CN111542793B - Unmanned aerial vehicle parachute landing method and system - Google Patents

Abstract

A method and system for Unmanned Aerial Vehicle (UAV) parachute landing is disclosed. A system for unmanned aerial vehicle parachute landing may include a detector configured to detect a flight speed, wind speed, position, altitude, or voltage of a UAV. The system may also include a memory to store 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 criteria; stopping a motor of the UAV that rotates a propeller of the UAV, with 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.

Description

Unmanned aerial vehicle parachute landing method and system

Technical Field

The present application relates to unmanned aerial vehicles (UAV, unmanned aerial vehicle), and more particularly to UAV parachute landing methods and systems.

Background

Conventional UAVs may land by wheels or the ventral. Wheels may increase the weight of the UAV and may be detrimental to components of the UAV for long flights. Landing the belly may require additional protection to the belly of the UAV, which may also add weight to the UAV. However, when the UAV is intended to fly for long periods of time, the weight of the UAV may become one of the key requirements. It is therefore desirable to provide a new landing method and system for UAVs that is safe and does not have much additional weight.

A conventional ground control system (GCS, ground control system) may monitor the status of the UAV and may control the UAV to perform tasks such as taking an aerial photograph over an area of interest. However, this still relies on the user to control the UAV based on his experience and training. Users of these UAVs may need to receive different training and have different experience when they are used in different applications. For example, accurate and easy to operate landing methods and systems may be an advantageous method when a user may plan to land a UAV in an open position. For flight safety and ease of landing, there is a need for a GCS that is convenient to use.

Disclosure of Invention

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

These particular embodiments include a system for UAV parachute landing 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 landing. The system may further include a processor configured to execute the instructions to determine whether to open a parachute of the UAV based on criteria. The processor of the system may also be configured to stop the rotation of the propeller of the UAV on a determination of the UAV parachute as it is opened. 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 embodiments also include methods for UAV parachute landing. The method may include determining whether to open a parachute of the UAV based on criteria. The method may also include stopping a motor of the UAV that rotates a propeller of the UAV as a decision to open the UAV parachute. The method further includes opening a parachute of the UAV after stopping a motor of the UAV for a period of time.

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

It is to be understood that both the foregoing summary and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

Reference will now be made to the accompanying drawings that show exemplary embodiments of the application. 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 according to some embodiments of the application.

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

Fig. 3 is a schematic diagram of an example method for UAV parachute landing according to some embodiments of the present application.

FIG. 4 is a schematic diagram of an example integrated unit of a Flight Control Computer (FCC), attitude and Heading Reference System (AHRS), and a communications unit for controlling a UAV according to some embodiments of the application.

FIG. 5 is a block diagram of an exemplary GCS according to some embodiments of the present application.

Fig. 6 is a schematic diagram of an example method for UAV parachute landing according to some embodiments of the present application.

FIG. 7 is a schematic diagram of an example user interface for a GCS of a UAV according to some embodiments of the present application.

FIG. 8 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 9 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 10 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 11 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 12 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 13 is a schematic diagram of an example user interface of a GCS for flight inspection prior to launching a UAV according to some embodiments of the present application.

FIG. 14 is a schematic diagram of an exemplary user interface of a GCS for setting a return or landing point according to some embodiments of the present application.

FIG. 15 is a schematic diagram of an exemplary user interface of a GCS for setting a return point and a landing point according to some embodiments of the present application.

List of reference numerals

100. Unmanned plane

110. Body of machine

120. Integrated unit

122. Flight control computer

123. Detector for detecting a target object

124. Gesture and heading reference system

125. Communication unit

126. Antenna

130. Propeller propeller

140. Load(s)

150. Motor with a motor housing

160. Parachute

171. 172 wing

173. 174 aileron

500. Ground control system

510. Memory device

520. Processor and method for controlling the same

530. Storage device

540 I/O interface

550. Communication unit

560. Antenna

600. Method of

650. Communication unit

700. Remote controller

Detailed Description

Reference will now be made in detail to examples of the specific embodiments illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements, unless otherwise indicated. The implementations set forth in the following description of example embodiments do not represent all implementations configured as the application. Rather, it is merely exemplary of apparatus and methods consistent with aspects of the application as set forth in the following claims.

