CN111542793A

CN111542793A - Unmanned aerial vehicle parachute landing method and system

Info

Publication number: CN111542793A
Application number: CN201980006750.0A
Authority: CN
Inventors: 施龙顺; 杨傅凯; 郑宜峰; 王荻扬; 廖建薰
Original assignee: Geosat Aerospace and Technology Inc
Current assignee: Geosat Aerospace and Technology Inc
Priority date: 2018-01-08
Filing date: 2019-01-08
Publication date: 2020-08-14
Anticipated expiration: 2039-01-08
Also published as: JP7242682B2; PH12020500581A1; CN111542793B; WO2019134714A1; JP2021509875A; JP2023065537A

Abstract

The invention relates to a method and a system for parachute landing of an Unmanned Aerial Vehicle (UAV) are disclosed. A system for parachute landing of an unmanned aerial vehicle may include a detector configured to detect a flight speed, wind speed, position, altitude, or voltage of the UAV. The system may also include a memory storing instructions. The system may further include a processor configured to execute the instructions to determine whether to open a parachute of the UAV based on a criterion; stopping a motor of the UAV that rotates a propeller of the UAV as determined to open the UAV parachute; and opening a parachute of the UAV after stopping the motor of the UAV for a period of time.

Description

Unmanned aerial vehicle parachute landing method and system

Technical Field

The invention relates to an Unmanned Aerial Vehicle (UAV), in particular to a UAV parachute landing method and a system.

Background

Conventional UAVs may land on wheels or belly. The wheels may add weight to the UAV and may be detrimental to the components of the UAV for long flights. Ventral landing may require additional protection of the UAV abdomen, which also increases the weight of the UAV. However, when the UAV is intended to fly for a long period of time, the weight of the UAV may become one of the critical requirements. It is therefore desirable to provide a new landing method and system for UAVs that is safe and does not have much extra weight.

A conventional Ground Control System (GCS) may monitor the state of the UAV and may control the UAV to perform tasks such as taking aerial pictures over an area of interest. However, this still relies on the user to control the UAV according to his experience and training. When UAVs are deployed in different applications, users of these UAVs may need to be trained differently and have different experience. For example, accurate and easy to operate landing methods and systems may be advantageous methods when a user may plan to land a UAV in an open location. For safe flight and easy landing, it is desirable to have a GCS that is convenient to use.

Disclosure of Invention

Particular embodiments of the present invention provide improved methods and systems for core memory management and user space in a computer, device or system.

These particular embodiments include a system for UAV parachute descent that may include a detector configured to detect a flight speed, wind speed, position, altitude, or voltage of the UAV. The system may further include a memory storing instructions for the UAV parachute to land. The system may further include a processor configured to execute the instructions to determine whether to open a parachute of the UAV based on a criterion. The processor of the system may also be configured to stop the UAV's propeller rotation at the UAV's motor as a decision to open the UAV parachute. The processor of the system may also be configured to open a parachute of the UAV after stopping a motor of the UAV for a period of time.

These particular embodiments also include methods for UAV parachute descent. The method may include deciding whether to open a parachute of the UAV based on criteria. The method may also include, following the determination to open the UAV parachute, stopping a motor of the UAV that rotates a propeller of the UAV. The method further includes opening a parachute of the UAV after stopping a motor of the UAV for a period of time.

Moreover, these particular embodiments include a non-transitory computer-readable medium storing instructions executable by one or more processors of an apparatus to perform a method for UAV parachute descent. The system may include a parachute that decides whether to open the UAV based on criteria. The method may also include, following the determination to open the UAV parachute, stopping a motor of the UAV that rotates a propeller of the UAV. The method further includes opening a parachute of the UAV after stopping a motor of the UAV for a period of time.

It should be understood that the foregoing summary of the invention and the following detailed description are exemplary and not restrictive.

