WO2017199236A1

WO2017199236A1 - Systems and methods for indicating and recovering parachute failures

Info

Publication number: WO2017199236A1
Application number: PCT/IL2017/050529
Authority: WO
Inventors: Guy Dekel; Lior Zivan
Original assignee: Israel Aerospace Industries Ltd.
Priority date: 2016-05-16
Filing date: 2017-05-14
Publication date: 2017-11-23
Also published as: AR108465A1; IL245667A0

Abstract

A safety system for a parachute comprises at least a sensor configured to sense data indicative of the geometrical configuration of a canopy of the parachute, and at least a controller configured to extract data indicative of the geometrical configuration of the canopy from the sensed data, compare at least part of the extracted data with at least a reference configuration representing a normal operation of the parachute, detect a malfunction of the parachute based at least on said comparison, and, if a malfunction has been detected, command at least an actuator of the parachute or of the safety system, for performing a safety action. A safety system for a parachute is configured to trigger a safety action if a malfunction has been detected based on an analysis of data indicative of the geometrical configuration of suspension lines attached to a canopy of the parachute, or based on an analysis of the load of suspension lines.

Description

SYSTEMS AND METHODS FOR INDICATING AND RECOVERING PARACHUTE FAILURES

PRIORITY

The present patent application claims priority of IL 245667 filed on May 16^th, 2016.

TECHNICAL FIELD

The presently disclosed subject matter relates to a solution for enhancing safety of a parachute in case of a malfunction of the parachute.

BACKGROUND

A parachute is a structure generally comprising a canopy and suspension lines attached to the canopy. Various kinds of parachutes are present in the market. For example, the parachute may be controlled by a pilot or by an automatic control unit. WO 2015/012969 describes an automatic control unit which controls the flight trajectory of a parachute based on images of visual markers attached to the canopy taken by a camera.

However, operation of the parachute may encounter malfunctions. In some cases, the malfunction can cause a collapse of the parachute.

In the prior art, it is known to measure inertial data of the parachute, such as its rate of descent or its velocity, in order to detect a malfunction and thus indicate to the pilot that the reserve parachute has to be opened.

There is a need to propose new methods and systems for detecting a malfunction of a parachute and performing safety actions.

GENERAL DESCRIPTION

In accordance with certain aspects of the presently disclosed subject matter, there is provided a safety system for a parachute comprising a canopy, the safety system comprising at least a sensor configured to sense data indicative of the geometrical configuration of the canopy, at least a controller configured to extract data indicative of the geometrical configuration of the canopy from the sensed data, compare at least part of the extracted data with at least a reference configuration representing a normal operation of the parachute, detect a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, command at least an actuator of the parachute or of the safety system, for performing a safety action.

According to some embodiments, the safety system comprises a storage storing the reference configuration wherein said reference configuration is a pre- stored reference configuration pertinent for at least said canopy. According to some embodiments, the safety system comprises a storage storing the reference configuration wherein said reference configuration was obtained by commanding the sensor to acquire said reference configuration during a trial flight of the parachute. According to some embodiments, the safety system comprises at least an inertial sensor for measuring inertial data of the parachute, wherein the controller is configured to detect a malfunction of the parachute based at least on said measured inertial data. According to some embodiments, the controller is configured to extract from the sensed data a contour of the canopy, and compare the extracted contour with a reference contour representing a normal operation of the canopy, in order to detect a malfunction of the parachute. According to some embodiments, the controller is configured to extract, from the sensed data, a portion representing the sky, and compare the geometrical configuration of the extracted portion representing the sky, with a reference configuration representing a portion of the sky during a normal operation of the parachute. According to some embodiments, the sensor is an image sensor, the reference configuration comprises at least a pair of lines of a canopy which have a predefined position and which have a predetermined geometrical relationship, and the controller is configured to detect if a pair of lines appearing in the image of the canopy taken by the image sensor match said reference configuration according to a matching criterion. According to some embodiments, the geometrical relationship comprises the parallelism between the lines of the pair of lines. According to some embodiments, the sensor is an image sensor and the controller is configured to extract, from the image taken by the image sensor, the position of visual markers of the canopy or of visual markers attached to the canopy, and compare the extracted position with a reference position representing a normal operation of the parachute.

According to some embodiments, thesensor is an electromagnetic waves based sensor, configured to measure data indicative of the geometrical configuration of the canopy based on the emission of electromagnetic waves towards the canopy. According to some embodiments, the actuator comprises at least one of an alarm actuator configured to raise an alarm, an audio actuator providing steering commands to a pilot of the parachute, an actuator for deploying a reserve parachute, a flight actuator of the parachute.

According to some embodiments, the actuator comprises a sensor configured to sense data indicative of the geometrical configuration of suspension lines attached to the canopy, wherein the controller is further configured to extract data indicative of the geometrical configuration of suspension lines from the sensed data, compare the extracted data with a reference configuration of the suspension lines, and detect a malfunction of the parachute based at least on this comparison. According to some embodiments, in the reference configuration of the suspension lines, at least a subset of the suspension lines belongs substantially to the same plane, and the controller is configured to detect if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, in the reference configuration of the suspension lines, at least a subset of the suspension lines do not intersect, and the controller is configured to detect if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, in the reference configuration of the suspension lines, at least a subset of the suspension lines follow a predefined curve, and the controller is configured to detect if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, the safety system further comprises at least a load sensor mounted on at least a suspension line attached to the canopy, wherein the controller is configured to analyze the load of the suspension line and to detect a malfunction of the parachute based also on this analysis. According to some embodiments, the safety system further comprises at least two load sensors mounted on different suspension lines attached to the canopy, wherein the controller is configured to analyze the load distribution of the suspension lines based on the data measured by the at least two load sensors and to detect a malfunction of the parachute based also at least on this analysis. According to some embodiments, the controller is further configured to compare the total load measured by the at least two load sensors with a reference total load of said suspension lines for which the parachute is operating normally, and to detect a malfunction of the parachute based at least on this comparison. These embodiments can be combined according to any of their possible technical combination.

In accordance with some aspects of the presently disclosed subject matter, there is provided a computer-implemented controller operatively coupled to at least a sensor configured to sense data indicative of the geometrical configuration of a canopy of a parachute, the controller being configured to extract data indicative of the geometrical configuration of the canopy from the sensed data, compare the extracted data with at least a reference configuration representing a normal operation of the parachute, detect a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

In accordance with some aspects of the presently disclosed subject matter, there is provided a safety system for a parachute comprising a canopy and suspension lines attached to said canopy, the safety system comprising at least a sensor configured to sense data indicative of the geometrical configuration of said suspension lines, at least a controller configured to extract data indicative of the geometrical configuration of suspension lines from the sensed data, compare the extracted data with a reference configuration of the suspension lines, detect a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, command at least an actuator of the parachute or of the safety system, for performing a safety action.

In accordance with some aspects of the presently disclosed subject matter, there is provided a computer-implemented controller operatively coupled to at least a sensor configured to sense data indicative of the geometrical configuration of suspension lines of a parachute, the controller being configured to extract data indicative of the geometrical configuration of suspension lines from the sensed data, compare the extracted data with a reference configuration of the suspension lines representing a normal operation, detect a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

In accordance with some aspects of the presently disclosed subject matter, there is provided a safety system for a parachute comprising a canopy and load bearings attached to said canopy, the safety system comprising at least a load sensor mounted on at least a suspension line attached to the canopy, for measuring the load of the suspension line, at least a controller configured to analyze the load of said suspension line, detect a malfunction of the parachute based on at least this analysis, and if a malfunction has been detected, command at least an actuator of the parachute or of the safety system, for performing a safety action.

According to some embodiments, the safety system comprises at least two load sensors mounted on different suspension lines attached to the canopy, wherein the controller is configured to analyze the load distribution between the suspension lines based on the data measured by the at least two load sensors and to detect a malfunction of the parachute based at least on this analysis. According to some embodiments, the controller is further configured to compare the total load measured by the at least two load sensors with a reference total load of said suspension lines corresponding to a normal operation, and to detect a malfunction of the parachute based at least on this comparison.

These embodiments can be combined.

In accordance with some aspects of the presently disclosed subject matter, there is provided a computer-implemented controller operatively coupled to at least a load sensor configured to measure load of at least a suspension line of a parachute, for measuring the load of the suspension line, the controller being configured to analyze the load of said suspension line, detect a malfunction of the parachute based on at least this analysis, and if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

According to some embodiments, the controller is operatively coupled to at least two load sensors configured to measure the load of different load bearings lines of a parachute, and is configured to analyze the load distribution between the suspension lines based on the data measured by the at least two load sensors, detect a malfunction of the parachute based on this analysis, and if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

In accordance with some aspects of the presently disclosed subject matter, there is provided parachute comprising a canopy and suspension lines attached to the canopy, wherein the parachute comprises a safety system as described previously.

In accordance with some aspects of the presently disclosed subject matter, there is provided a method of enhancing safety of a parachute comprising a canopy, the method comprising sensing data indicative of the geometrical configuration of the canopy during operation of the parachute with at least a sensor, and comprising, by a controller, extracting data indicative of the geometrical configuration of the canopy from the sensed data, comparing the extracted data with at least a reference configuration representing a normal operation of the parachute, detecting a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, commanding at least an actuator, for performing a safety action.

