area is a water area, then the main airbag is activated; S13. If the current ground area is not a water area, then collect the current height of the current ground area.

[0044] In this embodiment, unlike the above implementation, for water areas, the main airbag is directly deployed to carry out a forced landing, thereby avoiding the aircraft and its accompanying delivery items sinking into the water and becoming difficult to find.

[0045] In this embodiment, if the current ground area is not a water area, the current height of the current ground area is collected, and then the joint determination of height and speed is performed in the manner described in the above embodiment.

[0046] The beneficial effect of this embodiment is that by determining the corresponding airbag deployment method according to the characteristics of the water surface area, it is easier to find the items delivered by the aircraft after they fall into the water surface area, and it also avoids damage to the aircraft or the delivered items after water ingress.

[0047] Example 5 Figure 5 This is a flowchart of the fifth embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the step of deploying the main parachute of the aircraft if the current altitude exceeds the first altitude threshold specifically includes: S21. Estimate the parachute descent speed at the current altitude; S22. If the parachute landing speed exceeds the fourth speed threshold, the seventh delayed opening command of the auxiliary parachute is set first, and the main parachute is opened after the delivery item is separated. S23. If the parachute landing speed does not exceed the fourth speed threshold, then the main parachute is deployed.

[0048] In this embodiment, the estimated landing speed of the parachute is determined based on the current altitude, the current air density, the shape characteristics of the parachute (e.g., frontal area), and the traction mass of the parachute (e.g., the total mass of the aircraft and the delivered items).

[0049] In this embodiment, unlike the above implementation, the aircraft is first allowed to separate the delivery item, and then the aircraft deploys its parachute. This allows the delivery item to be forced to land in a manner consistent with its own situation. In addition, the aircraft can reduce its own weight and avoid excessive landing kinetic energy after parachute landing, which could cause mechanical damage. The fourth speed threshold is set according to the aircraft's own protection requirements to avoid excessive landing speed.

[0050] In this embodiment, the aircraft first estimates the parachute landing speed at its current altitude. If the parachute landing speed exceeds the fourth speed threshold, the seventh delayed opening command of the reserve parachute is set first, and the main parachute is opened after the delivered item is separated. If the parachute landing speed does not exceed the fourth speed threshold, the main parachute is opened directly, thereby avoiding delays in parachute opening.

[0051] The beneficial effect of this embodiment is that by implementing separation and parachute deployment in stages, the aircraft can carry out effective parachute deployment operations, and the delivered goods can be handled with a forced landing method that is appropriate to their own situation, thus preserving both.

[0052] Example 6 Figure 6 This is a flowchart of the sixth embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the step of setting the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: S11. Determine whether the current ground area is a water area; S61. If the current ground area is a water area, then set the delayed deployment command of the auxiliary airbag; S62. If the current ground area is not a water area, then set the delayed deployment command for the auxiliary parachute and / or auxiliary airbag.

[0053] In this embodiment, based on the above-mentioned handling method for water areas, differentiated handling of the delivered items is further implemented: In one case, if the current ground area is a water area, the delayed deployment command of the auxiliary airbag is set, so that the delivered item can receive the protection provided by the auxiliary airbag alone; in another case, if the current ground area is not a water area, the delayed deployment command of the auxiliary parachute and / or auxiliary airbag is set, that is, the corresponding forced landing process is carried out according to the above embodiment; furthermore, for water areas, the delivered items are separated first, and then the airbags of the aircraft itself and the airbags of the delivered items are deployed, so that the aircraft itself and the delivered items can each receive the protection provided by their respective airbags alone.

[0054] The beneficial effect of this embodiment is that by determining the airbag deployment method of the corresponding aircraft and delivery items according to the characteristics of the water surface area, it is easier to find the aircraft and delivery items after they fall into the water surface area, and it also avoids damage to the aircraft or delivery items after water ingress.