Drawings

Reference will now be made to the accompanying drawings that show exemplary embodiments of the invention. In the drawings:

fig. 1 is a schematic diagram of an example UAV and an example GCS and an example remote control for controlling the UAV, in accordance with some demonstrative embodiments of the invention.

Fig. 2 is a schematic diagram of an example UAV according to some demonstrative embodiments of the invention.

Figure 3 is a schematic diagram of an example method for UAV parachute descent in accordance with some demonstrative embodiments of the invention.

Fig. 4 is an exemplary integrated unit schematic diagram of a Flight Control Computer (FCC), Attitude and Heading Reference System (AHRS), and communication unit for controlling a UAV in accordance with some demonstrative embodiments of the invention.

Fig. 5 is a block diagram of an exemplary GCS according to some demonstrative embodiments of the invention.

Figure 6 is a schematic diagram of an example method for UAV parachute descent in accordance with some demonstrative embodiments of the invention.

Figure 7 is a schematic diagram of an example user interface for a GCS for a UAV according to some demonstrative embodiments of the invention.

Figure 8 is an exemplary user interface diagram of a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 9 is a schematic diagram of an example user interface for a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 10 is a schematic diagram of an example user interface for a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 11 is a schematic diagram of an example user interface for a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 12 is a schematic diagram of an example user interface for a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 13 is an exemplary user interface diagram of a GCS for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention.

Figure 14 is a schematic diagram of an exemplary user interface of a GCS for setting a waypoint or touchdown point in accordance with some embodiments of the invention.

Figure 15 is a schematic diagram of an exemplary user interface of a GCS for setting a waypoint and a touchdown point in accordance with some demonstrative embodiments of the invention.

List of reference numerals

100 unmanned plane

110 body

120 integrated unit

122 flight control computer

123 detector

124 attitude and heading reference system

125 communication unit

126 aerial

130 propeller

140 load

150 motor

160 parachute

171. 172 wing

173. 174 aileron

500 ground control system

510 memory

520 processor

530 storage facility

540I/O interface

550 communication unit

560 antenna

600 method

650 communication unit

700 remote controller

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like numerals refer to the same or similar elements throughout the different views unless otherwise specified. The implementations set forth in the following description of example specific embodiments are not intended to represent all implementations configured as the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as set forth in the claims below.

Fig. 1 is a schematic diagram of an example UAV100 and an example GCS500 and an example remote controller 700 for controlling UAV100, in accordance with some demonstrative embodiments of the invention. After UAV100 successfully launches, the user may control UAV100 through GCS500 or remote control 700. The GCS500 may run on a desktop computer, laptop computer, tablet, or smartphone. The user may enter commands on GCS500 to control or set parameters on UAV 100. After receiving the instruction, GCS500 may send a signal to UAV100 via communications unit 650.

A user may manually control UAV100 using remote control 700, e.g., the user may enter commands on remote control 700 to control or set parameters on UAV 100. Upon receiving the instruction, controller 700 may send a signal to UAV100 via the communications unit.

Figure 2 is a schematic diagram of an example UAV100 in accordance with some demonstrative embodiments of the invention. UAV100 includes a body 110, a pair of

wings

171 and 172, a pair of

ailerons

173 and 174, an integrated unit 120, a load 140, a parachute 160, a motor 150, and a propeller 130. The load 140 may be a camera, a Light Detection And Ranging (LiDAR) sensor, a Digital Elevation Model (DEM) sensor, a post-DSM sensor, or a thermal imaging sensor.

Figure 3 is a schematic diagram of an example method for UAV parachute descent in accordance with some demonstrative embodiments of the invention. For example, when UAV100 completes a flight mission, UAV100 may fly to a set drop point and open a parachute of UAV100 to descend.

Fig. 4 is a schematic diagram illustrating an integrated unit 120. As shown in fig. 4, according to some embodiments of the invention, integrated unit 120 includes a Flight Control Computer (FCC) 122 for controlling UAV100, an Attitude and Heading Reference System (AHRS) 124, a communication unit 125, and an antenna 126. AHRS 124 includes detector 123.