According to some embodiments, the method comprises extracting the reference configuration from a storage, wherein said reference configuration is a pre- stored reference configuration pertinent for at least said canopy. According to some embodiments, the method comprises obtaining the reference configuration by commanding the sensor with the controller to acquire said reference configuration during a trial flight of the parachute. According to some embodiments, the method comprises extracting from the sensed data a contour of the canopy, and comparing the extracted contour with a reference contour representing a normal operation of the canopy, in order to detect a malfunction of the parachute. According to some embodiments, the method comprises extracting, from the sensed data, a portion representing the sky, and comparing the geometrical configuration of the extracted portion representing the sky, with a reference configuration representing a portion of the sky during a normal operation of the parachute. According to some embodiments, the reference configuration comprises at least a pair of lines of a canopy which have a predefined position and which have a predetermined geometrical relationship, and the method comprises detecting, by the controller, if a pair of lines appearing in an image of the canopy taken by the image sensor match said reference configuration according to a matching criterion. According to some embodiments, the geometrical relationship comprises the parallelism between the lines of the pair of lines. According to some embodiments, the method comprises extracting from the image taken by the image sensor, the position of visual markers of the canopy or of visual markers attached to the canopy, and comparing the extracted position with a reference position representing a normal operation of the parachute. According to some embodiments, the sensor is an electromagnetic waves based sensor, the method comprising measuring data indicative of the geometrical configuration of the canopy based on the emission of electromagnetic waves towards the canopy. According to some embodiments, the safety action comprises at least one of raising an audio alarm, providing steering commands to a pilot of the parachute, deploying a reserve parachute, and commanding flight actuators of the parachute. According to some embodiments, the method comprises sensing data indicative of the geometrical configuration of suspension lines attached to the canopy, extracting data indicative of the geometrical configuration of suspension lines from the sensed data, comparing the extracted data with a reference configuration of the suspension lines, and detecting a malfunction based at least on this comparison. According to some embodiments, the method comprises, the reference configuration of the suspension lines, at least a subset of the suspension lines belongs substantially to the same plane, the method comprising detecting if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, the reference configuration of the suspension lines, at least a subset of the suspension lines does not intersect, the method comprising detecting if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, in the reference configuration of the suspension lines, at least a subset of the suspension lines follows a predefined curve, the method comprising detecting if the suspension lines match the reference configuration according to a matching criterion. According to some embodiments, the method comprises measuring load on at least a suspension line attached to the canopy, analyzing the load of the suspension line, and detecting a malfunction of the parachute based at least on this analysis. According to some embodiments, the method comprises measuring load on at least two different suspension lines attached to the canopy, analyzing the load distribution between the load bearings lines based on the measured load, and detecting a malfunction of the parachute based at least on this analysis. According to some embodiments, the method comprises comparing a measured total load with a reference total load of the parachute corresponding to a normal operation, and detecting a malfunction of the parachute based also on this comparison.

These embodiments can be combined according to any of their possible technical combination.

In accordance with some aspects of the presently disclosed subject matter, there is provided a method of enhancing safety of a parachute comprising a canopy and load bearings attached to said canopy, the method comprising sensing data indicative of the geometrical configuration of said suspension lines, extracting data indicative of the geometrical configuration of suspension lines from the sensed data, comparing the extracted data with at least a reference configuration of the suspension lines, detecting a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, commanding at least an actuator of the parachute or of the safety system, for performing a safety action.

In accordance with some aspects of the presently disclosed subject matter, there is provided a method of enhancing safety of a parachute comprising a canopy and load bearings attached to said canopy, the method comprising during operation of the parachute, measuring the load on at least a suspension line with at least a load sensor, analyzing the load of said suspension line, detecting a malfunction of the parachute based on at least this analysis, and if a malfunction has been detected, commanding at least an actuator of the parachute or of the safety system, for performing a safety action.

According to some embodiments, the method comprises measuring load on at least two different suspension lines with load sensors, analyzing the load distribution between the suspension lines, based on the data measured by the at least two load sensors, detecting a malfunction of the parachute based on this analysis, and if a malfunction has been detected, commanding an actuator of the parachute or of the safety system, for performing a safety action.

In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy, the method comprising extracting data indicative of the geometrical configuration of the canopy from sensed data indicative of the geometrical configuration of the canopy during operation of the parachute, comparing the extracted data, with reference data representing a normal operation of the parachute, detecting a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, computing a signal for commanding at least an actuator for performing a safety action.

In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy and load bearings attached to said canopy, the method comprising extracting data indicative of the geometrical configuration of said suspension lines from sensed data indicative of the geometrical configuration of the canopy during operation of the parachute, comparing the extracted data, with reference data representing a normal operation of the parachute, detecting a malfunction of the parachute based at least on said comparison, and if a malfunction has been detected, computing a signal for commanding at least an actuator for performing a safety action.

In accordance with some aspects of the presently disclosed subject matter, there is provided a non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy and load bearings attached to said canopy, the method comprising analyzing the load distribution of at least a suspension line based on sensed data indicative of the load of said suspension line, detecting a malfunction of the parachute based at least on said analysis, and if a malfunction has been detected, computing a signal for commanding at least an actuator for performing a safety action.

According to some examples, the solution proposes a safety system which is flexible and can be used for a large variety of parachutes.

According to some examples, the solution proposes a safety system which is easy to install on the parachute.

According to some examples, the solution proposes a safety system which takes into account the behaviour of various parts of the parachute to detect a malfunction.

According to some examples, the solution proposes a safety system which does not need to be calibrated with respect to the parachute.

According to some examples, the solution proposes a safety system which automatically learns at least a normal configuration of the parachute.

According to some examples, the solution proposes a safety system which performs a safety action adapted to the detected malfunction of the parachute.

According to some examples, the solution proposes a safety system which performs a safety action on ground and/or in air.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it can be carried out in practice, embodiments will be described, by way of non-limiting examples, with reference to the accompanying drawings, in which: Fig. 1 illustrates an embodiment of a parachute which can embed a safety system;

Fig. 2 illustrates a particular embodiment of the parachute of Fig. 1;

Fig. 3 illustrates an embodiment of a safety system for a parachute;

Fig. 4 illustrates an embodiment of a method of enhancing safety of a parachute;

Fig. 5 illustrates embodiments for obtaining a reference configuration representing a normal operation of the parachute;

Fig. 6 illustrates a reference configuration for the canopy, which comprises a contour defining the contour of a canopy in normal operation;

Fig. 7 illustrates a comparison of a sensed contour of a canopy with a reference configuration;

Fig. 8 illustrates an embodiment in which visual markers can be used for detecting malfunction;

Fig. 9 illustrates an embodiment of a method of enhancing security of a parachute based on the detection of visual markers;

Fig. 10 illustrates an example of a reference configuration of a geometrical configuration of a portion of the sky surrounding the canopy;

Fig. 11 illustrates an example of a geometrical configuration of a portion of the sky surrounding the canopy in the case of a malfunction;

Fig. 12 illustrates an embodiment of a method of enhancing safety of a parachute, based on the analysis of a geometrical configuration of the sky; Fig. 13 illustrates an example of a reference configuration of lines of the canopy; Fig. 14 illustrates lines of the canopy in the case of a malfunction;

Fig. 15 illustrates an embodiment of a method of enhancing safety of a parachute, based on the analysis of lines of the canopy;

Fig. 16 illustrates an example of a reference configuration of suspension lines of the parachute;

Fig. 17 illustrates an embodiment of a method of enhancing safety of a parachute, based on the analysis of the geometrical configuration of the suspension lines;

Fig. 18 illustrates a possible example for the method of Fig. 17;

Figs. 18A to 18D illustrate a possible example of a method of detecting that suspension lines are not in the same plane; Fig. 19 illustrates another possible example for the method of Fig. 17;

Fig. 20 illustrates another possible example for the method of Fig. 17;

Fig. 21 illustrates another possible example for the method of Fig. 17;

Fig. 22 illustrates an example in which an obstacle is attached to a part of the suspension lines of the parachute;

Fig. 23 illustrates an embodiment of a method of enhancing safety of the parachute based on the counting of the number of suspension lines;

Fig. 24 illustrates an embodiment of a method of enhancing safety of the parachute based on the analysis of the load of at least a suspension line;

Fig. 25 illustrates an embodiment of a method of enhancing safety of the parachute based on the analysis of the load distribution;

Fig. 26 illustrates an embodiment in which at least two load sensors are mounted on different suspension lines;

Fig. 26A illustrates particular non limiting load values that can be measured in case of a malfunction of a parachute;

Fig. 27 describes an embodiment of a controller of the safety system, which can combine various data in order to detect a malfunction and trigger at least a safety action.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the presently disclosed subject matter may be practiced without these specific details. In other instances, well-known methods have not been described in detail so as not to obscure the presently disclosed subject matter.

Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as "sensing", "comparing", "detecting", "measuring", "extracting", or the like, refer to the action(s) and/or process(es) of a processor that manipulate and/or transform data into other data, said data represented as physical, such as electronic, quantities and/or said data representing the physical objects.