Fig. 1 is a schematic diagram of an example UAV 100 and an example GCS 500 and an example remote control 700 for controlling UAV 100, according to some embodiments of the application. After successful launch of UAV 100, the user may control UAV 100 through GCS 500 or remote control 700. The GCS 500 can run on a desktop computer, laptop computer, tablet, or smart phone. A user may enter instructions on GCS 500 to control or set parameters on UAV 100. Upon receiving the instruction, GCS 500 may send a signal to UAV 100 through communications unit 650.

A user may manually control UAV 100 using remote control 700, for example, a user may input instructions on remote control 700 to control or set parameters on UAV 100. After receiving the instruction, controller 700 may send a signal to UAV 100 via the communication unit.

Fig. 2 is a schematic diagram of an example UAV 100 according to some demonstrative embodiments of the application. UAV 100 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 metering and ranging (LiDAR, light Detection And Ranging) sensor, an instant digital elevation model (DEM, digital Elevation Model) sensor, a post-production DSM sensor, or a thermal imaging sensor.

Fig. 3 is a schematic diagram of an example method for UAV parachute landing according to some embodiments of the present application. For example, when UAV 100 completes a flight mission, UAV 100 may fly to a set drop point and open the parachute landing of UAV 100.

Fig. 4 is a schematic diagram of an example integrated unit 120. As shown in fig. 4, integrated unit 120 includes a flight control computer (FCC, flight Control Computer) 122 for controlling UAV 100, a attitude and heading reference system (AHRS, attitude and Heading Reference System) 124, a communication unit 125, and an antenna 126, according to some embodiments of the present application. AHRS 124 includes detector 123.

The FCC 122 may include a processor and memory to store instructions. The FCC 122 may be configured to control the direction of flight of the UAV 100, for example: FCC 122 may be configured to control motor 150 to accelerate or decelerate UAV 100. The FCC 122 may also be configured to control ailerons 173 and 174 to pitch, roll, or yaw the UAV 100.

AHRS 124 may include sensors on three axes that provide attitude information to UAV 100, 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 microelectromechanical system (MEMS, microelectromechanical System) gyroscopes, accelerometers, and magnetometers. As shown in fig. 4, the detector 123 includes one or more of these sensors. The AHRS 124 may include an onboard processing system that provides attitude and heading information. In some embodiments, AHRS 124 may provide attitude determination of UAV 100 and may also form part of an inertial navigation system of UAV 100.

The communication unit 125 may include a modem for transceiving radio frequency signals through the antenna 126 and communicating with the GCS 500 or remote control 700.

FIG. 5 is a block diagram of an exemplary GCS 500 according to some embodiments of the present application. GCS 500 includes memory 510, processor 520, storage 530, I/O interface 540, communication unit 550, and antenna 560. One or more of these elements of GCS 500 may be included for ground control of UAV 100. The units may be configured to transfer data between the units and to transmit or receive instructions.

Processor 520 includes any suitable type of general purpose 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. Memory 510 and storage 530 may be volatile or nonvolatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other types of storage or tangible (e.g., non-transitory) computer readable media, including, but not limited to: read-only Memory (ROM), flash Memory, dynamic Random-access Memory (RAM), and static RAM. Memory 510 and/or storage 530 may be configured to store one or more programs for execution by processor 520 to control UAV 100 as disclosed herein.

Memory 510 and/or storage 530 may be further configured to store information and data used by processor 520. For example, the memory 510 and/or the storage device 530 may be configured to store a return point, a drop point, a previous route, a previous task, a photograph, and location information regarding the photograph phase.

