CN119568414A - Parachute opening control method, aircraft, electronic device and storage medium - Google Patents
Parachute opening control method, aircraft, electronic device and storage medium Download PDFInfo
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Abstract
本申请提供一种降落伞的开伞控制方法、飞行器、电子设备及存储介质，应用于飞行器中的坠落检测单元；所述方法包括：获取由空地状态传感器采集的飞行器的当前状态数据、由高度传感器采集的飞行器的当前高度、由加速度传感器采集的飞行器的当前加速度、由陀螺仪传感器采集的飞行器的当前姿态数据以及由视觉传感器采集的飞行器的当前图像；根据当前状态数据、当前高度、当前加速度、当前姿态数据以及当前图像，确定飞行器是否处于失控坠落状态；若是，向点火触发装置发送点火指令，以使得点火触发装置响应点火指令，通过气体发生器将伞体打开。实现自动快速触发整机降落伞的开伞控制，有效提高多旋翼载人飞行器坠机的生存率。
The present application provides a parachute opening control method, an aircraft, an electronic device and a storage medium, which are applied to a fall detection unit in an aircraft; the method comprises: obtaining the current state data of the aircraft collected by an air-ground state sensor, the current height of the aircraft collected by an altitude sensor, the current acceleration of the aircraft collected by an acceleration sensor, the current attitude data of the aircraft collected by a gyroscope sensor and the current image of the aircraft collected by a visual sensor; determining whether the aircraft is in an uncontrolled falling state according to the current state data, the current height, the current acceleration, the current attitude data and the current image; if so, sending an ignition command to an ignition trigger device so that the ignition trigger device responds to the ignition command and opens the parachute body through a gas generator. The automatic and rapid triggering of the opening control of the whole parachute is realized, and the survival rate of a multi-rotor manned aircraft crash is effectively improved.
Description
Technical Field
The application relates to the technical field of aircrafts, in particular to an parachute opening control method of a parachute, an aircrafts, electronic equipment and a storage medium.
Background
When the multi-rotor manned aircraft encounters an emergency in the air flight, a parachute needs to be opened for forced landing.
The traditional manned aircraft complete machine parachute is basically mainly triggered manually, a driver is required to pull the trigger handle of the rocket parachute with certain force, and for the multi-rotor manned aircraft, due to lower flying height, when an emergency occurs, the aircraft cannot control or even overturn, so that the driver cannot pull the switch of the parachute in time, and casualties are caused.
Accordingly, there is a need to provide a parachute control solution suitable for use in a multi-rotor manned aircraft.
Disclosure of Invention
The present application aims to solve the above-described problems of the prior art and to provide a parachute opening control method, an aircraft, an electronic device, and a storage medium for automatically opening a parachute.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a parachute opening control method, applied to a fall detection unit in an aircraft, where the aircraft includes the fall detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor, and a complete machine parachute, the complete machine parachute includes an ignition trigger device, a gas generator, and a parachute body, and the method includes:
Acquiring current state data of an aircraft acquired by an air-ground state sensor, a current altitude of the aircraft acquired by an altitude sensor, a current acceleration of the aircraft acquired by an acceleration sensor, current attitude data of the aircraft acquired by a gyroscope sensor, and a current image of the aircraft acquired by a vision sensor;
determining whether the aircraft is in an out-of-control falling state according to the current state data, the current height, the current acceleration, the current gesture data and the current image;
If yes, sending an ignition instruction to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction, and opening the umbrella body through the gas generator.
Optionally, the determining whether the aircraft is in the uncontrolled falling state according to the current state data, the current altitude, the current acceleration, the current gesture data and the current image includes:
Determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current height;
if yes, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current gesture data and the current image.
Optionally, the determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current altitude includes:
Determining whether the aircraft is in an air state according to the current state data;
if yes, determining whether the aircraft meets the condition of using the whole parachute according to the current height.