The term "processing unit" covers any computing unit or electronic unit that may perform tasks based on instructions stored in a memory, such as a computer, a server, a chip, etc. It encompasses a single processor or multiple processors, which may be located in the same geographical zone or may, at least partially, be located in different zones and may be able to communicate together.

The term "non- transitory memory" as used herein should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.

Embodiments of the presently disclosed subject matter are not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the presently disclosed subject matter as described herein.

Fig. 1 is a simplified representation of a parachute 10 which can embed a safety system described later in the specification. Fig. 2 represents a particular example of the parachute of Fig. 1.

In the present text, the expression "parachute" includes various types of parachutes, such as a parachute, a parafoil, a paraglider, a powered parachute or the like. Depending on the examples, it can include ascending parachutes or descending parachutes. Depending on the examples, it can be controlled by a pilot (human) or by an automatic control unit or uncontrolled ("free") parachutes.

The parachute 10 comprises a canopy 11. The canopy 11 can have different forms, such as, but not limited to, rectangle, square, round, etc.

The parachute 10 can comprise suspension lines 12, which are generally elongate lines which connect the canopy 11 to a payload 13 that is transported by the parachute 10. The suspension lines 12 can be non rigid lines such as strings. Depending on the examples, at least part of the suspension lines 12 can be divided at their extremity into a plurality of lines connected to the canopy 11.

The suspension lines can include lines which are used to support load, such as load bearing lines. The suspension lines can also include lines which are used for controlling the flight (e.g. direction, velocity, etc.) of the parachute. Some suspension lines can also be used for both supporting load and controlling the flight of the parachute.

According to some examples, depending on the position of the suspension lines with respect to the canopy, at least a subset of the suspension lines can be used as brake lines, and at least a subset of the of the suspension lines can be used for controlling acceleration and/or deceleration (such as by changing the angle of attack of the canopy, for example by lowering the leading edge with speed line or creating drag by the break lines), and at least a subset of the suspension lines can be used for controlling the flight trajectory of the parachute (for controlled parachutes). According to some examples, the suspension lines are divided into conventional subsets called "A lines, "B lines", "C lines" and "D lines" (break lines).

The payload 13 can include for instance a pilot, and/or an automatic pilot unit, and/or any required payload (such as any device or material to be transported by the parachute).

According to some examples, the parachute is deployed from the air (e.g. in the case of skydiving).

According to some examples, the parachute is first inflated and deployed from the ground, and then is launched in the air.

According to some examples, the parachute is already deployed and launched from the ground.

According to some examples, the parachute is a powered parachute which comprises at least a motor.

According to some examples, the parachute is a free parachute (uncontrolled parachute).

According to some examples, the parachute is controlled by a pilot, which can command the parachute e.g. through at least a subset of the suspension lines, or through manual actuators (such as lines, steering lines or risers) connected to said subset of suspension lines.

According to some examples, the parachute is controlled by an automatic pilot unit. A non limiting example is depicted in Fig. 2. As shown, the automatic pilot unit 23 controls the suspension lines 22 connected to the canopy 21, in order to control the flight of the parachute. The automatic pilot unit 20 can comprise a processing unit 24 and a storage (not represented).

The automatic pilot unit 20 can be connected to at least a subset of the suspension lines 22 through one or more electro-mechanical actuators such as linear servo-actuators, rotary servo-actuators or winch servo-actuators, which receive at least a signal computed by the automatic pilot unit 20 and apply a corresponding force to said suspension lines 22. According to some examples, the automatic pilot unit 20 further controls at least a motor or a plurality of motors embedded in the parachute. This motorized parachute can include for instance a trike or other wheel frame that supports a payload which is hooked to the canopy.

Fig. 3 describes an example of a safety system 30 for a parachute. The safety system 30 can comprise a controller 31 operating on a processing unit, a storage 33 which can include a non-volatile memory, and at least a sensor 32.

In particular, the safety system 30 can comprise at least one of the following sensors 32:

at least a sensor configured to sense data indicative of the geometrical configuration of the canopy of the parachute. It includes e.g. an image sensor such as a camera. The image sensor can be a dedicated image sensor or a sensor existing on a device, such as (but not limited to) a smartphone. According to some examples, the sensor can be an electromagnetic waves based sensor, which sends electromagnetic waves towards the canopy, such as a LIDAR, a radar, a laser-based sensor, etc. ;

at least a sensor configured to sense data indicative of the geometrical configuration of the suspension lines of the parachute. An image sensor can be used, or an electromagnetic waves based sensor can be used, as mentioned above (such as a LIDAR). Depending on the examples, the same sensor can be used for sensing data indicative of the geometrical configuration of the suspension lines and of the canopy, or different sensors can be used;

at least a load sensor, or at least two load sensors, such as (but not limited to) strain gauges, load cells, tension sensor, etc.;

at least an inertial sensor for measuring inertial data of the parachute, such as (but not limited to) a velocity sensor, an acceleration sensor, a position sensor, an altitude sensor, a rate of descent sensor, etc.

The sensor configured to measure data indicative of the geometrical configuration of the canopy can be located at various positions, which include (but are not limited to) the head of the pilot, the helmet of the pilot, the suspension lines, the payload of the parachute, the automatic pilot unit of the parachute, the harness (for a manned parachute), the vehicle frame (like trike frame for powered parachutes), etc.

These positions also apply to the sensor configured to sense data indicative of the geometrical configuration of the suspension lines of the parachute. Although Fig. 3 depicts the sensor(s) 32 as being part of the safety system 30, according to some examples, at least a subset of the sensor(s) 32 is not part of the safety system 30. For example, this subset of sensor(s) 32 is part of the parachute.

The controller 31 can be connected to the sensor(s) 32 by an operator or in an automatic way. For example, the safety system can detect electromagnetic waves sent by the sensor in order to be associated with said sensor. The connection between the controller 31 and said sensor(s) 32 can be a wired connection or can be wireless connection (such as through Bluetooth, Wifi, LTE, etc.).

As explained later in the specification, according to some examples, the controller 31 is configured to detect a malfunction of the parachute and, if a malfunction has been detected, to command at least an actuator 34 for performing a safety action.

The actuator 34 can be part of the safety system 30. The actuator 34 can also be part of the parachute (that is to say that the actuator is an actuator which is already present in the parachute). According to some examples a first subset of the actuators is part of the safety system and a second subset of the actuators is part of the parachute.

The actuator 34 can include at least one of the following actuators:

at least an alarm actuator configured to raise an alarm. The alarm actuator can include a sound speaker which provides an audio alarm. The alarm actuator can also include a visual screen which displays a visual alarm. The alarm actuator can also be connected to a remote central station (such as one of the emergency services) in order to send to said remote central station an alarm through any adapted communication network;

an audio speaker providing steering commands to a pilot of the parachute;

a screen for providing indications to the pilot (such as a micro-screen located on the goggles of the pilot);

an actuator for deploying a reserve parachute. The reserve parachute is a second parachute which is to be deployed when the main parachute encounters a malfunction which cannot recover. The actuator for deploying the reserve parachute generally comprises a trigger which can be manually activated (in case the parachute is driven by a pilot) or automatically activated (in case the parachute is driven by an automatic pilot unit);

an actuator commanding the flight of the parachute, in particular an actuator which commands the steering of the parachute. According to some examples, the controller of the safety system can send a control signal to at least an actuator which commands steering elements (such as the load bearing elements) of the parachute. As mentioned with respect to Fig. 1, according to some examples, at least part of the load bearing elements allows controlling the steering of the parachute. According to some examples, the controller of the safety system can send a control signal to at least an actuator which commands the propulsion of the parachute (such as a motor embedded in the parachute); an actuator commanding the take-off of the parachute (in case e.g. of a powered parachute). This actuator can be a specific actuator, or can be a part of an automatic pilot unit which controls the flight and the different flight actuators of the parachute. For example, if the deployment of the parachute fails, this actuator can receive a control signal from the controller 31 in order to abort the take-off. Depending on the actuators, it can be necessary to calibrate or plug the safety system so as to make it communicate with the actuator. If the connection between the safety system and the actuator is made by a wired connection, the user of the safety system can perform the connection manually. If the connection between the safety system and the actuator is an unwired connection (such as a connection through Bluetooth or any other communication network), the controller of the safety system can be configured to automatically seek for corresponding actuators which emit a communication signal. According to some examples, the communication signal can be specific to the actuator (or a signature of the communication signal can be specific to the actuator) which allows the controller to identify the actuator. Then, the controller is able to send control signals to the corresponding actuators for controlling said actuators.

Alternatively, or in addition, a user can require from the controller of the safety system (e.g. through an interface of the safety system, as described below) to seek for corresponding actuators and perform a coupling as mentioned above. According to some examples, the safety system comprises an interface (not represented) such as a screen associated to a keyboard (which includes at least one of a hardware keyboard and a software keyboard such as a tactile keyboard) which allows a user to interact with the safety system.

According to some examples, the interface is a dedicated interface for the safety system.

The interface can allow the user to enter various data on the parachute and/or the flight, which can be stored in a storage of the safety system.

