Unmanned / manned aircraft air fault self-rescue emergency method and device

Abstract

The invention discloses an unmanned / manned aircraft air fault self-rescue emergency method and device, and relates to the technical field of aircraft air fault safety, and the method comprises the steps: collecting the flight data of an unmanned / manned aircraft in real time; identifying whether the unmanned / manned aircraft has a power fault according to the flight data; if a power fault occurs, the unmanned / manned aircraft air fault self-rescue is carried out by adopting a cooperative full-chain emergency strategy of parachute deceleration, air bag suspension, propeller attitude adjustment and air bag buffering. Original passive buffering is upgraded into a composite rescue mode of active posture adjustment and passive buffering, and the problem that a traditional scheme cannot correct a landing track and depends on single buffering is solved.

Description

Technical Field

[0001] This application relates to the field of aircraft in-flight failure safety technology, and in particular to an emergency self-rescue method and device for unmanned / manned aircraft in-flight failure. Background Technology

[0002] With the increasing prevalence of drones, eVTOL, and small aircraft, their flight safety and in-flight emergency rescue technologies are receiving growing attention. Existing aircraft emergency technologies mostly focus on a single ground landing buffer method that simultaneously deploys parachutes and airbags before the aircraft lands. Furthermore, existing emergency solutions generally lack in-flight attitude adjustment capabilities. After the aircraft decelerates upon parachute deployment, it often drifts uncontrollably, resulting in an uncontrollable landing point and a high risk of colliding with obstacles or people. Summary of the Invention

[0003] The purpose of this application is to provide an emergency self-rescue method and device for unmanned / manned aircraft in-flight malfunctions, which can upgrade the original "passive buffering" to a composite rescue mode of "active attitude adjustment + passive buffering", solving the pain points of traditional solutions that cannot correct landing trajectories and rely on a single buffer.

[0004] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft, including: Real-time acquisition of flight data from unmanned / manned aerial vehicles; The flight data is used to identify whether the unmanned / manned aircraft has experienced a power failure. In the event of a power failure, a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag cushioning" will be adopted to carry out in-flight self-rescue for unmanned / manned aircraft malfunctions.

[0005] Secondly, this application provides an in-flight self-rescue emergency device for unmanned / manned aircraft, including: a control motherboard, a propulsion imbalance monitoring unit, a power drive unit, a parachute mechanism, an airbag and a propeller mechanism, all mounted on the unmanned / manned aircraft body. The parachute mechanism is located on the top of the unmanned / manned aircraft body; the airbag is located on the bottom of the unmanned / manned aircraft body; the propeller mechanism is located on the circumference of the unmanned / manned aircraft body in a retractable manner. The parachute system includes a main parachute and a reserve parachute; the top areas of the main parachute and the reserve parachute are configured as airbags. The power drive unit is used to inflate the parachute mechanism and airbags. The control board is used to identify whether the unmanned / manned aircraft has experienced a power failure based on the flight data collected in real time by the propulsion imbalance monitoring unit. In the event of a power failure, it adopts a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag buffering" to carry out in-flight self-rescue of the unmanned / manned aircraft.

[0006] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described self-rescue emergency method for unmanned / manned aerial vehicle malfunctions.

[0007] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft.

[0008] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a self-rescue emergency method and device for unmanned / manned aerial vehicles (UAVs) in-flight malfunctions. It identifies malfunctions by monitoring the aircraft's flight data in real time and triggers an emergency response plan upon malfunction. Centered on "active emergency ejection + multi-dimensional deceleration and buffering + dynamic attitude adjustment," it forms a complete emergency rescue system of "deceleration-hovering-attitude adjustment-buffering" through "parachute + airbag buffering + attitude adjustment propeller." First, the parachute is used for recoil deceleration; then, the airbags extend the aircraft's hovering time; next, the propellers dynamically correct the landing trajectory and attitude; finally, the airbags depressurize to achieve a safe landing, realizing an automated, fully automated emergency self-rescue process. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating an in-flight self-rescue emergency method for unmanned / manned aircraft provided in an embodiment of this application; Figure 2This is a structural schematic diagram of an in-flight self-rescue emergency device for unmanned / manned aircraft, provided as another embodiment of this application.