[0055] Example 7 Figure 7 This is a flowchart of the seventh embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the method further includes: S71. Set the first altitude threshold according to one or more of the aircraft's structural strength level, crash safety level, and environmental impact level; S72. Set the second speed threshold according to the morphological characteristics of the aircraft.

[0056] In this embodiment, the structural strength level is determined based on the aircraft's structural parameters, including fuselage material, fuselage size, rotor material, rotor size, etc.; for example, the larger the fuselage size and the larger the rotor size, the higher the structural strength level.

[0057] In this embodiment, the crash safety level is determined based on the aircraft's weight and material; for example, the greater the weight, the higher the crash safety level.

[0058] In this embodiment, the environmental impact level is determined based on the aircraft's weight, material, and size; for example, the larger the fuselage size, the larger the rotor size, or the greater the weight, the higher the environmental impact level.

[0059] In this embodiment, corresponding weights are set for the above-mentioned structural strength level, fall safety level and environmental impact level, so as to determine the positively correlated first height threshold. For example, if the above-mentioned structural strength level, fall safety level and environmental impact level are higher, the corresponding first height threshold is higher, thereby ensuring effective parachute deployment and safe emergency landing.

[0060] In this embodiment, the morphological characteristics include the aircraft's drag coefficient and protection requirements. For example, if the aircraft's morphological characteristics remain unchanged, the drag coefficient remains unchanged, and the corresponding landing speed is related to the protection requirements. Correspondingly, the lower the protection requirements, the higher the second speed threshold, thereby ensuring that the aircraft can be effectively protected after landing with the airbags deployed.

[0061] The beneficial effect of this embodiment is that by setting a first altitude threshold based on one or more of the aircraft's structural strength level, crash safety level, and environmental impact level, and setting a second speed threshold based on morphological characteristics, it can ensure both effective parachute deployment and safe emergency landing, as well as effective protection after the airbags deploy and land.

[0062] Example 8 Figure 8 This is a flowchart of the eighth embodiment of the aircraft protection method of the present invention. Based on the above embodiment, the step of setting the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivered item further includes: S81. Check whether the delayed start command setting is successfully set; S82. If the delayed opening command setting fails, or the aircraft door used to store the delivered items cannot be opened, the auxiliary airbag is opened first, and then the main airbag is opened. S83. If the delayed activation command is successfully set, the main airbag of the aircraft will be activated after the delivery items of the aircraft are separated.

[0063] In this embodiment, the example of an aircraft transporting and delivering items via a cargo container is used for illustration.

[0064] In this embodiment, a separate controller is configured for the secondary parachute and / or secondary airbag, which is used to receive and execute delayed deployment commands.

[0065] In this embodiment, one scenario is that the controller detects that the delayed activation command issued by the aircraft has not been successfully set, or when it detects that the delayed activation command issued by the aircraft has been successfully set, but the corresponding delayed activation command cannot be responded to, it is determined that the delayed activation command setting has failed and the response has failed, respectively.

[0066] In this embodiment, another scenario is that if the aircraft door used to store the delivered items cannot be opened, the auxiliary airbag is deployed first, followed by the main airbag; thereby maximizing the protection of the delivered items from the inside out.

[0067] The beneficial effect of this embodiment is that by setting and responding to the delayed start command, additional safety redundancy is provided for the above implementation method, and further protection of the delivered items is implemented in extreme cases.

[0068] Example 9 Based on the above embodiments, the present invention also proposes an aircraft protection device, which 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 airbag protection method for an aircraft as described in any of the preceding embodiments.

[0069] 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.

[0070] Example 10 Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing an airbag protection program for an aircraft, which, when executed by a processor, implements the steps of the aircraft protection method as described in any of the above claims.

[0071] 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.