According to some examples, the interface is a pre-existing interface which communicates with the safety system. For example, a smartphone of the user can communicate with the safety system through a wired connection or a wireless connection. Thus, the smartphone plays the role of the interface with the safety system.

According to some examples, the safety system comprises at least a calibration actuator (such as, but not limited to, a validation button which can be manually activated by the user and which in turn sends a corresponding validation signal to the controller of the safety system). This calibration actuator can allow a user to communicate orders to the safety system in order to calibrate said safety system, as explained later in the specification.

Referring now to Fig. 4, an example of a method of enhancing safety of a parachute is described.

As shown in Fig. 4, the method can comprise a step 40 of sensing data indicative of the geometrical configuration of the canopy during operation of the parachute. In the present text, it is to be noted that the "operation" of the parachute can include various phases of the flight, such as the phase preceding the deployment of the canopy, the deployment of the canopy itself (on ground or in the air), the flight, the landing, etc. This acquisition of data can be performed continuously during at least part of the operation of the parachute, or can be repeated with a predefined frequency during at least part of the operation of the parachute. This acquisition of data can be performed by an appropriate sensor (as mentioned above with reference to Fig. 3) under the control of the controller 31 of the safety system.

According to some examples, the step 40 comprises the step of taking an image with an image sensor (as mentioned with respect to Fig. 3), said image comprising the canopy (and possibly a part of the environment surrounding the canopy, which generally includes the sky).

The method can further comprise a step 40A of extracting data indicative of the geometrical configuration of a canopy from the sensed data. As mentioned later in the specification, this step can include for example the use of an image processing algorithm.

The method can further comprise a step 41 of comparing the extracted data with at least a reference configuration representing a normal operation of the parachute.

For example, if the sensed data is an image of the canopy, and the extracted data is the contour of the canopy (as explained with reference to Figs. 6 and 7), the reference configuration can comprise an image representing a contour of said canopy in normal operation or the contour of an equivalent canopy in normal operation.

The reference configuration can be retrieved from a storage of the safety system (such as the storage 33 described in Fig. 3).

According to some examples, the reference configuration is a pre-stored reference configuration pertinent for at least said parachute.

According to some examples, the storage of the safety system stores a bank of reference configurations, each reference configuration being pertinent for a parachute or for a group of parachutes. For example, a given series of parachutes of a given parachute manufacturer can have the same reference configuration, although the parachutes of the series can present some differences (e.g. they can have different colours).

The user can then enter in the safety system, through the interface, the model and/or the brand and/or the characteristics of the parachute so that the controller can extract the pertinent reference configuration.

As shown in Fig. 5, the reference configuration 52 can be obtained in different ways.

According to some examples, the reference configuration 52 is built based on a geometric analysis of the parachute (see block 50 in Fig. 5). This geometric analysis can be performed on a computer (such as in a laboratory) based on the knowledge of the parachute blueprints. This allows extracting the theoretical geometry that should be observed by the sensor(s) during the flight.

According to some examples, the reference configuration 52 is obtained during a real test (see block 51 in Fig. 5), such as during a trial flight.

A possible real test includes performing a trial flight of the parachute, during which the controller commands the sensor to acquire the reference configuration. During the trial flight, it has to be indicated to the controller that the parachute is operating normally so that it can send a control signal to the sensor to acquire the reference configuration. The indication that the parachute is operating normally can be provided by the pilot of the parachute, through the interface of the safety system, or by an external operator who monitors the flight and can communicate with the controller through an adapted communication unit.

According to some examples, the trial flight can be performed for each parachute. In this case, each time a user uses, for the first time, the safety system for a parachute, he has to perform the trial flight and to record the reference configuration during a normal operation.

According to other examples, a trial flight is performed for a given model of a parachute (or groups of parachutes), and the reference configuration is then stored in the storage of the safety system for this given model of parachute. In this case, a single trial flight (provided it is successful) is enough to obtain the reference configuration for this given model of parachute (or group of parachutes).

According to some examples, the reference configuration 52 is obtained by performing a ground deployment of the parachute (see block 53 in Fig. 5), but without actual flying.

The method described in Fig. 4 can further comprise a step 42 of detecting a malfunction of the parachute based at least on said comparison. In particular, it can comprise a comparison with an operability criterion (which is for example a threshold which dictates the level of difference between the extracted data and the reference configuration from which the controller has to consider that there is a malfunction of the parachute).

The operability criterion can be defined as a criterion defining that the parachute is operating normally (e.g. as long as the comparison of step 41 shows that the difference between the extracted data and the reference configuration is below said criterion, this means that the parachute is operating normally) or as a criterion defining that the parachute is not operating normally (e.g. as soon as the comparison of step 41 shows that the difference between the sensed data and the reference configuration is above said criterion, this means that the parachute is not operating normally).

If the controller of the safety system detects a malfunction (step 42) based on the comparison of step 41, the method can then comprise a step 43 wherein the controller commands at least an actuator (e.g. an actuator 34 as described with reference to Fig. 1) of the parachute or of the safety system, for performing a safety action. Examples of safety actions will be described later in the specification.

Fig. 6 shows a reference configuration 60 for the canopy, which comprises a contour 61 defining the contour of a canopy in normal operation.

Fig. 7 shows a comparison between a contour 70 of a canopy of a parachute in operation and the contour 61 of the reference configuration 60 of Fig. 6.

The contour 70 of the canopy can be extracted from an image of the canopy which is taken by an image sensor (see sensor 32 in Fig. 3) of the safety system. This extraction can be based on an image processing algorithm such as an algorithm which detects edges in an image ("edge detection algorithm"). The algorithm can also take into account the colour of the edges of the canopy, which can be known in advance according to some examples.

According to some examples, the extraction of the contour can comprise applying an edge detector to the image sensed by the image sensor. Then, a filter can be used to remove noise (such as background noise from the sun, and presence of other edges such as the suspension lines). The method can then comprise starting from an outer contour that contains all the edges of the image and reducing the size of this contour toward the centre of the image until the first closed contour is reached, which is considered by the controller as the contour of the canopy.

Other methods can be used to extract the contour of the canopy.

The controller of the safety system can then compare the extracted contour 70 with the contour 61 of the reference configuration 60. This comparison can involve for example a cross-correlation algorithm.

In the example of Fig. 7, the comparison indicates that a lateral side 71 of the extracted contour 70 does not match the corresponding lateral side of the reference contour 61, and that two sides 72, 73 of the extracted contour 70 only partially match the corresponding sides of the reference contour 61.

The comparison can yield an error (such as a cross-correlation error) indicating the level of discrepancies between the reference contour and the extracted contour.

The comparison can also yield a spatial distribution of the error. In the example of Fig. 7, it can indicate that the error is higher on one side of the canopy, which can indicate that this side of the canopy has collapsed. This indication can be used to adapt the safety action, and in particular the steering command that is to be applied to the parachute, as explained later in the specification. According to some examples, the contour of the canopy (that is to say of the canopy during operation of the parachute, and/or of a reference canopy) can be extracted from data sensed by an electromagnetic waves based sensor, such as a radar or LIDAR, which measures the reflexion of electromagnetic waves on the canopy. This type of sensor also provides an "image" of the canopy (instead of pixels provided by the image sensor, a level of reflexion of the waves is provided, which provides a map similar to a pixel-based image). Similar extracting methods can be used to extract the contour of the canopy (these methods are applied to the aforementioned "image" of the canopy). A comparison to a reference configuration similar to what was described for Fig. 7 can be performed.

Both LIDAR and RADAR sensors measures the range of the reflecting object. A LIDAR can produce a cloud of points, where the azimuth, elevation and range of each point can be measured. The point cloud image looks similar to a camera image, except that the distance between the sensor and each point in the cloud is known. So, for example (this example being non limitative), a processing unit can use the measurements of the LIDAR to build a 3D map of the canopy based on the most remote points, and compare this map to a reference map of a fully functional parachute (reference configuration).

Same or similar algorithms can be applied for RADAR outputs as well.

Figs. 8 and 9 describe another possible example for enhancing security of a parachute.

As shown in Fig. 8, visual markers 80 can be present on the canopy. These visual markers 80 can be part of the structure of the canopy (for instance they are particular logos or images that the maker of the parachute inserts on the canopy at the making stage) and/or can be attached to the canopy by adapted fastening tools. The visual markers 80 can be passive (such as - but not limited to - painted on the canopy, reflectors to electromagnetic waves such as radar waves or laser waves, etc.), or active (such as - but not limited to - LED lights, radio beacons, etc.). They can also be natural patterns of the canopy.

The reference configuration of the canopy can comprise an image representing the visual markers in a normal operation of a parachute. This reference configuration can be obtained as already explained with reference to Fig. 5.

Alternatively, or in addition, the reference configuration can also comprise a list of position of the visual markers relatively to the image (or relatively to the canopy) in a normal operation, and if necessary, the distance between the different visual markers in a normal operation.

As shown in Fig. 9, a method of enhancing safety of the parachute can comprise a step 90 of taking an image comprising the canopy during operation of the parachute. The method can then comprise a step 90A of extracting the visual markers from the image of the canopy and calculating the position of the visual markers. The method can then comprise comparing (step 91) the extracted position(s) with reference position(s) representing a normal operation of said canopy or a corresponding canopy.