[0012] Reference numerals: 1—Unmanned / manned aircraft body; 2—Parachute mechanism; 3—Airbag shape; 4—Airbag; 5—Propeller mechanism. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] In one exemplary embodiment, such as Figure 1 As shown, an emergency self-rescue method for unmanned / manned aerial vehicles in mid-air failure is provided. As an example, the method is executed by a control motherboard installed on the unmanned / manned aerial vehicle body 1, including the following steps 101 to 103.

[0016] Step 101: Collect flight data of unmanned / manned aircraft in real time.

[0017] Step 102: Identify whether the unmanned / manned aircraft has experienced a power failure based on the flight data.

[0018] Step 103: If a power failure occurs, a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag buffering" will be adopted to carry out in-flight self-rescue of unmanned / manned aircraft.

[0019] By implementing steps 101 to 103 above, fault identification is performed by monitoring the aircraft's flight data in real time, and an emergency plan is triggered when a fault occurs. Centered on "active emergency ejection + multi-dimensional deceleration and buffering + dynamic attitude adjustment," a full-chain emergency rescue system of "deceleration-hovering-attitude adjustment-buffering" is formed through "parachute + airbag buffering + attitude adjustment propeller." First, the parachute is used for recoil deceleration; then, the airbags are used to extend the aircraft's hovering time; next, the propellers dynamically correct the landing trajectory and attitude; finally, the airbags depressurize to achieve a safe landing, realizing an automated, fully automated emergency self-rescue process.

[0020] The emergency response methods in this application are applicable to manned eVTOL (urban air mobility), general aviation aircraft (high-altitude / sea flight), logistics drones (delivery to remote areas), and inspection drones (power tower / pipeline inspection), and are especially suitable for high-risk failure scenarios such as "single engine failure" and "sudden power drop".

[0021] In another exemplary embodiment of this application, in steps 101 and 102, monitoring components such as an IMU inertial measurement unit, a barometer (measuring the atmospheric pressure of the environment), a GPS positioning module, and an engine condition sensor are integrated on the aircraft body. This enables the real-time acquisition of flight data, such as the aircraft's attitude angles (pitch / roll / yaw), vertical speed, horizontal displacement, engine speed, and remaining battery power. Through algorithmic fusion processing, the system accurately identifies power failures (such as a sudden drop in engine power > 30%) and attitude abnormalities (such as a tilt angle > 15° and / or a vertical speed > a threshold). The system can coordinate the action sequence of the respective rescue emergency-related execution components through the fault diagnosis logic built into the control motherboard (preset threshold: triggering an emergency procedure when the vertical speed > 5 m / s and the engine speed < 20% of the rated value). This sequence involves first triggering the parachute recoil deceleration, then deploying the airbag 4 for levitation, then starting the propeller attitude adjustment, and finally deflating the airbag 4 for cushioning after landing. Finally, the recovery of each component is completed in the order of "airbag recovery → propeller stop → system reset".

[0022] In another exemplary embodiment of this application, step 103 employs a coordinated full-chain emergency strategy of "parachute deceleration - airbag levitation - propeller attitude adjustment - airbag cushioning" for in-flight self-rescue of unmanned / manned aerial vehicles, specifically including: (1) The parachute on the top of the unmanned / manned aircraft is popped out and deployed by using high-pressure gas drive.

[0023] (2) The airbag 4 at the bottom of the unmanned / manned aircraft is inflated and deployed by using high-pressure gas drive.