The FCC122 may include a processor and memory storing instructions. FCC122 may be configured to control the flight direction of UAV100, such as: FCC122 may be configured to control motor 150 to accelerate or decelerate UAV 100. FCC122 may also be configured to control

ailerons

173 and 174 to pitch, roll, or yaw UAV 100.

AHRS 124 may include sensors on three axes that provide UAV100 with attitude information, including roll, pitch, and yaw. These sensors may also be referred to as Magnetic, Angular Rate, and Gravity (MARG) sensors and include solid state or Micro Electro Mechanical Systems (MEMS) gyroscopes, accelerometers, and magnetometers. As shown in fig. 4, the detector 123 includes one or more of these sensors. AHRS 124 may include an onboard processing system that provides attitude and heading information. In some particular embodiments, AHRS 124 may provide attitude determination for UAV100, and may also form an inertial navigation system portion of UAV 100.

The communication unit 125 may include a modem for transceiving radio frequency signals through the antenna 126 and communicating with the GCS500 or the remote controller 700.

Fig. 5 is a block diagram of an exemplary GCS500 according to some demonstrative embodiments of the invention. The GCS500 includes a memory 510, a processor 520, a storage 530, an I/O interface 540, a communication unit 550, and an antenna 560. One or more of these units, which may include GCS500, are used to ground control UAV 100. The units may be configured to transmit data and transmit or receive instructions between the units.

Processor 520 includes any suitable type of general or special purpose microprocessor, digital signal processor, or microcontroller. Processor 520 may be one of the processors within a computer. Memory 510 and storage 530 may comprise any suitable type of mass storage device provided to store any type of information that processor 520 may need to operate. The memory 510 and storage 530 may be volatile or non-volatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other types of storage devices or tangible (e.g., non-transitory) computer-readable media, including but not limited to: read-only Memory (ROM), flash Memory, dynamic-access Memory (RAM), and static RAM. Memory 510 and/or storage device 530 may be configured to store one or more programs for execution by processor 520 to control UAV100, as disclosed herein.

Memory 510 and/or storage device 530 may be further configured to store information and data used by processor 520. For example, memory 510 and/or storage 530 may be configured to store location information for a back-waypoint, a drop-off point, a previous route, a previous task, a photograph, and a photo-related photo.

I/O interface 540 may be configured to facilitate communication between GCS500 and other devices, e.g., I/O interface 540 may receive signals from other devices (e.g., computers), including the system configuration of GCS 500. The I/O interface 540 may also output data for flight routes and photographs.

The communication unit 550 may include one or more cellular communication modules, including, for example, IEEE 802.11, a fifth generation (5G) radio System, Long-Term Evolution (LTE), High Speed Packet Access (HSPA), Wideband Code Division Multiple Access (WCDMA), and/or Global System for Mobile (GSM) communication modules. GCS500 may communicate with UAV100 via communications unit 550 and antenna 560. The communication unit 550 may also include a Global Positioning System (GPS) receiver. The GCS500 may receive the positioning information through the GPS receiver of the communication unit 550.

Figure 6 is a schematic diagram of an example method for UAV parachute descent in accordance with some demonstrative embodiments of the invention. Method 600 may be performed by, for example, FCC122 of UAV 100. The processor of the FCC122 may be configured to execute instructions to perform the method 600, as described below. Method 600 includes deciding whether to open a parachute of the UAV based on criteria (step 620), stopping a motor of the UAV that rotates a propeller of the UAV (step 640), braking the propeller of the UAV (step 660) as a decision to open the UAV parachute, and opening the parachute of the UAV after stopping the motor of the UAV for a period of time (step 680).

Step 620 includes deciding whether to open the parachute of the UAV based on criteria. For example, FCC122 may be configured to decide to open parachute 160 of UAV100 when the criteria are met.