The method can then comprise a step 92 of detecting a malfunction (this step is similar to step 42 of Fig. 4). This step 92 can comprise detecting a malfunction if the comparison differs from an operability criterion.

A safety action (step 93, similar to step 43 of Fig. 4) can then be performed in case a malfunction has been detected.

In this example, the comparison of the position of the visual markers with a reference configuration can also provide information on:

the level of the malfunction (such as by computing a total comparison error, or total cross-correlation error), and

the localization of the malfunction. If for example it is detected that two visual markers of one side of the canopy were translated with respect to the reference configuration, it can indicate that this side of the canopy has collapsed.

Fig. 9A shows another possible method for detecting malfunction based on data acquired on the canopy, such as an image of the canopy.

According to some examples, the controller computes at least one of the relative location and relative angular position of the canopy with respect to the sensor.

As shown in Fig. 9A, the main axes 96 of the canopy are translated and tilted with respect to the main axes 95 of the sensor (see arrows 94 which represent the offset).

If the translation and/or the tilt is above a threshold (operability criterion), it can indicate a malfunction of the parachute. The controller can also indicate to the pilot that the sensor is not properly oriented (such as through an audio indication), so as to allow the pilot to adjust the position and/or orientation of the sensor.

The example of Fig. 9A can be combined with the examples of Figs. 4 and 9. In particular, the controller can take into account the geometrical configuration of the canopy (or the position of the visual markers) with respect to a reference configuration, and the relative translation and/or tilt of the canopy with respect to the sensor in order to detect a malfunction.

Figs. 10 to 12 describe another possible example for enhancing security of a parachute.

As shown in Fig. 10, the image used for building the reference configuration can comprise a canopy 100 and a portion 101 of the sky.

As shown in Fig. 11, if the canopy 110 encounters a malfunction, the portion 111 of the sky appearing in the image taken by the sensor changes accordingly (in particular, the proportion and/or the geometrical configuration of the sky appearing in the image change).

Thus, the portion of the sky appearing in the image can be used to detect a malfunction.

As shown in Fig. 12, during operation of the parachute, the method of enhancing safety of the parachute can comprise the step 120 of extracting, from the image taken by the image sensor, a portion 111 of the image which comprises the sky.

The method can then comprise the step 121 of comparing the geometrical configuration of the extracted portion of the image comprising the sky, with a reference configuration of the sky appearing in an image comprising a canopy for which the parachute is operating normally.

This comparison can comprise at least one of:

comparing the relative proportion of the sky in the image compared to a reference relative proportion;

comparing the distribution of the sky in the image to a reference distribution (similarly to what was done for the canopy itself, as explained with reference to Figs. 6 and 7). This comparison can comprise extracting the contour of the sky appearing in the image, and comparing this extracted contour with a reference contour representing a "normal" contour of the sky appearing in a reference image of a corresponding canopy in normal operation.

The extraction of the portion of the sky from the image taken by the image sensor can comprise for instance extracting pixels whose colour is in a predefined range (such as "blue").

Alternatively, or in addition, the controller can use the images taken by the image sensor before the canopy is opened, in order to learn the expected colour of the sky. Then, after the canopy is opened, the portion of the sky can be extracted from the image by selecting the pixels which have the expected colour (for example with a colour histogram or with a filter or using a torch to light on the canopy).

As already explained with reference to Figs. 4 and 9, the method can then comprise detecting a malfunction of the canopy (step 122) and perform a safety action (step 123).

Although the method of Fig. 12 has been described with an image sensor, the portion of the sky can also be extracted from data acquired by an electromagnetic waves based sensor. Indeed, as already mentioned, this kind of sensor also provides an "image" of the canopy and of the sky. The part of the image which does not reflect the electromagnetic waves sent by the sensor, or which reflect less said electromagnetic waves, or which has a distance with respect to the sensor which is greater than the normal distance between the canopy and the sensor (a non limitative example can be 30m or more instead of about 6m), can be considered as belonging to the sky.

Figs. 13 to 15 describe another possible example for enhancing security of a parachute.

In the example of Fig. 13, the reference configuration comprises at least a pair of lines 130 of a canopy which have a predefined position and which have a predetermined geometrical relationship.

The predetermined geometrical relationship is for instance the fact that the lines are parallel. Indeed, some canopies are made of adjacent cells. At least some of the sides of the cells (along a direction orthogonal to the trailing edge and to the leading edge of the canopy) are, during a normal operation of the parachute, parallel.

According to other examples, the predetermined geometrical relationship is the fact that the lines are orthogonal. According to other examples, the predetermined geometrical relationship is the fact that lines are separated by a predefined angle.

According to some examples, the pair of lines comprises the trailing edge and the leading edge.

As shown in the example of Fig. 14 (which is a non limiting example of a possible malfunction of a parachute), the pair of lines 140 is not parallel, contrary to what was expected in the reference configuration, wherein the pair of lines 130 is parallel. Fig. 15 illustrates steps of a possible corresponding method for enhancing safety of the parachute.

The method can comprise a step 150 of taking an image comprising the canopy, during operation of the parachute.

The method can then comprise a step 151 of extracting lines of the canopy, and comparing them with the reference configuration. Since the reference configuration indicates the predefined position of the lines that are to be extracted, the controller can extract the corresponding lines from the image, if they are present.

This extraction can be based on an image processing algorithm such as an algorithm which detects edges of an image ("edge detection algorithm").

The controller can then detect if a pair of lines appearing in the image of the canopy taken by the image sensor matches said reference configuration (that is to say that the pair of lines needs to be at the predefined position and respects the geometrical relationship) according to a matching criterion. The matching criterion is the level of the error which is accepted between the measured data and the reference configuration, for which the controller does not consider that a malfunction has occurred.

For example, if the geometrical relationship is the parallelism of the lines, the controller can check if said lines are parallel. If the controller detects that they are not parallel, the controller can detect if the deviation from the parallelism is less than a predefined threshold (matching criterion). This threshold can be already preprogrammed in the controller, and/or can be set by the user of the safety system. For example, it checks if the lines are separated by an angle which is less than 0.5 degrees or 1 degree or 5 degrees or 10 degrees (these values being non limitative).

Steps 152 and 153 are similar to steps 42 and 43 described with reference to Fig.

4.

Although the example of Fig. 15 was described for lines present in the canopy, the method can also be applied to other lines, such as the suspension lines which are attached to the canopy. The suspension lines are extracted from an image taken by the sensor and the controller tests if they match a geometrical relationship (according to a matching criterion), as explained, in order to detect a malfunction of the parachute and perform a safety action.

Figs. 16 to 18 describe another possible example for enhancing security of a parachute. As illustrated in Fig. 16, the canopy 160 is attached to the payload 161 of the parachute by suspension lines 162 (also called suspension lines or strings).

As described in Fig. 17, the method can comprise a step 170 of sensing data indicative of the geometrical configuration of the suspension lines.

According to some examples, this step comprises taking an image of the suspension lines.

According to other examples, this step comprises building an image of the suspension lines by using an electromagnetic waves based sensor, such as LIDAR. According to some examples, markers are installed on the suspension lines to increase the signal sensed by the electromagnetic waves based sensor. For example, in case of a RADAR, metal chords (for increasing the radar cross section of the suspension lines) or light reflecting colour markers can be installed on the suspension lines.

The method can then comprise a step 171 of comparing the geometrical configuration of the suspension lines with a reference configuration corresponding to a normal operation.

This step 171 can comprise a step of extracting the suspension lines from the image (in the case the sensor is an image sensor).

A possible and non limiting example for the extraction of the suspension lines from an image can include a smart edge detector algorithm that detects only edges that are significantly different from both sides of the edge.

If the comparison of step 171 differs from an operability criterion, the controller can detect a malfunction (step 172) and perform a safety action (step 173), as already explained in steps 42 and 43 of Fig. 4.

Fig. 18 illustrates a particular example for the method of Fig. 17.

In the reference configuration, at least a subset of the suspension lines belongs substantially to the same plane. For example, in Fig. 18, the subset of suspension lines 180 belongs to the same plane PI and the subset of suspension lines 181 belongs to the same plane P2.

The controller detects if the suspension lines acquired by the sensor during operation of the parachute match this reference configuration (step 171)

This comparison can be performed with a matching criterion. The matching criterion is the level of the error which is accepted between the measured data and the reference configuration, for which the controller does not consider that a malfunction has occurred. Figs. 18A to 18D illustrate a non limitative example of a method of detecting that a suspension line is out of plane.

Fig. 18A illustrates suspension lines 183 which are in the same plane, and a sensor whose position and direction are illustrated by arrow 184.

Fig. 18B illustrates the image viewed by the sensor. Since the suspension lines are in the interval illustrated by the reference 185, they can be considered as belonging to the same plane.

Fig. 18C illustrates an example in which a suspension line 186 is not in the same plane as the other suspension lines.

As shown in Fig. 18D, this suspension line 186 appears in the image as exceeding the interval 185, and thus can be detected.