The I/O interface 540 may be configured to facilitate communication between the GCS 500 and other devices, e.g., the I/O interface 540 may receive signals from other devices (e.g., computers), including the system configuration of the 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, fifth generation (5G) radio systems, long-Term Evolution (LTE), high speed packet access (HSPA, high Speed Packet Access), wideband Code division multiple access (WCDMA, wide Code-Division Multiple Access), and/or global system for mobile communication (GSM, global System for Mobile) communication modules. GCS 500 may communicate with UAV 100 through communications unit 550 and antenna 560. The communication unit 550 may also include a Global Positioning System (GPS) receiver. The GCS 500 can receive positioning information via a GPS receiver of the communication unit 550.

Fig. 6 is a schematic diagram of an example method for UAV parachute landing according to some embodiments of the present application. Method 600 may be performed by, for example, FCC 122 of UAV 100. The processor of the FCC 122 may be configured to execute instructions to perform the method 600 as follows. The method 600 includes deciding whether to open a parachute of the UAV according to 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), and opening the parachute of the UAV after stopping the motor of the UAV for a period of time (step 680) as the decision to open the parachute of the UAV.

Step 620 includes deciding whether to open the parachute of the UAV based on criteria. For example, when the criteria are met, the FCC 122 may be configured to decide to open the parachute 160 of the UAV 100.

The criteria may include UAV 100 receiving a signal from GCS 500 to open parachute 160. For example, a user may enter instructions on GCS 500 to open parachute 160 of UAV 100. After the GCS 500 receives the instruction, the GCS 500 is configured to transmit a signal to open the parachute 160 to the UAV 100 through the communication unit 550. FCC 122 may be configured to decide to open parachute 160 of UAV 100 when a signal to open parachute 160 is received from GCS 500.

Alternatively, the criteria may include UAV 100 receiving a signal from remote control 700 to open parachute 160. For example, a user may input instructions on remote control 700 to open parachute 160 of UAV 100. After the remote controller 700 receives the instruction, the remote controller 700 is configured to transmit a signal to open the parachute 160 to the UAV 100 through the communication unit of the remote controller 700. FCC 122 may be configured to decide to open parachute 160 of UAV 100 when a signal to open parachute 160 is received from remote control 700.

In some embodiments, the criteria may include UAV 100 reaching a location. For example, after completing a flight mission, UAV 100 flies to a set drop point. After UAV 100 reaches the set drop point, FCC 122 may be configured to decide to open parachute 160 of UAV 100. As yet another example, the FCC may be configured to detect that UAV 100 arrives at a location within 5 meters of the touchdown point, the FCC may be configured to determine that the UAV has flown to the touchdown point. Accordingly, FCC 122 may be configured to decide to open parachute 160 of UAV 100. The drop point may be set by GCS 500 prior to the takeoff of UAV 100. In some embodiments, the drop point may be a drop point set by GCS 500 after UAV 100 takes off. For example, GCS 500 may communicate the new drop point to UAV 100 via communications unit 125.

After completing the flight mission, UAV 100 may also fly back to the set return point when the drop point is not set. After UAV 100 reaches the set return point, FCC 122 may be configured to decide to open parachute 160 of UAV 100. The return points described above may be set by GCS 500 prior to the takeoff of UAV 100. In some embodiments, the return points described above may be return points set by GCS 500 after UAV 100 takes off. For example, GCS 500 may communicate the new return points to UAV 100 via communications unit 125.

In some embodiments, the criteria may include that the UAV is at a low voltage, e.g., FCC 122 may be configured to detect that the battery of UAV 100 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 UAV 100 is at a low voltage, FCC 122 may be configured to decide to open parachute 160 of UAV 100.

Alternatively, the criteria may include that UAV 100 does not receive a Global Positioning System (GPS) signal for a period of time, e.g., when FCC 122 is configured to receive a GPS signal from communication unit 125, but does not receive a GPS signal for more than four seconds, FCC 122 may be configured to decide to open parachute 160 of UAV 100.