The standard may include UAV100 receiving a signal from GCS500 to open parachute 160. For example, a user may enter a command on GCS500 to open parachute 160 of UAV 100. After GCS500 receives the instruction, GCS500 is configured to transmit a signal to UAV100 via communications unit 550 to open parachute 160. FCC122 may be configured to decide to open parachute 160 of UAV100 when receiving a signal from GCS500 to open parachute 160.

Alternatively, the criteria may include UAV100 receiving a signal from remote control 700 to open parachute 160. For example, a user may enter a command on remote control 700 to open parachute 160 of UAV 100. After remote control 700 receives the instruction, remote control 700 is configured to transmit a signal to UAV100 to open parachute 160 through a communication unit of remote control 700. FCC122 may be configured to decide to open parachute 160 of UAV100 when receiving a signal from remote control 700 to open parachute 160.

In some embodiments, the criteria may include arrival of UAV100 at a location. For example, after completing a flight mission, UAV100 flies to a set drop point. After UAV100 reaches the set drop point, FCC122 may be configured to decide to open parachute 160 of UAV 100. As yet another example, the FCC may be configured to determine that UAV100 has flown to the touchdown point when it detects that UAV100 arrives within 5 meters of the touchdown point. Accordingly, FCC122 may be configured to decide to open parachute 160 of UAV 100. The landing point may be set by GCS500 prior to takeoff of UAV 100. In some embodiments, the landing point may be a landing point set by GCS500 after takeoff of UAV 100. For example, the GCS500 may transmit the new drop point to the UAV100 via the communication unit 125.

After completing the flight mission, UAV100 may also fly back to the set point of return flight when the landing point is not set. After UAV100 reaches the set point of return, FCC122 may be configured to decide to open parachute 160 of UAV 100. The above-mentioned return points may be set by the GCS500 prior to takeoff of the UAV 100. In some embodiments, the aforementioned return point may be a return point set by the GCS500 after takeoff of the UAV 100. For example, the GCS500 may transmit the new point of return to the UAV100 via the communication unit 125.

In some embodiments, the criteria may include the UAV being at a low voltage, e.g., the FCC122 may be configured to detect that the battery of the UAV100 is at a low voltage, e.g., 10.8 volts, while the battery should have a voltage of about 13.2 volts. After the FCC detects that the battery of UAV100 is at a low voltage, FCC122 may be configured to decide to open parachute 160 of UAV 100.

Alternatively, the criteria may include UAV100 not receiving Global Positioning System (GPS) signals for a period of time, e.g., FCC122 may be configured to decide to open parachute 160 of UAV100 when FCC122 is configured to receive GPS signals from communication unit 125, but does not receive GPS signals for more than four seconds.

The criteria may further include UAV100 not receiving the data link signal from GCS500 for a period of time, e.g., FCC122 may be configured to decide to open parachute 160 of UAV100 when FCC122 is configured to receive the data link signal from GCS500 but not receive the data link signal for more than one minute. As yet another example, when the FCC122 is configured to receive a data link signal from the GCS500, but does not receive the data link signal for more than one minute, the FCC122 may be configured to fly back to a set point of return or a set point of drop and wait for the data link to recover. In this case, if the data link is continuously interrupted, FCC122 may be configured to switch to a parachute mode that stops the motor and opens parachute 160 of UAV100 when the motor is completely stopped.

In some particular embodiments, the criteria may include a stall of UAV100, and if FCC122 is unable to correct the stall of UAV100 and is unable to resume normal flight within a predetermined period of time, the altitude of UAV100 decreases to a critical altitude, e.g., when FCC122 is configured to detect a stall where the altitude of UAV100 drops to an altitude of 35 meters within a predetermined period of time, FCC122 may be configured to switch to an emergency descent mode to stop the motor and open parachute 160 when the motor is completely stopped. The critical height may be within a predetermined height range. For example, the critical height may be in the range of 5 meters above or below the predetermined height of 35 meters.