Fig. 19 illustrates another particular example for the method of Fig. 17.

In this example, in the reference configuration of the suspension lines, at least a subset of the suspension lines do not intersect (that is to say that from a given point of view, the 2D projection of said subset of suspension lines do not intersect). This can be seen e.g. in Fig. 16, wherein the suspension lines of the subset 162 do not intersect. This is the same for the suspension lines of the subset 160.

The controller is then configured to detect if the suspension lines acquired by the sensor during operation of the parachute match the reference configuration according to a matching criterion. As shown in Fig. 19, the suspension lines of the subset 190 intersect, which is not compliant with the reference configuration. The suspension lines of the subset 191 do not intersect, which is compliant with the reference configuration.

Figs. 20 and 21 illustrate another particular example for the method of Fig. 17.

In this example, in the reference configuration of the suspension lines, at least a subset of the suspension lines follows a predefined curve. For example, as shown in Fig. 20, the suspension line 200 follows an affine curve with a predefined slope.

In Fig. 21, the suspension line 210 does not comply with the reference configuration since it is twisted or tangled.

Thus, the controller can detect a malfunction based on the comparison between the actual curve of the suspension lines with the reference curve of the reference configuration (as mentioned, the comparison can tolerate an error, also called matching criterion above). Fig. 22 illustrates another particular example for enhancing safety of a parachute. In this example, it is not necessary to compute the geometrical configuration of the suspension lines.

In the reference configuration of the suspension lines, the number of suspension lines is equal to a predefined number. For example, in Fig. 16, the number of suspension lines in a normal operation is equal to four (the subdivisions of the suspension lines at their end near the canopy is used for improving their fastening to the canopy and are in general not counted as independent load bearings).

As shown in Fig. 22, an external obstacle 221 is attached to a part of the suspension lines.

As shown in Fig. 23, the method of enhancing safety of the parachute can comprise a step 230 of sensing data representing the suspension lines (such as by taking an image of the suspension lines with an image sensor, or sensing the suspension lines with an electromagnetic waves based sensor).

It can further comprise a step 231 of comparing the number of suspension lines with a reference number.

If it appears that the number of suspension lines is less than the reference number, this can indicate that a suspension line was cut. The controller can then detect a malfunction (step 232) and perform a safety action (step 233, such as indicating to the pilot that a suspension line is not operational). Depending on the type of the suspension line which is considered as missing (e.g. if the suspension line is only a suspension line or also influences the steering of the flight), and the number of missing suspension lines, the controller can perform a different safety action.

If it appears that the number of suspension lines is more than the reference number, this can indicate that an obstacle is present in the suspension lines (said obstacle was in fact counted as a suspension line by the controller), which can prevent the suspension lines from operating normally. According to some examples, the controller can detect the obstacle by comparing the size of each part of the images detected as suspension lines with an expected size. After the obstacle has been detected in the image, the controller can detect the size of the obstacle and adapt the safety action based on this size. Indeed, a large obstacle is generally more dangerous for the flight of the parachute than a small obstacle.

Referring now to Fig. 24, another example of a method of enhancing safety of a parachute is described. The method can comprise a step 240 of measuring the load of at least a suspension line. As described with reference to Fig. 3, at least a load sensor can be mounted on said suspension line.

The method can then comprise a step 241 in which the controller of the safety system analyzes the measured load.

This analysis can comprise a comparison of the measured load with a reference load. This reference load can be known in advance (e.g. by analysis), or can be measured during a trial flight of the parachute. According to some examples, the user can also enter the weight of the payload (such as his own weight) through the interface of the safety system, so that the controller can calculate the reference load.

If the load of a plurality of suspension lines is measured, the controller can compare the measured load with a reference load for each suspension line.

Alternatively, the suspension lines can be divided into subsets (such as suspension lines located at the front of the canopy, suspension lines located at the middle of the canopy, suspension lines located at the rear of the canopy) and the controller compares the total load measured for each subset to a reference load. Other subdivision can be used (for instance depending on the role of the suspension lines in the steering of the parachute).

According to some examples, the controller computes data representing the evolution of the load and compares them to a reference configuration. For example, the controller can compute a first order derivative (or second order derivative) of the load measured by a suspension line and compare it to a reference corresponding value (reflecting a normal operation).

The analysis of the evolution of the load is particularly useful for detecting malfunctions of the parachute during take-off.

According to some examples, the controller can compute the total load measured by the load sensors mounted on different suspension lines and compares it to a reference total load.

The controller can perform one or more of these comparisons in order to detect a malfunction.

If the comparison does not meet an operability criterion (such as if the comparison shows that the difference between the measured load and the reference load is above a threshold), the controller can detect a malfunction (step 242) and perform a safety action (step 243) as already explained above with reference to Fig. 4. Fig. 25 illustrates another possible example of a method of enhancing safety of a parachute.

The method comprises a step of measuring the load of at least two different suspension lines, with at least a load sensor mounted on each of the two lines.

According to some examples, the suspension lines are chosen as suspension lines which are located on different sides of the parachute. For example, as shown in Fig. 26, a first suspension line 260 is located on the right side of the parachute (at least a load sensor 262 is mounted on said suspension line 260), and a second suspension line 261 is located on the left side of the parachute (at least a load sensor

263 is mounted on said suspension line 261). The sides of the parachute are expressed with respect to an axis of symmetry 264 of the parachute.

According to some examples, the suspension lines, on which the load sensors are mounted, are located in symmetric position with respect to the axis of symmetry

264 of the parachute. This is shown in the particular and non limiting example of Fig. 26.

According to some examples, the suspension lines on which the load sensors are mounted belong to a particular subset of the suspension lines (such as - but not limited to - the subset of suspension lines which controls the brake of the parachute, or other steering functions of the parachute).

The method can comprise a step 251 of analyzing the load distribution based on the measured load.

This analysis can comprise comparing the load measured on the different suspension lines. The controller can thus subtract the load measured by at least one load sensor mounted on a first suspension line from the load measured by the another load sensor mounted on a second suspension line, and compare the result to an operability threshold.

For example, if one of the suspension lines supports a much higher load than the other, this can indicate that a malfunction has occurred.

For example, if the controller detects that a suspension line supports 45Kg and the other suspension line supports 15Kg, this indicates that the weight supported by the parachute is unbalanced. The safety action can comprise an order to the pilot for pulling the side of the parachute which supports the higher load and pump abruptly the other side. Other examples of safety action will be described later in the specification. According to some examples, the load supported by more than two suspension lines is measured. In this case, the controller can for example analyze the load distribution by comparing the load measured by different subsets of suspension lines. Examples of subsets include subsets which depend on the localization of the suspension lines with respect to the canopy (such as - but not limited to - front position/ mid position/ rear position / left position/ right position/ central position), or which depend on the function of the suspension lines (such as - but not limited to - control of the brake/steering, leading edge angle control, etc.).

The controller can also compare the load for several pairs of suspension lines, wherein each pair comprises suspension lines located symmetrically with respect to the axis of symmetry of the parachute.

The analysis can also comprise computing a first order derivative (or second order derivative) of the load measured by a first suspension line and comparing it to the first order derivative (or second order derivative) of a second suspension line. This also applies to a plurality (more than two) of suspension lines.

Based on the analysis performed at step 251, the controller can detect a malfunction (step 252) and perform a safety action (step 253) as already explained above with reference to Fig. 4.

We will now describe a particular and non limitative example of a method of detecting malfunction based on a load measurement. In this example, in normal operation, the total load is 100KG, which is divided equally among 50 suspension lines, each suspension line supporting 2 KG. The difference between the load measured by load bearings lines located on one part of the canopy and the load measured by suspension lines located on the other part of the canopy (in a symmetric way) is substantially equal to zero.

If the left part of the canopy collapses, the system will for example detect that: the load difference (for "A lines") between the load bearings located on the right side and the load of the corresponding suspension lines located on the left side is equal to 2KG;

the load difference (for "B lines") between the load bearings located on the right side and the load of the corresponding suspension lines located on the left side is equal to 3KG; the load difference (for "C lines") between the load bearings located on the right side and the load of the corresponding suspension lines located on the left side is equal to 2KG;

the load difference (for "brake lines") between the load bearings located on the right side and the load of the corresponding suspension lines located on the left side is equal to 2KG.

In addition, the total measured load is equal to 70 KG. Other values can include (see Fig. 26 A):

the difference between the total load measured on the right side of the canopy and the left side of the canopy, which is equal to 70 KG;

the difference between the total load measured on the left centre side of the canopy and the right centre of the canopy, which is equal to 35 KG; the difference between the total load measured on the centre of the canopy and the right side of the canopy, which is equal to 0 KG;

the load measured on a centre left side suspension line, which is equal to OKG;

the load measured on a right side suspension line, which is equal to 1.4 KG (not represented), and

the load measured on a centre right suspension line, which is equal to 1.4KG (not represented).

The controller can thus detect that the left side of the canopy has encountered a malfunction.

It will now be described examples of safety actions that can be triggered by the controller, as mentioned e.g. for steps 43, 93, 123, 153, 173, 233, 243, and 253 in Figs. 4, 9, 12, 15, 17, 23, 24 and 25.