Optionally, the determining whether the aircraft is in an air state according to the current state data includes:
and if the current first distance is greater than a first distance threshold value, the current second distance is greater than a second distance threshold value, and the current air pressure is greater than an air pressure threshold value, determining that the aircraft is in an air state.
Optionally, the determining whether the aircraft meets the condition of using the whole parachute according to the current altitude includes:
And if the current height is larger than a height threshold value, determining that the aircraft meets the condition of using the whole parachute.
Optionally, the determining whether the aircraft is in the uncontrolled-falling state according to the current acceleration, the current gesture data and the current image includes:
determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;
determining whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;
determining whether a rotor wing fault occurs to the aircraft according to the current image;
And if the descending speed of the aircraft exceeds a speed threshold value, or the current attitude of the aircraft is greater than an attitude threshold value, or the aircraft has a rotor wing fault, determining that the aircraft is in an out-of-control falling state.
Optionally, the determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration includes:
determining a current speed of the aircraft and whether the aircraft is in a descent state according to the current acceleration;
if the aircraft is in a descent state and the current speed of the aircraft exceeds the speed threshold, determining that the descent speed of the aircraft exceeds the speed threshold.
Optionally, the current image includes an image of each rotor on the aircraft;
The determining whether the aircraft has a rotor fault according to the current image comprises the following steps:
Performing image recognition analysis processing on the images of all the rotors to obtain image analysis results of all the rotors on the aircraft, wherein the image analysis results of all the rotors are used for indicating whether the rotors have faults or not;
if the rotor with faults exists, determining that the rotor of the aircraft has faults.
In a second aspect, an embodiment of the present application further provides an umbrella opening control device, where the device includes:
The system comprises an acquisition module, a vision sensor, a display module and a display module, wherein the acquisition module is used for acquiring current state data of an aircraft acquired by an air-ground state sensor, the current altitude of the aircraft acquired by an altitude sensor, the current acceleration of the aircraft acquired by an acceleration sensor, the current gesture data of the aircraft acquired by a gyroscope sensor and the current image of the aircraft acquired by the vision sensor;
The determining module is used for determining whether the aircraft is in an out-of-control falling state according to the current state data, the current height, the current acceleration, the current gesture data and the current image;
And the sending module is used for sending an ignition instruction to the ignition trigger device if the umbrella body is in the open state, so that the ignition trigger device responds to the ignition instruction and opens the umbrella body through the gas generator.
Optionally, the determining module is specifically configured to:
Determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current height;
if yes, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current gesture data and the current image.
Optionally, the determining module is specifically configured to:
Determining whether the aircraft is in an air state according to the current state data;
if yes, determining whether the aircraft meets the condition of using the whole parachute according to the current height.
Optionally, the determining module is specifically configured to:
and if the current first distance is greater than a first distance threshold value, the current second distance is greater than a second distance threshold value, and the current air pressure is greater than an air pressure threshold value, determining that the aircraft is in an air state.
Optionally, the determining module is specifically configured to:
And if the current height is larger than a height threshold value, determining that the aircraft meets the condition of using the whole parachute.
Optionally, the determining module is specifically configured to:
determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;
determining whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;
determining whether a rotor wing fault occurs to the aircraft according to the current image;
And if the descending speed of the aircraft exceeds a speed threshold value, or the current attitude of the aircraft is greater than an attitude threshold value, or the aircraft has a rotor wing fault, determining that the aircraft is in an out-of-control falling state.
Optionally, the determined module is specifically configured to:
determining a current speed of the aircraft and whether the aircraft is in a descent state according to the current acceleration;
if the aircraft is in a descent state and the current speed of the aircraft exceeds the speed threshold, determining that the descent speed of the aircraft exceeds the speed threshold.
Optionally, the current image includes an image of each rotor on the aircraft;
The determining module is specifically configured to:
Performing image recognition analysis processing on the images of all the rotors to obtain image analysis results of all the rotors on the aircraft, wherein the image analysis results of all the rotors are used for indicating whether the rotors have faults or not;
if the rotor with faults exists, determining that the rotor of the aircraft has faults.