Alternatively, the criteria may include UAV100 flying around an unexpected area or UAV100 being undesirably confined in an area for a predetermined time, e.g., FCC122 may detect UAV100 flying around an unexpected area for more than two minutes, or UAV100 being confined to an obstacle. To avoid damage to UAV100 and third party assets and personnel safety, FCC122 may be configured to switch to an emergency descent mode that stops the motor and opens parachute 160 of UAV100 when the motor is completely stopped.

Step 640 includes stopping the UAV's motor that rotates the UAV's propeller as determined by the opening of the UAV parachute, e.g., FCC122 may be configured to stop motor 150 that rotates the propeller of UAV 100. As yet another example, FCC122 may be configured to stop motor 150 rotating propeller 130 of UAV100 when UAV100 is flying upwind. In some particular embodiments, FCC122 may be configured to lower the altitude of UAV100 to an altitude of 35 meters before stopping motor 150 of UAV 100.

Step 660 includes braking the propeller of UAV, e.g., FCC122 may be configured to brake propeller 130 of UAV100 using motor 150 of UAV 100.

Step 680 includes opening the parachute of the UAV after stopping the motor of the UAV for a first period, e.g., FCC122 may be configured to open parachute 160 of UAV100 after motor 150 stops for one second. As another example, FCC122 may be configured to open parachute 160 of UAV100 0.5 seconds after motor 150 stops.

In some embodiments, the size of the UAV parachute is related to the UAV weight, e.g., parachute 160 size of UAV100 may be related to the weight of UAV 100.

The present invention is also directed to a system for UAV parachute descent, which may include, for example, the FCC122, the AHRS 124, or the integrated unit 120 containing the FCC122, the AHRS 124, the communication unit 125, and the antenna 126. The detector 123 of the AHRS 124 may be configured to detect the acceleration of the UAV. The system may further include a memory storing instructions, e.g., the FCC122 memory may be configured to store instructions for the UAV parachute landing method 600. The system may further include a processor configured to execute the instructions to: stopping a motor of the UAV that rotates a propeller of the UAV, and opening a parachute of the UAV after stopping the motor of the UAV for a period of time, as determined by opening the UAV parachute. For example, FCC122 of the system may be configured to execute instructions to decide whether to open parachute 160 of UAV100 based on criteria; following a decision to open parachute 160 of UAV100, motor 150 of UAV100 to rotate propeller 130 of UAV100 is stopped; parachute 160 of UAV100 is then opened after motor 150 of UAV100 is stopped for a period of time.

Another aspect of the invention is directed to a non-transitory computer readable medium storing a set of instructions executable by one or more processors of an apparatus to cause the apparatus to perform a method for UAV parachute descent, as described above. The computer readable medium may include volatile or non-volatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other computer readable medium or computer readable storage device. For example: the computer readable medium can be a storage device or memory module in which the computer instructions are stored, as disclosed. In some embodiments, the computer readable medium may be an optical disk or a removable disk having the computer instructions stored therein.

Fig. 7 is a schematic diagram of an example User Interface (UI) of a GCS500 for UAV100 in accordance with some demonstrative embodiments of the invention. Prior to landing UAV100, the user may utilize a single click "check before flight" small icon to perform a check before flight, as shown in fig. 7.

Figure 8 is an exemplary user interface diagram of a GCS500 for flight inspection prior to launching UAV100, according to some demonstrative embodiments of the invention. For example, after the user single clicks the "check before flight" small icon, the GCS500 may prompt a check before flight UI for checking the status of the parachute 160, as shown in fig. 8. GCS500 may query FCC122 of UAV100 for the status of parachute 160 and obtain the status of parachute 160 after FCC122 detection and reporting. In some embodiments, the user may follow the UI instructions to check the status of the parachute 160.