[0072] The airbag protection method, device, and computer-readable storage medium for aircraft implementing the present invention, by configuring airbags for aircraft and delivered items and flexibly adjusting the airbag deployment strategy according to different altitudes and speeds, can greatly optimize the airbag protection scheme for unmanned aerial vehicles in densely populated building scenarios such as commercial districts and residential communities, meet the delivery needs of such scenarios, and ensure flight safety and item safety in emergency situations.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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 protecting an aircraft, applied to an unmanned aerial vehicle equipped with airbags and parachutes, characterized in that, The method includes: When an aircraft enters an emergency, it is determined whether its current altitude exceeds the first altitude threshold. If the current altitude exceeds the first altitude threshold, the aircraft's main parachute will be deployed. If the current altitude does not exceed the first altitude threshold, the free fall speed at the current altitude is estimated, and it is determined whether the free fall speed exceeds the second speed threshold. If the freefall speed does not exceed the second speed threshold, the aircraft's main airbags are deployed; If the freefall speed exceeds the second speed threshold, the delayed deployment command of the auxiliary parachute and / or auxiliary airbag of the delivered item is first set, and the main airbag of the aircraft is deployed after the delivered item is separated from the aircraft.

2. The aircraft protection method according to claim 1, characterized in that, The setting of the delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: Determine whether the current height exceeds a third height threshold, wherein the third height threshold is set based on the shape characteristics of the delivered item; If the current altitude exceeds the third altitude threshold, then the first delayed opening command for the auxiliary parachute is set; If the current altitude does not exceed the third altitude threshold, then the second delayed deployment command for the auxiliary airbag is set.

3. The aircraft protection method according to claim 1, characterized in that, The setting of the delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: The material of the delivered item is checked to see if it meets the preset drop protection conditions and package protection conditions. If the material of the object meets the protection conditions for wrapping but not the fall protection conditions, then the third delayed opening command for the auxiliary airbag is set. If the material of the object meets the fall protection conditions but does not meet the wrapping protection conditions, then the fourth delayed opening command of the secondary parachute is set. If the material of the object meets the protection conditions for the package and the fall protection conditions, then a fifth delayed opening command for the auxiliary airbag and a sixth delayed opening command for the auxiliary parachute are set, wherein the delay duration of the fifth delayed command is shorter than the delay duration of the sixth delayed command.

4. The aircraft protection method according to claim 1, characterized in that, The determination of whether the current altitude exceeds the first altitude threshold includes the following steps: Determine whether the current ground area is a water area; If the current ground area is a water area, then the main airbag is activated; If the current ground area is not a water area, then the current height relative to the current ground area is collected.

5. The aircraft protection method according to claim 1, characterized in that, The step of deploying the aircraft's main parachute if the current altitude exceeds the first altitude threshold specifically includes: Estimate the parachute descent speed at the current altitude; If the parachute's landing speed exceeds the fourth speed threshold, the seventh delayed opening command for the auxiliary parachute is first set, and the main parachute is opened only after the delivered item is separated. If the parachute's landing speed does not exceed the fourth speed threshold, then the main parachute is deployed.

6. The aircraft protection method according to claim 4, characterized in that, The setting of the delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item specifically includes: If the current ground area is a water area, then set the delayed deployment command for the auxiliary airbag; If the current ground area is not a water area, then set the delayed deployment command for the auxiliary parachute and / or auxiliary airbag.

7. The airbag protection method for aircraft according to claim 1, characterized in that, The method further includes: The first altitude threshold is set according to one or more of the aircraft’s structural strength level, crash safety level, and environmental impact level. The second speed threshold is set according to the morphological characteristics of the aircraft.

8. The aircraft protection method according to claim 1, characterized in that, The method for setting a delayed deployment command for the auxiliary parachute and / or auxiliary airbag of the delivered item further includes: If the delayed opening command fails to be set, or if the aircraft door used to store the delivered items cannot be opened, the auxiliary airbag will be opened first, followed by the main airbag.

9. A protective device for an 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 aircraft protection method 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 an airbag protection program for an aircraft, which, when executed by a processor, implements the steps of the aircraft protection method as described in any one of claims 1 to 8.

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