In a third aspect, the embodiment of the application also provides an aircraft, which comprises a falling detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor and a complete machine parachute, wherein the complete machine parachute comprises an ignition trigger device, a gas generator and a parachute body;
The falling detection unit is used for executing the steps of the parachute opening control method of the parachute in the first aspect so as to realize the parachute opening control of the parachute body.
In a fourth aspect, an embodiment of the present application further provides an electronic device, including a processor, a storage medium and a bus, where the storage medium stores program instructions executable by the processor, and when an application program runs, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the parachute opening control method of the first aspect.
In a fifth aspect, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, the computer program being read and executing the steps of the parachute opening control method of the first aspect described above.
The beneficial effects of the application are as follows:
According to the parachute opening control method, the aircraft, the electronic equipment and the storage medium, whether the aircraft is in the out-of-control falling state or not is determined according to the acquired current state data of the aircraft collected by the air-ground state sensor, the current height of the aircraft collected by the height sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current posture data of the aircraft collected by the gyroscope sensor and the current image of the aircraft collected by the vision sensor, the condition of the aircraft can be intelligently and rapidly identified through the data collected by the sensors, and if the aircraft is determined to be in the out-of-control falling state, an ignition command is immediately sent to the ignition trigger device, so that the ignition trigger device responds to the ignition command, and the parachute body is opened through the gas generator. The parachute opening control of the whole parachute is automatically and quickly triggered, and the survival rate of the crash of the multi-rotor manned aircraft is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an aircraft architecture according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a parachute opening control method according to an embodiment of the present application;
FIG. 3 is a schematic structural view of an aircraft according to an embodiment of the present application;
FIG. 4 is a schematic view of another aircraft according to an embodiment of the present application;
FIG. 5 is a schematic structural view of yet another aircraft according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of another parachute opening control method according to the embodiment of the present application;
FIG. 7 is a schematic flow chart of a parachute opening control method of a parachute according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an umbrella opening control device according to an embodiment of the present application;
Fig. 9 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
Fig. 1 is a schematic diagram of an architecture of an aircraft provided in an embodiment of the present application, where, as shown in fig. 1, the aircraft may include a fall detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor, and a complete parachute, where the complete parachute may include an ignition trigger device, a gas generator, and a parachute body. Wherein, the air-ground state sensor, the height sensor, the acceleration sensor, the gyroscope sensor and the vision sensor can be in communication connection with the falling detection unit, and the falling detection unit can be in communication connection with an ignition trigger device in the parachute of the whole machine, the falling detection unit can control the parachute opening of the whole parachute by using the parachute opening control method of the parachute provided by the embodiment of the application, thereby realizing the automatic triggering of the parachute opening control of the whole parachute and effectively improving the survival rate of the crash of the multi-rotor manned aircraft.
Fig. 2 is a schematic flow chart of a parachute opening control method according to an embodiment of the present application, where an execution body of the method is the aforementioned fall detection unit. As shown in fig. 2, the method includes:
s101, acquiring current state data of the aircraft collected by an air-ground state sensor, the current altitude of the aircraft collected by an altitude sensor, the current acceleration of the aircraft collected by an acceleration sensor, the current attitude data of the aircraft collected by a gyroscope sensor and the current image of the aircraft collected by a vision sensor.
Optionally, the air-ground state sensor, the altitude sensor, the acceleration sensor, the gyroscope sensor and the vision sensor can be arranged at different positions of the aircraft, can collect data of the aircraft in real time, can collect data of the aircraft at intervals, and can be set according to actual conditions. The aircraft may be a multi-rotor manned aircraft.
Wherein, space state sensor and altitude sensor can install respectively with the bottom position of aircraft as shown in fig. 3, and visual sensor can be a plurality of, and every visual sensor can install respectively in the rotor position of aircraft, as shown in fig. 4. The whole parachute is arranged on the upper side of the outside of the aircraft. The fall detection unit may be provided in an umbrella deployment control device, and the umbrella deployment control device may be mounted at a lateral end of the aircraft, as shown in fig. 5. And the speed sensor and the gyro sensor may be mounted inside the aircraft.