According to some examples, the controller can control the reserve parachute and trigger the opening of the reserve parachute. The controller can send a signal to a command of the reserve parachute, such as by wire communication or by wireless communication.

According to some examples, the controller can raise an alarm, such as an audio alarm, to the pilot of the parachute. The alarm can also be a vibration provoked by actuator which causes a vibration felt by the pilot. The alarm can also be a visual alarm. The alarm can also be communicated remotely to emergency services. Other types of alarms can be raised. According to some examples, the controller can provide steering commands to a pilot of the parachute, such as audio steering commands.

Indeed, in various examples that were described for enhancing safety of the parachute, the controller can compute data indicative of the nature and/or localization of the malfunction of the parachute.

For example, in the method described with reference to Fig. 4, the controller can detect from the comparison with a reference configuration that a particular part of the canopy has encountered a malfunction. This applies also to the method described with reference to Figs. 9, 12, and 15. Similarly, in the method described with reference to Figs. 17 to 23, the controller can detect that particular suspension lines are not operational. Similarly, in the method described with reference to Figs. 24 to 26, the controller can detect that particular suspension lines are not operational or that particular parts of the canopy have encountered a malfunction.

As a consequence, the controller can compute an appropriate steering command.

A non limiting example regarding the steering command can include the following:

An open loop command can be applied (such as pre-defined sequence, to be triggered by the controller). A non limitative example includes a five-times pull-release sequence in case of steering line entanglement, in order to try to release the knot;

A close loop command can be applied. This close loop command can comprise measuring the canopy state and calculate the next command based on the current state. For example, in case of a partial collapse of the right side of the canopy, the command can include a brake release relative to the collapsed area size on the right side, and a brake pull relative to the collapsed area size on the left side;

A gain or bias change in the autopilot control loop can be applied (if an autopilot is used), or compatible orders can be sent to the pilot. In a non limitative example, in case of left brake line entanglement, this can include a command comprising pulling 5 cm on the right brake line ("bias change") and increasing the heading loop gain by 20% ("gain change"). Alternatively, this can include a command to the pilot to pull 5 cm on the right brake line and pull 20% more for steering. This steering command can be either communicated to the pilot (e.g. through an audio speaker, wherein predefined audio commands are stored in a repository of the storage 33 of the safety system) or can be a signal which is sent by the controller to flight actuators of the parachute for automatically controlling the flight actuators and thus the parachute. The signal sent to the flight actuators can be a signal which causes the flight actuators to perform the steering command.

Steering left or right can comprise manually or automatically pulling down the left or right brake, thereby increasing drag on the left or right side, causing the canopy to roll and yaw to the left or right respectively. The magnitude of the roll is related directly to the length of line that the pilot/controller pulls. Examples of steering commands include:

Abruptly pull (e.g. 30-50% of the maximum allowed control travel) and release one of the brakes' suspension lines;

Abruptly pull (e.g. 30-50% of the maximum allowed control travel ) and release both of the brakes' suspension lines;

Release right/left brake suspension line if the corresponding suspension line is currently in pulled down position;

Release both right and left brake suspension lines if these are currently in pulled down position.

Other steering commands are possible depending on the localization of the malfunction and its intensity.

According to some examples, if the controller detects a malfunction before the takeoff of the parachute, it can perform a safety action for aborting takeoff. The safety action can comprise indicating to the pilot that the takeoff has to be aborted. Alternatively, the controller can control the automatic pilot unit which controls the flight actuators of the parachute, for aborting takeoff. The automatic pilot unit can for example cause the canopy to collapse, or can stop the motor of the parachute, etc.

According to some examples, the controller performs a sequence of safety actions. A possible sequence can include the following steps. If a malfunction has been detected, the controller first raises an alarm. After a given time, if the controller monitors that the malfunction has not stopped, it indicates to the pilot steering commands to be performed or sends commands to an automatic pilot unit for performing said steering commands. After a given time, if the controller monitors that the malfunction has not stopped, it can require from the pilot to open the reserve parachute, or it can automatically open the reserve parachute.

Fig. 27 shows that the controller can combine various approaches to enhance safety of the parachute.

The controller can receive data 270 indicative of the geometrical configuration of the canopy, and detect a malfunction of the parachute (or a probability of malfunction) as explained with reference to Figs. 4, 6, 7, 8, 9 and 9A.

The controller can also receive data 271 indicative of the geometrical configuration of the sky and detect a malfunction of the parachute (or a probability of malfunction) as explained with reference to Figs. 10 to 12.

The controller can also receive an image 272 of the canopy and extract lines from said image in order to detect a malfunction of the parachute (or a probability of malfunction) as explained with reference to Figs. 13 to 15.

The controller can also receive data 273 indicative of the geometrical configuration of the suspension lines of the canopy and detect a malfunction of the parachute (or a probability of malfunction) as explained with reference to Figs. 17 to 21.

The controller can also receive data 274 representing the suspension lines of the canopy (such as data representing the number of suspension lines) and detect a malfunction of the parachute (or a probability of malfunction) as explained with reference to Figs. 22 and 23.

The controller can also receive load data 275 measured on the suspension lines and detect a malfunction of the parachute (or a probability of malfunction) based on these data, as explained with reference to Figs. 24 to 26.

The controller can use any combination of these methods to detect malfunction. In addition, it can receive additional data such as inertial data of the parachute (including e.g. position, velocity, acceleration, rate of descent, etc.) or any other relevant data for detecting malfunction. These additional data can be used in addition to the various methods described for detecting malfunction, as additional indicators of a malfunction.

The controller can then decide if a malfunction has occurred, according to one or more combination rules.

According to some examples, if at least one of the methods used by the controller indicates that a malfunction has occurred, the controller can decide that a malfunction has occurred and sends a signal to at least an actuator for performing a safety action.

According to some examples, the controller computes a probability of malfunction for each method, and the controller decides that a malfunction has occurred if an aggregated probability (such as an average probability, if necessary weighted for each method) is above a threshold.

The invention contemplates a computer program being readable by a computer for executing one or more methods of the invention. The invention further contemplates a machine-readable memory tangibly embodying a program of instructions executable by the machine for executing one or more methods of the invention.

It is to be noted that the various features described in the various embodiments may be combined according to all possible technical combinations.

It is to be understood that the invention is not limited in its application to the details set forth in the description contained herein or illustrated in the drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways. Hence, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for designing other structures, methods, and systems for carrying out the several purposes of the presently disclosed subject matter.

Those skilled in the art will readily appreciate that various modifications and changes can be applied to the embodiments of the invention as hereinbefore described without departing from its scope, defined in and by the appended claims.

Claims

1. A safety system for a parachute comprising a canopy, the safety system comprising: at least a sensor configured to sense data indicative of the geometrical configuration of the canopy;

at least a controller configured to:

o extract data indicative of the geometrical configuration of the canopy from the sensed data,

o compare at least part of the extracted data with at least a reference configuration representing a normal operation of the parachute, o detect a malfunction of the parachute based at least on said comparison, and

o if a malfunction has been detected, command at least an actuator of the parachute or of the safety system, for performing a safety action.

2. The safety system of claim 1, comprising a storage storing the reference configuration wherein said reference configuration is a pre-stored reference configuration pertinent for at least said canopy.

3. The safety system of claim 1, comprising a storage storing the reference configuration wherein said reference configuration was obtained by commanding the sensor to acquire said reference configuration during a trial flight of the parachute.

4. The safety system of any of claims 1 to 3, further comprising at least an inertial sensor for measuring inertial data of the parachute, wherein the controller is configured to detect a malfunction of the parachute based at least on said measured inertial data.

5. The safety system of any of claims 1 to 4, wherein the controller is configured to: extract from the sensed data a contour of the canopy, and

compare the extracted contour with a reference contour representing a normal operation of the canopy, in order to detect a malfunction of the parachute.

6. The safety system of any of claims 1 or 5, wherein the controller is configured to: extract, from the sensed data, a portion representing the sky, and

compare

o the geometrical configuration of the extracted portion representing the sky, with

o a reference configuration representing a portion of the sky during a normal operation of the parachute.

7. The safety system of any of claims 1 to 6, wherein: the sensor is an image sensor,

the reference configuration comprises at least a pair of lines of a canopy which have a predefined position and which have a predetermined geometrical relationship, and

the controller is configured to detect if a pair of lines appearing in the image of the canopy taken by the image sensor match said reference configuration according to a matching criterion.

8. The safety system of claim 7, wherein the geometrical relationship comprises the parallelism between the lines of the pair of lines.

9. The safety system of claim 1 to 8, wherein the sensor is an image sensor and the controller is configured to: extract, from the image taken by the image sensor, the position of visual markers of the canopy or of visual markers attached to the canopy, and compare the extracted position with a reference position representing a normal operation of the parachute.

10. The safety system of any of claims 1 to 6, wherein: the sensor is an electromagnetic waves based sensor, configured to measure data indicative of the geometrical configuration of the canopy based on the emission of electromagnetic waves towards the canopy .

11. The system of any of claims 1 to 10, wherein the actuator comprises at least one of: an alarm actuator configured to raise an alarm,

an audio actuator providing steering commands to a pilot of the parachute, an actuator for deploying a reserve parachute,

a flight actuator of the parachute.