[0024] This application employs a combination of an "electric high-pressure air pump + high-pressure gas tank + venting solenoid valve" to replace traditional explosives. The gas tank has two main and auxiliary lines: the main line supplies gas for the top parachute ejection (pressure 3-5 MPa), and the auxiliary line supplies gas for the bottom airbag 4 (pressure 0.8-1.5 MPa). The flow rate is independently controlled by the solenoid valve, achieving adjustable ejection force (suitable for aircraft weighing 20 kg to 2000 kg). Millisecond-level ejection is achieved through high-pressure gas drive.

[0025] For manned aircraft: Supports pre-filling of air pumps (self-checking whether the air tank is filled to the set pressure before flight) and continuous air supply during emergency phases (ensuring multiple triggers of air replenishment redundancy within 10 minutes).

[0026] For unmanned aerial vehicles, a "high-pressure air pump and main air storage cylinder separation design" is adopted. The aircraft only carries branch air storage cylinders (weight ≤1kg, pre-charge pressure 3MPa). Before takeoff, the working pressure value is confirmed by manual pre-charge. Each mission supports one emergency ejection (automatic recovery and re-inflating after landing).

[0027] The bottom-inflatable airbag 4 mechanism in this application is installed in the center of the bottom of the fuselage. Its specific structure includes a folded airbag bag (high-strength nylon base fabric + TPU coating, unfolded diameter 1.5-3m), a high-torque reel motor, a pressure relief valve (opening pressure 0.2MPa, to prevent overpressure rupture), and a cushioning layer (EVA foam + honeycomb aluminum plate). By detecting the distance to the ground using lidar, when the trigger warning value is reached, the high-pressure inflatable airbag 4 deploys and rapidly inflates. Upon contact with the ground, the pressure relief valve releases gas in stages, reducing the landing impact force from 50g for a traditional hard landing to ≤10g (for manned landings). Inflation is controlled by an electromagnetic valve; the airbag 4 inflates and unfolds within 0.3 seconds (the levitation force partially offsets gravity), and the aircraft enters a low-speed descent (vertical speed reduced to 5-8m / s), extending the in-flight adjustment time to 15-30 seconds.

[0028] (3) Based on the current location of the unmanned / manned aircraft, control the propeller of the unmanned / manned aircraft to adjust the attitude and landing trajectory of the unmanned / manned aircraft.

[0029] (4) When the airbag 4 at the bottom of the unmanned / manned aircraft touches the ground, release part of the gas in the airbag 4 to cushion the ground landing, and at the same time control the propeller of the unmanned / manned aircraft to stop rotating.

[0030] In another exemplary embodiment of this application, step (1) above, controlling the deployment of the parachute on top of the unmanned / manned aircraft using a high-pressure gas-driven method, specifically includes: The main parachute on top of the unmanned / manned aircraft is deployed using a high-pressure gas-driven method; if the main parachute fails to deploy within a preset time, the backup parachute on top of the unmanned / manned aircraft will be switched on and deployed.

[0031] This application employs a top-mounted dual-redundant parachute mechanism 2, located within the cabin at the top of the aircraft (area configured at a ratio of 1:1.5 to the aircraft weight). The top area of ​​the parachute is designed as a layered airbag 3, which, after inflation, rapidly rises and deploys the main parachute within 0.1 seconds (opening time < 2 seconds). Air buoyancy facilitates faster and more precise parachute deployment, reducing the aircraft speed from 100 m / s in case of a malfunction to 30-40 m / s. If the main parachute deployment fails (due to timeout, broken parachute lines, or sensor feedback that parachute line tension < 10N), the backup parachute automatically deploys within 0.5 seconds via a mechanical linkage mechanism. As an example, the canopy uses aramid fiber with a silicone rubber coating (enhancing tear resistance and sealing), and the parachute lines have built-in sensors (providing real-time tension feedback and triggering an alarm in case of an anomaly).