Optionally, at the current time, the drop detection unit may receive current state data of the aircraft collected by the air-ground state sensor, a current altitude of the aircraft collected by the altitude sensor, a current acceleration of the aircraft collected by the acceleration sensor, current attitude data of the aircraft collected by the gyroscope sensor, and a current image of the aircraft collected by the vision sensor. The current state data of the aircraft collected by the air-ground state sensor can indicate whether the aircraft is in the air or on the ground at the current moment, the current height collected by the height sensor can indicate the height of the aircraft from the ground at the current moment, the current acceleration collected by the acceleration sensor can indicate the running acceleration of the aircraft at the current moment, the current posture data collected by the gyroscope sensor can indicate the posture of the aircraft at the current moment, such as the pitch angle and the roll angle of the aircraft at the current moment, and the current image collected by the vision sensor can indicate the image information of a rotor wing of the aircraft at the current moment.
S102, determining whether the aircraft is in an out-of-control falling state according to the current state data, the current altitude, the current acceleration, the current attitude data and the current image.
Specifically, the drop detection unit may determine whether the aircraft is in an uncontrolled drop state at the current moment by using a preset method according to the received current state data, the current altitude, the current acceleration, the current posture data and the current image of the aircraft at the current moment.
Optionally, if the aircraft is in an uncontrolled and dropped state at the current moment, that is, the condition of the aircraft is a dangerous condition, executing S103, if not, that is, the aircraft is not in an uncontrolled and dropped state at the current moment, that is, the aircraft is flying normally at the current moment, returning to executing S101, that is, continuously acquiring state data, altitude, acceleration, attitude data and images of the aircraft at other moments.
And S103, sending an ignition instruction to the ignition trigger device so that the ignition trigger device responds to the ignition instruction and opens the umbrella body through the gas generator.
Specifically, when the falling detection unit determines that the aircraft is in an out-of-control falling state at the current moment, the falling detection unit can send an ignition instruction to an ignition trigger device in the whole parachute, when the ignition trigger device receives the ignition instruction, the ignition operation is immediately executed, and when the ignition operation is started, gas is generated, and then the parachute body can be opened through the gas generator.
In this embodiment, whether the aircraft is in an out-of-control falling state is determined according to the acquired current state data of the aircraft collected by the air-ground state sensor, the current altitude of the aircraft collected by the altitude sensor, the current acceleration of the aircraft collected by the acceleration sensor, the current attitude data of the aircraft collected by the gyroscope sensor and the current image of the aircraft collected by the vision sensor, the condition of the aircraft can be intelligently and rapidly identified through the data collected by the plurality of sensors, and if the fast judgment that the aircraft is in the out-of-control falling state is determined, an ignition command is immediately sent to the ignition trigger device, so that the ignition trigger device responds to the ignition command, and the umbrella body is opened through the gas generator. The parachute opening control of the whole parachute is automatically and quickly triggered, and the survival rate of the crash of the multi-rotor manned aircraft is effectively improved.
Fig. 6 is a flow chart of another parachute opening control method according to an embodiment of the present application, as shown in fig. 6, where determining whether the aircraft is in an uncontrolled-falling state according to the current state data, the current altitude, the current acceleration, the current posture data, and the current image in S102 may include:
S201, determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current height.
Optionally, if yes, that is, if the aircraft meets the condition of using the whole parachute at the current moment, the following S202 is executed, otherwise, the following S203 is executed.
S202, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current gesture data and the current image.
Specifically, a preset method can be used to determine whether the aircraft is in an uncontrolled drop condition at the current time based on the current acceleration, current attitude data, and current image of the aircraft.
S203, disabling the whole parachute.
Optionally, when the aircraft does not meet the condition of using the whole parachute at the current moment, the whole parachute cannot be opened at the moment, namely, the whole parachute is forbidden.