The criteria may further include UAV 100 not receiving a data link signal from GCS 500 for a period of time, e.g., when FCC 122 is configured to receive a data link signal from GCS 500, but not receiving the data link signal for more than one minute, FCC 122 may be configured to decide to open parachute 160 of UAV 100. As yet another example, when the FCC 122 is configured to receive a data link signal from the GCS 500, but not receive the data link signal for more than one minute, the FCC 122 may be configured to fly back to a set return point or set drop point and wait for the data link to resume. In this case, if the data link continues to be broken, the FCC 122 may be configured to switch to a landing mode that stops the motors and opens the parachute 160 of the UAV 100 when the motors are completely stopped.

In some embodiments, the criteria may include stall of UAV 100, if FCC 122 fails to correct stall of UAV 100 and fails to resume normal flight within a predetermined period of time, then the height of UAV 100 is reduced to a critical height, e.g., FCC 122 is configured to detect a stall of UAV 100 falling to a height of 35 meters within a predetermined period of time, FCC 122 may be configured to switch to emergency landing mode to stop the motor and open parachute 160 when the motor is completely stopped. The critical height may be within a range of predetermined heights. For example, the critical height may be in the range of 5 meters above or below a predetermined height of 35 meters.

Alternatively, the criteria may include UAV 100 flying around an unintended area or UAV 100 being undesirably localized in an area for a predetermined time, e.g., FCC 122 may detect UAV 100 flying around an unintended area for more than two minutes, or UAV 100 being confined to an obstacle. To avoid damaging UAV 100 and third party assets and personnel safety, FCC 122 may be configured to switch to an emergency landing mode that stops the motors and opens parachute 160 of UAV 100 when the motors are completely stopped.

Step 640 includes stopping a motor of the UAV that rotates a propeller of the UAV as a decision to open the UAV parachute, e.g., the FCC 122 may be configured to stop the motor 150 that rotates the propeller of the UAV 100. As yet another example, FCC 122 may be configured to stop motor 150 rotating propeller 130 of UAV 100 when UAV 100 is flying upwind. In some embodiments, FCC 122 may be configured to lower the height of UAV 100 to a height of 35 meters before stopping motor 150 of UAV 100.

Step 660 includes braking a propeller of UAV, e.g., FCC 122 may be configured to brake propeller 130 of UAV 100 using motor 150 of UAV 100.

Step 680 includes opening a parachute of the UAV after stopping a motor of the UAV for a first period, e.g., FCC 122 may be configured to open parachute 160 of UAV 100 after one second of stopping motor 150. As yet another example, FCC 122 may be configured to open parachute 160 of UAV 100 after motor 150 has stopped for 0.5 seconds.

In some particular embodiments, the size of the UAV parachute is related to the weight of the UAV, for example, the size of the parachute 160 of the UAV 100 may be related to the weight of the UAV 100.

The present application is also directed to a system for UAV parachute landing, for example, the system may include FCC 122, AHRS 124 or an integrated unit 120 incorporating FCC 122, AHRS 124, communication unit 125 and antenna 126. The detector 123 of the AHRS 124 may be configured to detect acceleration of the UAV. The system may further include memory storage instructions, for example, the memory of the FCC 122 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: with the decision to open the UAV parachute, stopping the motor of the UAV that rotates the propeller of the UAV, and opening the parachute of the UAV after stopping the motor of the UAV for a period of time. For example, the FCC 122 of the system may be configured to execute instructions to decide whether to open the parachute 160 of the UAV 100 according to criteria; with a decision to open parachute 160 of UAV 100, motor 150 of UAV 100 that rotates propeller 130 of UAV 100 is stopped; then, after stopping motor 150 of UAV 100 for a certain period of time, parachute 160 of UAV 100 is opened.

Another aspect of the application is directed to a non-transitory computer readable medium storing a set of instructions executable by one or more processors of a device to cause the device to perform a method for UAV parachute landing, as described above. The computer-readable medium may include volatile or nonvolatile, magnetic, semiconductor, tape, optical, removable, non-removable, or other types of computer-readable media or computer-readable storage devices. 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 portable disk in which the computer instructions are stored.