[0032] In another exemplary embodiment of this application, in step (4) above, during the suspension phase after the airbag 4 is deployed (approximately 10-30 seconds), the attitude of the aircraft is corrected by thrust vector control. The control motherboard adjusts the propeller in real time based on the monitored flight data (such as GPS positioning (surrounding terrain), wind speed and direction sensor data, and IMU attitude angle) – adjusting the motor speed (0-10000rpm) through PWM signal, combined with universal joint steering, to generate lateral / longitudinal thrust (maximum thrust 50N).

[0033] Specifically, based on the current environmental and terrain conditions of the unmanned / manned aerial vehicle (UAV), the propellers of the UAV are controlled to adjust its attitude and landing trajectory. This includes: 1) When crosswind drift occurs, adjust the differential speed of the two propellers on both sides of the unmanned / manned aircraft to accelerate and counteract the horizontal drift of the unmanned / manned aircraft. If it drifts to the left, accelerate the right propeller.

[0034] 2) When the tilt angle of the unmanned / manned aircraft is greater than the preset angle (e.g., 5°), the propeller on the tilt side of the unmanned / manned aircraft is adjusted by adding force to restore the horizontal attitude of the unmanned / manned aircraft.

[0035] 3) When the distance between the unmanned / manned aircraft and the ground is less than the preset distance (e.g., 50m), the output force of the unmanned / manned aircraft's propeller is converted into downward thrust to reduce the horizontal speed of the unmanned / manned aircraft, reducing the horizontal speed to <2m / s, while adjusting the fuselage to a horizontal attitude (tilt angle <3°).

[0036] 4) When there are obstacles in the current landing trajectory of the unmanned / manned aircraft, the propellers on both sides of the unmanned / manned aircraft are adjusted to adjust the landing trajectory of the unmanned / manned aircraft and help to select a flat landing area (such as avoiding rocks, high-voltage power lines, etc.).

[0037] After the self-rescue emergency ends, this application can recover airbag 4 (recovery time < 2 minutes) and recover it; the propeller stops rotating within 0.5 seconds after touching the ground (to prevent damage); the control motherboard records the fault data (for subsequent optimization), and the system enters standby mode (it needs to return to the base station to re-inflate and check the propeller blades).

[0038] This application has the following technical advantages: 1. Full-chain safety redundancy: Redundancy is set in five links from "monitoring-deceleration-hovering-attitude adjustment-buffering" (dual parachutes, dual air storage lines, propeller attitude adjustment). The safety factor of the manned version is improved by 80% compared with the single parachute solution, and the crash rate of the unmanned version is reduced by 70%.

[0039] 2. Improved dynamic landing accuracy: The introduction of propellers enables the aircraft to actively correct its trajectory during the airbag hovering phase. The range of landing point selection is reduced from the traditional "passive forced landing zone" to the "safe target zone" (such as within a 5m radius of flat ground), which is especially suitable for low-altitude urban areas (avoiding buildings and crowds) and complex terrain in the wild (avoiding ditches and steep slopes).

[0040] 3. Lightweight and Reusable Compatibility: The propeller adopts a retractable design (thickness <5cm when folded), with a total weight increase of ≤0.5kg for the unmanned version (including the power supply module), having minimal impact on the aircraft's original payload capacity. All components (airbag 4, parachute, propeller blades) employ quick-release structures, allowing for recovery, cleaning (removal of mud and sand), and inflation (using a vehicle-mounted micro air pump) within 30 minutes of landing, enabling reuse ≥50 times (the material life of airbag 4 has been tested to reach 100 inflations and deflations). While maintaining the advantages of reusability and lightweight design, it further enhances landing safety in complex environments, providing a "full-scenario, full-chain" emergency rescue solution for low-altitude aircraft (especially in the manned field), possessing significant technological barriers and market competitiveness.

[0041] In another exemplary embodiment of this application, such as Figure 2 As shown, an in-flight self-rescue emergency device for unmanned / manned aircraft is provided, including: a control main board, a propulsion imbalance monitoring unit, a power drive unit, a parachute mechanism 2, an airbag 4, and a propeller mechanism 5, all mounted on the unmanned / manned aircraft body 1.