Optionally, the process of determining whether the aircraft is in the out-of-control falling state further comprises the steps of judging whether the aircraft is in the out-of-control falling state according to the current acceleration, the current gesture data and the current image, if so, determining whether the condition of using the whole parachute is met according to the current state data and the current height, and if the current aircraft is in the out-of-control falling state and meets the condition of using the whole parachute, sending an ignition instruction to an ignition device of the whole parachute by the falling detection unit.
Optionally, determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current altitude in S201 may include:
Optionally, whether the aircraft is in an air state can be determined according to the current state data, and if so, whether the aircraft meets the condition of using the whole parachute is determined according to the current altitude. If the aircraft is determined to be still in the ground state at the moment according to the current state, whether the condition of using the whole parachute is met or not is not required to be determined according to the current height, that is, when the aircraft is on the ground at the current moment, the whole parachute is not required to be used.
Optionally, the determining whether the aircraft is in the air state according to the current state data may include:
the current state data is acquired by an air-to-ground state sensor, wherein the air-to-ground state sensor can comprise a millimeter wave radar sensor, an ultrasonic radar sensor and an air pressure sensor, wherein the millimeter wave radar works in a millimeter wave frequency band, generally between 30GHz and 300GHz, has a wavelength between 1mm and 10mm, utilizes reflection of a signal by a target object to determine the position of the object by transmitting and receiving millimeter wave signals, has a detection distance of more than a few hundred meters, works in an ultrasonic frequency band, has a frequency of generally between 20kHz and 200kHz (also referred to as 20kHz and 100 kHz), and measures a distance by transmitting ultrasonic pulses and receiving echoes reflected by the object, and has a detection distance of shorter, generally within a range of a few meters. The barometric pressure sensor may collect changes in the barometric pressure of the environment surrounding the aircraft. The millimeter wave radar can collect the current first distance between the aircraft and the ground, the ultrasonic radar can collect the current second distance between the aircraft and the ground, and the air pressure sensor can collect the current air pressure around the aircraft.
Optionally, if the current first distance is greater than the first distance threshold and the current second distance is greater than the second distance threshold and the current air pressure is greater than the air pressure threshold, determining that the aircraft is in an airborne state at the current time. Wherein the first distance threshold is greater than the second distance threshold.
Optionally, determining whether the aircraft meets the condition of using the whole parachute according to the current altitude may include:
If the current height of the aircraft acquired by the height sensor is greater than the height threshold value, determining that the aircraft meets the condition of using the whole parachute at the current moment. Wherein the height threshold is greater than the first distance threshold and the second distance threshold.
Fig. 7 is a flowchart of another parachute opening control method according to an embodiment of the present application, as shown in fig. 7, where determining whether the aircraft is in an uncontrolled-falling state according to the current acceleration, the current gesture data, and the current image in S202 may include:
s301, determining whether the descending speed of the aircraft exceeds a speed threshold value according to the current acceleration.
In particular, it may be determined whether the descent speed of the aircraft at the current moment exceeds a speed threshold value using a preset method according to the current acceleration.
S302, determining whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data.
The current attitude data may include a current elevation angle and a current roll angle of the aircraft, and the attitude threshold may include an elevation angle threshold and a roll angle threshold. In particular, it may be determined whether the current elevation angle is greater than an elevation angle threshold and whether the roll angle is greater than a roll angle threshold.
Optionally, if the current transverse elevation angle is greater than the transverse elevation angle threshold value and the transverse roll angle is greater than the transverse roll angle threshold value, determining that the current attitude of the aircraft at the current moment is greater than the attitude threshold value, otherwise, determining that the current attitude of the aircraft at the current moment is less than or equal to the attitude threshold value, and specifically, if the current transverse elevation angle is not greater than the transverse elevation angle threshold value and/or the transverse roll angle is not greater than the transverse roll angle threshold value, determining that the current attitude of the aircraft at the current moment is less than or equal to the attitude threshold value.