Fig. 7 is a schematic diagram of an example User Interface (UI) for GCS 500 of UAV 100, according to some embodiments of the application. Before landing UAV 100, the user may perform a pre-flight exam with a single click on the "pre-flight exam" small icon, as shown in fig. 7.

Fig. 8 is a schematic diagram of an example user interface of a GCS 500 for flight inspection prior to launching UAV 100, according to some embodiments of the application. For example, after a user single clicks on the "check before flight" small icon, the GCS 500 may prompt a check before flight UI for checking the status of the parachute 160, as shown in FIG. 8. GCS 500 may query FCC 122 of UAV 100 for the status of parachute 160 and obtain the status of parachute 160 after FCC 122 detects and reports. In some embodiments, the user may follow UI instructions to check the status of the parachute 160.

Fig. 9 is a schematic diagram of an example user interface of a GCS 500 for flight inspection prior to launching UAV 100, according to some embodiments of the application. For example, after a user single clicks on the "check before flight" small icon, the GCS 500 may prompt a check before flight UI for checking the status of the load 140 (i.e., camera), as shown in FIG. 9. The GCS 500 may query the FCC 122 for the status of the camera and obtain the status of the camera after the FCC 122 detects and reports. In some embodiments, the user may follow UI instructions to check the state of the camera.

Fig. 10 is a schematic diagram of an example user interface of a GCS 500 for flight inspection prior to launching UAV 100, according to some embodiments of the application. For example, after a user single clicks on the "check before flight" small icon, GCS 500 may prompt a check before flight UI for checking the battery status of UAV 100, as shown in FIG. 10. GCS 500 may query FCC 122 for the battery status of UAV 100 and obtain the battery status of UAV 100 after FCC 122 detects and reports. In some embodiments, the user may follow UI instructions to check the battery status of UAV 100.

Fig. 11 is a schematic diagram of an example user interface of GCS 500 for flight inspection prior to launching UAV 100, according to some embodiments of the application. For example, after a user single clicks on the "check before flight" small icon, GCS 500 may prompt a check before flight UI for checking the structural status of UAV 100, as shown in FIG. 11. GCS 500 may query FCC 122 for the structural status of UAV 100 and obtain the structural status of UAV 100 after FCC 122 detects and reports. In some embodiments, the user may follow UI instructions to check the structural state of UAV 100.

FIG. 12 is a schematic diagram of an example user interface of a GCS 500 for flight inspection prior to launching a UAV according to some embodiments of the present application. For example, after a user single clicks on the "check before flight" small icon, GCS 500 may prompt a check before flight UI for checking the status of ailerons 172 and 174 of UAV 100, as shown in FIG. 12. GCS 500 may query FCC 122 for aileron 172 and 174 status of UAV 100 and obtain aileron 172 and 174 status of UAV 100 after FCC 122 detects and reports. In some embodiments, the user may follow UI instructions to check the aileron 172 and 174 status of UAV 100.

FIG. 13 is a schematic diagram of an example user interface of a GCS 500 for flight inspection prior to launching a UAV according to some embodiments of the present application. For example, after a user single clicks on the "check before flight" small icon, GCS 500 may prompt a check before flight UI for displaying the status of UAV 100, as shown in FIG. 13. GCS 500 may display whether the data link is operational, whether the sensor is operational, whether the voltage of UAV 100 is at a reasonable voltage, whether a recorder on UAV 100 is operational, whether a GPS receiver on UAV 100 is operational, whether GCS 500 is operational, and whether the return point has been set by a set of light icons 1400. The user may learn the status of these components of UAV 100 in a quick and easy manner prior to launch. When all of the light icons 1300 are lit, UAV 100 is ready to launch.