Figure 9 is an exemplary user interface diagram of a GCS500 for flight inspection prior to launching UAV100, in accordance with some demonstrative embodiments of the invention. For example, after the user single clicks on the "check before flight" small icon, the GCS500 may prompt a check before flight UI for checking the status of the load 140 (i.e., camera), as shown in fig. 9. The GCS500 may query the FCC122 for the status of the camera and obtain the status of the camera after FCC122 detection and reporting. In some embodiments, the user may follow UI instructions to check the state of the camera.

Figure 10 is a schematic diagram of an example user interface of a GCS500 for flight inspection prior to launching UAV100, in accordance with some demonstrative embodiments of the invention. For example, after the user single clicks on the "check before flight" small icon, the GCS500 may prompt a check before flight UI for checking the battery status of the UAV100, as shown in fig. 10. The GCS500 may query the FCC122 for the battery status of the UAV100 and obtain the battery status of the UAV100 after FCC122 detection and reporting. In some embodiments, the user may follow the UI instructions to check the battery status of UAV 100.

Figure 11 is a schematic diagram of an example user interface of a GCS500 for flight inspection prior to launching UAV100, in accordance with some demonstrative embodiments of the invention. For example, after the user single clicks on the "check before flight" small icon, the GCS500 may prompt a check before flight UI for checking the structural state of the UAV100, as shown in fig. 11. The GCS500 may query the FCC122 for the structural status of the UAV100 and obtain the structural status of the UAV100 after FCC122 detection and reporting. In some embodiments, the user may follow UI instructions to check the structural state of UAV 100.

Figure 12 is a schematic diagram of an example user interface of a GCS500 for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention. For example, after the user single clicks on the "check before flight" small icon, the GCS500 may prompt a check before flight UI for checking the status of the

ailerons

172 and 174 of the UAV100, as shown in fig. 12. The GCS500 may query the FCC122 for the

ailerons

172 and 174 status of the UAV100 and obtain the

aileron

172 and 174 status of the UAV100 after FCC122 detection and reporting. In some particular embodiments, the user may follow UI instructions to check the

aileron

172 and 174 status of UAV 100.

Figure 13 is a schematic diagram of an example user interface of a GCS500 for flight inspection prior to launching a UAV in accordance with some demonstrative embodiments of the invention. For example, after the user single clicks on the "check before flight" small icon, the GCS500 may prompt a check before flight UI for displaying the status of the UAV100, as shown in fig. 13. GCS500 may display whether the data link is operational, whether the sensors are operational, whether the voltage of UAV100 is at a reasonable voltage, whether the recorder on UAV100 is operational, whether the GPS receiver on UAV100 is operational, whether GCS500 is operational, and whether a return point has been set via a set of light icons 1400. The user may learn the status of these components of UAV100 in a quick and easy manner prior to launch. When all of the light icons 1300 are lit, UAV100 is ready to launch.

Figure 14 is a schematic diagram of an exemplary user interface of a GCS for setting a waypoint or touchdown point in accordance with some embodiments of the invention. For example, the user may single click on the "waypoint" small icon in preparation for selecting a waypoint, as shown in FIG. 14. The user may view the map display on the UI and double click on a dot to set the point of return for UAV 100. The user may also single click on the "drop point" small icon in preparation for selecting a drop point, as shown in FIG. 14. The user may view the map display on the UI and double click a point to set the drop point for UAV100, as shown in fig. 14.

Figure 15 is a schematic diagram of an exemplary user interface of a GCS500 for setting a waypoint and a touchdown point in accordance with some demonstrative embodiments of the invention. Similar to the example of FIG. 14 above, the user may select a return point or a drop point after setting the flight mission area.

In some embodiments, a user may single click on parachute mini icon 1520, as shown in fig. 15, to command UAV100 to immediately open parachute 160 for descent. GCS500 may transmit a signal to open the parachute of UAV 100. FCC122 may thus be configured to open parachute 160 of UAV 100.

It is to be understood that the invention is not limited to the precise construction herein before described and illustrated in the accompanying drawings and that various modifications and changes may be made without departing from the scope of the invention. It is intended that the scope of the application be limited only by the claims that follow.