S303, determining whether the aircraft has rotor wing faults according to the current image.
Specifically, the method can perform recognition analysis processing on the current image to obtain image information in the current image, and determine whether the rotor wing fault of the aircraft occurs at the current moment according to the image information.
S304, if the descending speed of the aircraft exceeds a speed threshold, or the current attitude of the aircraft is greater than an attitude threshold, or the aircraft has a rotor fault, determining that the aircraft is in an out-of-control falling state.
The method comprises the steps of determining that an aircraft is in an out-of-control falling state if the descending speed of the aircraft at the current moment exceeds a speed threshold value, determining that the aircraft is in the out-of-control falling state if the current posture of the aircraft at the current moment is greater than a posture threshold value, and determining that the aircraft is in the out-of-control falling state if the aircraft has a rotor wing fault at the current moment.
Optionally, determining whether the descent speed of the aircraft exceeds the speed threshold according to the current acceleration in S301 may include:
Alternatively, the current speed of the aircraft and whether the aircraft is in a descent state may be determined from the current acceleration. Specifically, if the current acceleration is a negative value, it may be determined that the aircraft is in a descent state at the current time, and the current speed of the aircraft is calculated according to the current acceleration, so as to determine whether the current speed is greater than a speed threshold.
Alternatively, if the aircraft is in a descent state and the current speed of the aircraft exceeds the speed threshold, it may be determined that the descent speed of the aircraft at the current time exceeds the speed threshold. Otherwise, the descent speed of the aircraft does not exceed the speed threshold.
Optionally, the determining whether the rotor fault occurs in the aircraft according to the current image in S303 may include:
The current image may include an image of each rotor on the aircraft at the current time. For example, an aircraft comprises four rotors, then the current image may comprise current image 1 of rotor 1, current image 2 of rotor 2, current image 3 of rotor 3, and current image 4 of rotor 4.
Optionally, performing image recognition analysis processing on the images of each rotor to obtain an image analysis result of each rotor on the aircraft, wherein the analysis result of each rotor can be used for indicating whether each rotor fails.
Optionally, if there is a failed rotor, determining that the aircraft is failed.
For example, the current image 1, the current image 2, the current image 3 and the current image 4 may be respectively identified and analyzed to obtain an image analysis result 1 of the rotor 1, an image analysis result 2 of the rotor 2, an image analysis result 3 of the rotor 3 and an image analysis result 4 of the rotor 4, and if there is a rotor with a fault, that is, the image analysis result 1 indicates that the rotor 1 has a fault, or the image analysis result 2 indicates that the rotor 2 has a fault, or the image analysis result 3 indicates that the rotor 3 has a fault, or the image analysis result 4 indicates that the rotor 4 has a fault, it may be determined that the aircraft has a rotor fault.
The embodiment of the application also provides an aircraft, which can comprise a falling detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor and a complete machine parachute, wherein the complete machine parachute comprises an ignition trigger device, a gas generator and a parachute body;
The falling detection unit is used for executing the steps of the parachute opening control method of the parachute in the specific embodiment so as to realize the parachute opening control of the parachute body.
Fig. 8 is a schematic diagram of an umbrella opening control device according to an embodiment of the present application, as shown in fig. 8, the device includes:
An acquisition module 401 for acquiring current state data of an aircraft acquired by an air-ground state sensor, a current altitude of the aircraft acquired by an altitude sensor, a current acceleration of the aircraft acquired by an acceleration sensor, current attitude data of the aircraft acquired by a gyro sensor, and a current image of the aircraft acquired by a vision sensor;
a determining module 402, configured to determine whether the aircraft is in an uncontrolled-falling state according to the current state data, the current altitude, the current acceleration, the current pose data, and the current image;
and the sending module 403 is configured to send an ignition instruction to the ignition trigger device if the ignition trigger device is in the first position, so that the ignition trigger device responds to the ignition instruction, and the umbrella body is opened by the gas generator.