FIG. 14 is a schematic diagram of an exemplary user interface of a GCS for setting a return or landing point according to some embodiments of the present application. For example, the user may single click on a "return points" small icon in preparation for selecting a return point, as shown in FIG. 14. The user may view the map display on the UI and double click on a point to set the return point of UAV 100. The user may also 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 on a point to set the drop point for UAV 100, as shown in fig. 14.

FIG. 15 is a schematic diagram of an exemplary user interface of a GCS 500 for setting a return point and a landing point according to some embodiments of the present application. Similar to the example of fig. 14 above, the user may select a return or drop point after setting the mission area.

In some particular embodiments, the user may click on a parachute small icon 1520, as shown in fig. 15, to instruct UAV 100 to immediately open parachute 160 to land. GCS 500 may transmit a signal to open the parachute of UAV 100. The FCC 122 may thus be configured to open the parachute 160 of the UAV 100.

It is to be understood that the application is not limited to the precise construction described above and illustrated in the drawings, and that various modifications and changes may be effected therein without departing from the scope of the application. It is intended that the scope of the application be limited only by the claims that follow.

Claims (17)

1. A method for unmanned aerial vehicle, UAV, parachute landing, the method comprising:

deciding whether to open a parachute of the UAV according to criteria, wherein the criteria include:

the UAV receiving a first signal from a ground control system GCS;

the UAV receiving a second signal from a remote control;

the UAV reaching a first location;

the UAV is at a low voltage;

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

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

the UAV is lowered to a first elevation; or (b)

The UAV flying around an area for a fourth period of time;

stopping a motor of the UAV that rotates a propeller of the UAV in response to a determination to open the UAV parachute; and

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

2. The method of claim 1, wherein the criteria for the UAV reaching the first location is met when the UAV flies to a second location within a distance from the first location.

3. The method of claim 1, wherein the criteria for the UAV to descend to the first altitude is met when the UAV flies to a second altitude within a range of altitudes from the first altitude.

4. The method of claim 1, 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 return point set by the GCS; or (b)

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

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

braking a propeller of the UAV.

6. 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.

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

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

stopping the motor of the UAV.

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

9. A system for unmanned aerial vehicle, UAV, parachute landing, 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 based on criteria, wherein the criteria include:

the UAV receiving a first signal from a ground control system GCS;

the UAV receiving a second signal from a remote control;

the UAV reaching a first location;

the UAV is at a low voltage;

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

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

the UAV is lowered to a first elevation; or (b)

The UAV flying around an area for a fourth period of time;

stopping a motor of the UAV that rotates a propeller of the UAV in response to a determination to open the UAV parachute; and

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

10. The system of claim 9, wherein the criteria for the UAV reaching the first location is met when the UAV flies to a second location within a distance from the first location.

11. The system of claim 9, wherein the criteria for the UAV to descend to the first altitude are met when the UAV flies to a second altitude within a range of altitudes from the first altitude.

12. The system of claim 9, 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 return point set by the GCS; or (b)

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

13. The system of claim 9, 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.

14. The system of claim 9, wherein the processor is configured to execute the instructions to cause the system to stop a motor of the UAV when the UAV flies upwind.

15. The system of claim 9, wherein with the decision to open the parachute of the UAV, the processor is further configured to execute the instructions to cause the system to:

the height of the UAV is lowered to the first height before stopping the motor of the UAV that rotates the propeller of the UAV.

16. The system of claim 9, wherein a parachute size of the UAV is related to a weight of the UAV.

17. A non-transitory computer-readable medium storing a set of instructions executable by one or more processors of a device to cause the device to perform a method for unmanned aerial vehicle, UAV, parachute landing, the method comprising:

deciding whether to open a parachute of the UAV according to criteria, wherein the criteria include:

the UAV receiving a first signal from a ground control system GCS;

the UAV receiving a second signal from a remote control;

the UAV reaching a first location;

the UAV is at a low voltage;

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

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

the UAV is lowered to a first elevation; or (b)

The UAV flying around an area for a fourth period of time;

stopping a motor of the UAV that rotates a propeller of the UAV in response to a determination to open the UAV parachute; and

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