Claims

1. A method for an Unmanned Aerial Vehicle (UAV) parachute, the method comprising:

deciding whether to open a parachute of the UAV according to a criterion;

stopping a motor of the UAV that rotates a propeller of the UAV as determined by opening the UAV parachute; and

opening a parachute of the UAV after stopping a motor of the UAV for a first period of time.

2. The method of claim 1, wherein the criteria comprises:

the UAV receiving a first signal from a Ground Control System (GCS) to open the parachute;

the UAV receiving a second signal from a remote controller to open the parachute;

the UAV arriving at a first location;

the UAV is at a low voltage;

the UAV does not receive a Global Positioning System (GPS) signal during a second time period;

the UAV not receiving a data link signal from the GCS for a third period of time;

the UAV descending to a first elevation; or

The UAV flies around an area for a fourth period of time.

3. The method of claim 2, wherein the criterion that the UAV arrives at the first location is satisfied when the UAV flies to a second location within a distance from the first location.

4. The method of claim 2, wherein the criterion that the UAV descends to the first height is met when the UAV flies to a second height within a range of heights from the first height.

5. The method of claim 2, wherein the first location comprises:

a first drop point set by the GCS;

a second drop point set by the GCS after the UAV launch;

a first waypoint set by the GCS; or

A second return point set by the GCS after the UAV launch.

6. The method of claim 1, wherein stopping a motor of the UAV that rotates a propeller of the UAV further comprises:

braking a propeller of the UAV.

7. The method of claim 1, wherein stopping the motor of the UAV comprises stopping the motor of the UAV when the UAV is flying upwind.

8. The method of claim 1, wherein stopping a motor of the UAV that rotates a propeller of the UAV as determined to open the UAV parachute comprises:

lowering the height of the UAV to the first height; and

stopping the motor of the UAV.

9. The method of claim 1, wherein the parachute size of the UAV is related to the weight of the UAV.

10. A system for parachute landing of an Unmanned Aerial Vehicle (UAV), the system comprising:

a detector configured to detect a flight speed, wind speed, position, altitude, or voltage of the UAV;

the memory stores instructions;

a processor configured to execute the instructions to cause the system to:

determining whether to open a parachute of the UAV according to a criterion;

11. The system of claim 10, wherein the criteria comprises:

the UAV arriving at a first location;

the UAV is at a low voltage;

the UAV descending to a first elevation; or

The UAV flies around an area for a fourth period of time.

12. The system of claim 11, wherein the criterion that the UAV arrives at the first location is satisfied when the UAV flies to a second location within a distance from the first location.

13. The system of claim 11, wherein the criterion that the UAV descends to the first height is satisfied when the UAV flies to a second height within a range of heights from the first height.

14. The system of claim 11, wherein the first location comprises:

a first drop point set by the GCS;

a second drop point set by the GCS after the UAV launch;

a first waypoint set by the GCS; or

A second return point set by the GCS after the UAV launch.

15. The system of claim 10, wherein the processor is configured to execute the instructions to cause the system to:

braking a propeller of the UAV after stopping a motor of the UAV that rotates the propeller of the UAV.

16. The system of claim 10, wherein the processor is configured to execute the instructions to cause the system to stop a motor of the UAV when the UAV is flying upwind.

17. The system of claim 10, wherein with the determination to open the parachute of the UAV, the processor is further configured to execute the instructions to cause the system to:

lowering the height of the UAV to the first height before stopping a motor of the UAV that rotates a propeller of the UAV.

18. The system of claim 10, wherein the parachute size of the UAV is related to the weight of the UAV.

19. A non-transitory computer-readable medium storing a set of instructions executable by one or more processors of an apparatus to cause the apparatus to perform a method for an Unmanned Aerial Vehicle (UAV) parachute, the method comprising:

deciding whether to open a parachute of the UAV according to a criterion;