Optionally, the determining module 402 is specifically configured to:
Determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current height;
if yes, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current gesture data and the current image.
Optionally, the determining module 402 is specifically configured to:
Determining whether the aircraft is in an air state according to the current state data;
if yes, determining whether the aircraft meets the condition of using the whole parachute according to the current height.
Optionally, the determining module 402 is specifically configured to:
and if the current first distance is greater than a first distance threshold value, the current second distance is greater than a second distance threshold value, and the current air pressure is greater than an air pressure threshold value, determining that the aircraft is in an air state.
Optionally, the determining module 402 is specifically configured to:
And if the current height is larger than a height threshold value, determining that the aircraft meets the condition of using the whole parachute.
Optionally, the determining module 402 is specifically configured to:
determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;
determining whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;
determining whether a rotor wing fault occurs to the aircraft according to the current image;
And if the descending speed of the aircraft exceeds a speed threshold value, or the current attitude of the aircraft is greater than an attitude threshold value, or the aircraft has a rotor wing fault, determining that the aircraft is in an out-of-control falling state.
Optionally, the determined module 402 is specifically configured to:
determining a current speed of the aircraft and whether the aircraft is in a descent state according to the current acceleration;
if the aircraft is in a descent state and the current speed of the aircraft exceeds the speed threshold, determining that the descent speed of the aircraft exceeds the speed threshold.
Optionally, the current image includes an image of each rotor on the aircraft;
The determining module 402 is specifically configured to:
Performing image recognition analysis processing on the images of all the rotors to obtain image analysis results of all the rotors on the aircraft, wherein the image analysis results of all the rotors are used for indicating whether the rotors have faults or not;
if the rotor with faults exists, determining that the rotor of the aircraft has faults.
The embodiment of the application also provides an aircraft, which comprises a falling detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor and a complete machine parachute, wherein the complete machine parachute comprises an ignition trigger device, a gas generator and a parachute body;
The falling detection unit is used for executing the steps of the parachute opening control method of the parachute in the first aspect so as to realize the parachute opening control of the parachute body.
Fig. 9 is a block diagram of an electronic device 500 according to an embodiment of the present application, which may be, for example, the parachute opening control of the parachute described in the foregoing embodiment. As shown in fig. 9, the electronic device may include a processor 501, a memory 502.
Optionally, a bus 503 may be further included, where the memory 502 is configured to store machine readable instructions executable by the processor 501, where the processor 501 communicates with the memory 502 storage via the bus 503 when the electronic device 500 is running, where the machine readable instructions are executed by the processor 501 to perform the method steps in the method embodiments described above.
The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to execute the method steps in the parachute opening control method embodiment of the parachute.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, and are not repeated in the present disclosure. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application.
Claims (11)
1. The parachute opening control method is characterized by being applied to a falling detection unit in an aircraft, wherein the aircraft comprises the falling detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor and a complete machine parachute, the complete machine parachute comprises an ignition trigger device, a gas generator and a parachute body, and the method comprises the following steps:
Acquiring current state data of an aircraft acquired by an air-ground state sensor, a current altitude of the aircraft acquired by an altitude sensor, a current acceleration of the aircraft acquired by an acceleration sensor, current attitude data of the aircraft acquired by a gyroscope sensor, and a current image of the aircraft acquired by a vision sensor;
determining whether the aircraft is in an out-of-control falling state according to the current state data, the current height, the current acceleration, the current gesture data and the current image;
If yes, sending an ignition instruction to the ignition trigger device, so that the ignition trigger device responds to the ignition instruction, and opening the umbrella body through the gas generator.
2. The parachute opening control method according to claim 1, wherein the determining whether the aircraft is in an uncontrolled-falling state based on the current state data, the current altitude, the current acceleration, the current attitude data, and the current image comprises:
Determining whether the aircraft meets the condition of using the whole parachute according to the current state data and the current height;
If yes, determining whether the aircraft is in an out-of-control falling state according to the current acceleration, the current gesture data and the current image, and if not, disabling the whole parachute.