[0042] Parachute mechanism 2 is located on the top of unmanned / manned aircraft body 1; airbag 4 is located on the bottom of unmanned / manned aircraft body 1; propeller mechanism 5 is located on the circumference of unmanned / manned aircraft body 1 in a retractable manner, and can be stored in the bottom groove of the fuselage when self-rescue is not needed (to reduce flight drag), and can be deployed synchronously with airbag 4 in an emergency.

[0043] The parachute mechanism 2 includes a main parachute and a reserve parachute; the top areas of the main parachute and the reserve parachute are configured as airbags 3.

[0044] The power drive unit is used to inflate the parachute mechanism 2 and the airbag 4.

[0045] The control board is used to collect flight data of the unmanned / manned aircraft in real time based on the propulsion imbalance monitoring unit, identify whether the unmanned / manned aircraft has experienced a power failure, and, in the event of a power failure, adopt a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag cushioning" to carry out in-flight self-rescue of the unmanned / manned aircraft.

[0046] In another exemplary embodiment of this application, the power drive unit includes an electric high-pressure air pump, an air tank, and a solenoid valve.

[0047] The manned aircraft is equipped with solar panels and batteries (lithium batteries) (rated power of about 800W, weight ≤15kg, including MPPT controller) to power the various components.

[0048] The unmanned aerial vehicle is equipped with (miniature) lithium batteries to power its various components. The miniature lithium battery pack weighs ≤0.2kg and has a capacity of 5000mAh.

[0049] In another exemplary embodiment of this application, the propeller mechanism 5 includes multiple propellers distributed around the circumference of the unmanned / manned aircraft body 1; the propellers adopt a dual-propeller coaxial structure (diameter 0.3-0.6m, carbon fiber blades), and are connected to the motor through a universal joint (supporting ±30° tilt angle adjustment), and the airbag 4 automatically retracts before deployment to avoid interference.

[0050] The aforementioned in-flight self-rescue emergency device for unmanned / manned aircraft also includes lidar to detect the distance between the unmanned / manned aircraft and the ground.

[0051] This application also provides an application scenario in which the above-mentioned self-rescue emergency response method for in-flight malfunctions of unmanned / manned aerial vehicles (UAVs) is applied. Specifically, the self-rescue emergency response method for in-flight malfunctions of UAVs provided in this embodiment can be applied in UAV in-flight malfunction emergency scenarios. This scenario includes a data monitoring stage and a self-rescue emergency execution stage; the data monitoring stage is used to monitor the flight data of the UAV in real time; the self-rescue emergency execution stage is used to identify faults based on the monitored flight data and execute self-rescue emergency strategies when a fault occurs. The self-rescue emergency response method for in-flight malfunctions of UAVs provided in this embodiment belongs to the self-rescue emergency execution stage.

[0052] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0053] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0054] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0055] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of the relevant data are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.

[0056] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A self-rescue emergency method for in-flight malfunctions in unmanned / manned aircraft, characterized in that, include: Real-time acquisition of flight data from unmanned / manned aerial vehicles; The flight data is used to identify whether the unmanned / manned aircraft has experienced a power failure. In the event of a power failure, a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag cushioning" will be adopted to carry out in-flight self-rescue for unmanned / manned aircraft.

2. The self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft according to claim 1, characterized in that, A coordinated, end-to-end emergency strategy of "parachute deceleration - airbag levitation - propeller attitude adjustment - airbag cushioning" is adopted for in-flight self-rescue of unmanned / manned aerial vehicles, specifically including: The parachute on top of the unmanned / manned aircraft is deployed using a high-pressure gas-driven method. The inflation and deployment of airbags at the bottom of unmanned / manned aircraft are controlled by high-pressure gas. Based on the current environment and terrain conditions of the unmanned / manned aircraft, control the propellers of the unmanned / manned aircraft to adjust its attitude and landing trajectory; When the airbag at the bottom of the unmanned / manned aircraft touches the ground, it releases some of the gas in the airbag to cushion the landing and at the same time controls the propeller of the unmanned / manned aircraft to stop rotating.