3. The parachute opening control method of the parachute according to claim 2, wherein the determining whether the aircraft satisfies a condition of using the complete machine parachute according to the current state data and the current altitude comprises:
Determining whether the aircraft is in an air state according to the current state data;
if yes, determining whether the aircraft meets the condition of using the whole parachute according to the current height.
4. The parachute opening control method of the parachute according to claim 3, wherein the current state data includes a current first distance from the ground of the vehicle collected by a millimeter wave radar on the vehicle, a current second distance from the ground of the vehicle collected by an ultrasonic radar on the vehicle, and a current air pressure of the vehicle collected by an air pressure gauge on the vehicle;
the determining whether the aircraft is in an air state according to the current state data comprises:
and if the current first distance is greater than a first distance threshold value, the current second distance is greater than a second distance threshold value, and the current air pressure is greater than an air pressure threshold value, determining that the aircraft is in an air state.
5. A parachute opening control method according to claim 3, wherein the determining whether the aircraft satisfies a condition of using the whole parachute according to the current altitude comprises:
And if the current height is larger than a height threshold value, determining that the aircraft meets the condition of using the whole parachute.
6. The parachute opening control method according to claim 2, wherein the determining whether the aircraft is in an uncontrolled-falling state based on the current acceleration, the current attitude data, and the current image comprises:
determining whether the descent speed of the aircraft exceeds a speed threshold according to the current acceleration;
determining whether the current attitude of the aircraft is greater than an attitude threshold according to the current attitude data;
determining whether a rotor wing fault occurs to the aircraft according to the current image;
And if the descending speed of the aircraft exceeds a speed threshold value, or the current attitude of the aircraft is greater than an attitude threshold value, or the aircraft has a rotor wing fault, determining that the aircraft is in an out-of-control falling state.
7. The parachute opening control method of the parachute according to claim 6, wherein the determining whether the descent speed of the aircraft exceeds a speed threshold value according to the current acceleration comprises:
determining a current speed of the aircraft and whether the aircraft is in a descent state according to the current acceleration;
if the aircraft is in a descent state and the current speed of the aircraft exceeds the speed threshold, determining that the descent speed of the aircraft exceeds the speed threshold.
8. The parachute opening control method of the parachute according to claim 6, wherein the current image includes an image of each rotor on the aircraft;
The determining whether the aircraft has a rotor fault according to the current image comprises the following steps:
Performing image recognition analysis processing on the images of all the rotors to obtain image analysis results of all the rotors on the aircraft, wherein the image analysis results of all the rotors are used for indicating whether the rotors have faults or not;
if the rotor with faults exists, determining that the rotor of the aircraft has faults.
9. The aircraft is characterized by comprising a falling detection unit, an air-ground state sensor, a height sensor, an acceleration sensor, a gyroscope sensor, a vision sensor and a complete machine parachute, wherein the complete machine parachute comprises an ignition trigger device, a gas generator and a parachute body;
the fall detection unit is used for executing the steps of the parachute opening control method of the parachute according to any one of claims 1-8 to realize the parachute opening control of the parachute body.
10. An electronic device comprising a memory and a processor, the memory storing a computer program executable by the processor, the processor implementing the steps of the parachute opening control method of the parachute of any one of claims 1-8 when the computer program is executed.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the parachute opening control method of the parachute according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411999108.6A CN119568414A (en) | 2024-12-31 | 2024-12-31 | Parachute opening control method, aircraft, electronic device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411999108.6A CN119568414A (en) | 2024-12-31 | 2024-12-31 | Parachute opening control method, aircraft, electronic device and storage medium |
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| CN119568414A true CN119568414A (en) | 2025-03-07 |
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| CN202411999108.6A Pending CN119568414A (en) | 2024-12-31 | 2024-12-31 | Parachute opening control method, aircraft, electronic device and storage medium |
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| Country | Link |
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| CN (1) | CN119568414A (en) |
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