3. The self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft according to claim 2, characterized in that, The deployment of a parachute atop an unmanned / manned aircraft is controlled using a high-pressure gas-driven method, specifically including: The main parachute on top of the unmanned / manned aircraft is deployed using a high-pressure gas-driven method. If the main parachute fails to deploy normally within the preset time, the backup parachute on top of the unmanned / manned aircraft will be switched on and deployed.

4. The self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft according to claim 2, characterized in that, Based on the current environmental and terrain conditions of the unmanned / manned aerial vehicle (UAV), the propellers of the UAV are controlled to adjust its attitude and landing trajectory, specifically including: When crosswind drift occurs, the propellers on both sides of the unmanned / manned aircraft are adjusted differentially to counteract the horizontal drift of the unmanned / manned aircraft. When the tilt angle of the unmanned / manned aircraft is greater than the preset angle, the propeller on the tilting side of the unmanned / manned aircraft is adjusted by force to restore the horizontal attitude of the unmanned / manned aircraft. When the distance between the unmanned / manned aircraft and the ground is less than the preset distance, the output force of the unmanned / manned aircraft's propeller is converted into downward thrust to reduce the horizontal speed of the unmanned / manned aircraft. When there are obstacles in the current landing trajectory of the unmanned / manned aircraft, the propellers on both sides of the unmanned / manned aircraft are differentially adjusted to adjust the landing trajectory of the unmanned / manned aircraft.

5. A self-rescue emergency device for in-flight malfunctions in unmanned / manned aircraft, characterized in that, include: The control board, propulsion imbalance monitoring unit, power drive unit, parachute mechanism, airbag and propeller mechanism are located on the body of the unmanned / manned aircraft. The parachute mechanism is located on the top of the unmanned / manned aircraft body; the airbag is located on the bottom of the unmanned / manned aircraft body; the propeller mechanism is located on the circumference of the unmanned / manned aircraft body in a retractable manner. The parachute system includes a main parachute and a reserve parachute; the top areas of the main parachute and the reserve parachute are configured as airbags. The power drive unit is used to inflate the parachute mechanism and airbags. The control board is used to collect flight data of the unmanned / manned aircraft in real time based on the propulsion imbalance monitoring unit, identify whether the unmanned / manned aircraft has experienced a power failure, and, in the event of a power failure, adopt a coordinated full-chain emergency strategy of "parachute deceleration - airbag suspension - propeller attitude adjustment - airbag buffering" to carry out in-flight self-rescue of the unmanned / manned aircraft.

6. The self-rescue emergency device for in-flight malfunctions of unmanned / manned aircraft according to claim 5, characterized in that, The power drive unit includes an electric high-pressure air pump, an air tank, and a solenoid valve; The manned aircraft is equipped with solar panels and batteries to power its various components; The unmanned aerial vehicle is equipped with lithium batteries to power its various components.

7. The self-rescue emergency device for in-flight malfunctions of unmanned / manned aircraft according to claim 5, characterized in that, The propeller mechanism includes multiple propellers distributed around the circumference of the unmanned / manned aircraft body; the propellers adopt a dual-propeller coaxial structure; The aforementioned in-flight self-rescue emergency device for unmanned / manned aircraft also includes lidar to detect the distance between the unmanned / manned aircraft and the ground.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the self-rescue emergency method for in-flight malfunctions of unmanned / manned aircraft as described in any one of claims 1-4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the self-rescue emergency response method for in-flight malfunctions of unmanned / manned aircraft as described in any one of claims 1-4.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the self-rescue emergency response method for in-flight malfunctions of unmanned / manned aircraft as described in any one of claims 1-4.

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