12. The system of any of claims 1 to 11, comprising a sensor configured to sense data indicative of the geometrical configuration of suspension lines attached to the canopy, wherein the controller is further configured to: o extract data indicative of the geometrical configuration of suspension lines from the sensed data,

o compare the extracted data with a reference configuration of the suspension lines, and

o detect a malfunction of the parachute based at least on this comparison.

13. The system of claim 12, wherein: in the reference configuration of the suspension lines, at least a subset of the suspension lines belongs substantially to the same plane, and

the controller is configured to detect if the suspension lines match the reference configuration according to a matching criterion.

14. The system of claim 12, wherein: in the reference configuration of the suspension lines, at least a subset of the suspension lines do not intersect, and

15. The system of claim 12, wherein: in the reference configuration of the suspension lines, at least a subset of the suspension lines follow a predefined curve, and

16. The safety system of any of claims 12 to 15, further comprising at least a load sensor mounted on at least a suspension line attached to the canopy, wherein the controller is configured to analyze the load of the suspension line and to detect a malfunction of the parachute based also on this analysis.

17. The safety system of any of claims 12 to 15, further comprising at least two load sensors mounted on different suspension lines attached to the canopy, wherein the controller is configured to analyze the load distribution of the suspension lines based on the data measured by the at least two load sensors and to detect a malfunction of the parachute based also at least on this analysis.

18. The safety system of claim 17, wherein the controller is further configured to compare the total load measured by the at least two load sensors with a reference total load of said suspension lines for which the parachute is operating normally, and to detect a malfunction of the parachute based at least on this comparison.

19. A computer-implemented controller operatively coupled to at least a sensor configured to sense data indicative of the geometrical configuration of a canopy of a parachute, the controller being configured to: o extract data indicative of the geometrical configuration of the canopy from the sensed data,

o compare the extracted data with at least a reference configuration representing a normal operation of the parachute, o detect a malfunction of the parachute based at least on said comparison, and

o if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

20. A safety system for a parachute comprising a canopy and suspension lines attached to said canopy, the safety system comprising: at least a sensor configured to sense data indicative of the geometrical configuration of said suspension lines;

at least a controller configured to: o extract data indicative of the geometrical configuration of suspension lines from the sensed data,

o compare the extracted data with a reference configuration of the suspension lines,

o detect a malfunction of the parachute based at least on said comparison, and

21. A computer-implemented controller operatively coupled to at least a sensor configured to sense data indicative of the geometrical configuration of suspension lines of a parachute, the controller being configured to: o extract data indicative of the geometrical configuration of suspension lines from the sensed data,

o compare the extracted data with a reference configuration of the suspension lines representing a normal operation, o detect a malfunction of the parachute based at least on said comparison, and

22. A safety system for a parachute comprising a canopy and load bearings attached to said canopy, the safety system comprising: at least a load sensor mounted on at least a suspension line attached to the canopy, for measuring the load of the suspension line,

at least a controller configured to:

o analyze the load of said suspension line,

o detect a malfunction of the parachute based on at least this analysis, and

23. The safety system of claim 22, comprising at least two load sensors mounted on different suspension lines attached to the canopy, wherein the controller is configured to analyze the load distribution between the suspension lines based on the data measured by the at least two load sensors and to detect a malfunction of the parachute based at least on this analysis.

24. The safety system of claim 23, wherein the controller is further configured to compare the total load measured by the at least two load sensors with a reference total load of said suspension lines corresponding to a normal operation, and to detect a malfunction of the parachute based at least on this comparison.

25. A computer-implemented controller operatively coupled to at least a load sensor configured to measure load of at least a suspension line of a parachute, for measuring the load of the suspension line, the controller being configured to: o analyze the load of said suspension line,

o detect a malfunction of the parachute based on at least this analysis, and

26. The controller of claim 25, operatively coupled to at least two load sensors configured to measure the load of different load bearings lines of a parachute, the controller being configured to: o analyze the load distribution between the suspension lines based on the data measured by the at least two load sensors, o detect a malfunction of the parachute based on this analysis, and o if a malfunction has been detected, compute a command signal for at least an actuator, for performing a safety action for the parachute.

27. A parachute comprising a canopy and suspension lines attached to the canopy, wherein the parachute comprises a safety system according to any one of claims 1 to 22, 20 and 22 to 24.

28. A method of enhancing safety of a parachute comprising a canopy, the method comprising sensing data indicative of the geometrical configuration of the canopy during operation of the parachute with at least a sensor, and comprising, by a controller: extracting data indicative of the geometrical configuration of the canopy from the sensed data,

comparing the extracted data with at least a reference configuration representing a normal operation of the parachute,

detecting a malfunction of the parachute based at least on said comparison, and

if a malfunction has been detected, commanding at least an actuator, for performing a safety action.

29. The method of claim 28, comprising extracting the reference configuration from a storage, wherein said reference configuration is a pre-stored reference configuration pertinent for at least said canopy.

30. The method of claim 28, comprising obtaining the reference configuration by commanding the sensor with the controller to acquire said reference configuration during a trial flight of the parachute.

31. The method of any of claims 28 to 30, comprising: extracting from the sensed data a contour of the canopy, and

comparing the extracted contour with a reference contour representing a normal operation of the canopy, in order to detect a malfunction of the parachute.

32. The method of any of claims 28 to 31, comprising: extracting, from the sensed data, a portion representing the sky, and comparing

o the geometrical configuration of the extracted portion representing the sky, with o a reference configuration representing a portion of the sky during a normal operation of the parachute.

33. The method of any of claims 28 to 32, wherein the reference configuration comprises at least a pair of lines of a canopy which have a predefined position and which have a predetermined geometrical relationship, and the method comprises detecting, by the controller, if a pair of lines appearing in an image of the canopy taken by the image sensor match said reference configuration according to a matching criterion.

34. The method of claim 33, wherein the geometrical relationship comprises the parallelism between the lines of the pair of lines.

35. The method of any of claims 28 to 34, comprising: extracting from the image taken by the image sensor, the position of visual markers of the canopy or of visual markers attached to the canopy, and comparing the extracted position with a reference position representing a normal operation of the parachute.

36. The method of any of claims 28 to 32, wherein the sensor is an electromagnetic waves based sensor, the method comprising measuring data indicative of the geometrical configuration of the canopy based on the emission of electromagnetic waves towards the canopy .

37. The method of claim 28 to 36, wherein the safety action comprises at least one of: raising an audio alarm,

providing steering commands to a pilot of the parachute,

deploying a reserve parachute,

commanding flight actuators of the parachute.

38. The method of any of claims 28 to 37, comprising: sensing data indicative of the geometrical configuration of suspension lines attached to the canopy, extracting data indicative of the geometrical configuration of suspension lines from the sensed data,

comparing the extracted data with a reference configuration of the suspension lines, and

detecting a malfunction based at least on this comparison.

39. The method of claim 28, wherein in the reference configuration of the suspension lines, at least a subset of the suspension lines belongs substantially to the same plane, the method comprising detecting if the suspension lines match the reference configuration according to a matching criterion.

40. The method of any of claims 38 or 39, wherein in the reference configuration of the suspension lines, at least a subset of the suspension lines does not intersect, the method comprising: detecting if the suspension lines match the reference configuration according to a matching criterion.

41. The method of any of claims 38 to 40, wherein in the reference configuration of the suspension lines, at least a subset of the suspension lines follows a predefined curve, the method comprising: detecting if the suspension lines match the reference configuration according to a matching criterion.

42. The method of any of claim 28 to 41, comprising: measuring load on at least a suspension line attached to the canopy, analyzing the load of the suspension line, and detecting a malfunction of the parachute based at least on this analysis.

43. The method of any of claim 28 to 42, comprising: measuring load on at least two different suspension lines attached to the canopy, analyzing the load distribution between the load bearings lines based on the measured load, and detecting a malfunction of the parachute based at least on this analysis.

44. The method of claim 43, comprising comparing a measured total load with a reference total load of the parachute corresponding to a normal operation, and detecting a malfunction of the parachute based also on this comparison.

45. A method of enhancing safety of a parachute comprising a canopy and load bearings attached to said canopy, the method comprising: sensing data indicative of the geometrical configuration of said suspension lines;

extracting data indicative of the geometrical configuration of suspension lines from the sensed data,

comparing the extracted data with at least a reference configuration of the suspension lines,

detecting a malfunction of the parachute based at least on said comparison, and

if a malfunction has been detected, commanding at least an actuator of the parachute or of the safety system, for performing a safety action.

46. A method of enhancing safety of a parachute comprising a canopy and load bearings attached to said canopy, the method comprising: during operation of the parachute, measuring the load on at least a suspension line with at least a load sensor,

analyzing the load of said suspension line,

detecting a malfunction of the parachute based on at least this analysis, and if a malfunction has been detected, commanding at least an actuator of the parachute or of the safety system, for performing a safety action.

47. The method of claim 46, comprising: measuring load on at least two different suspension lines with load sensors, analyzing the load distribution between the suspension lines, based on the data measured by the at least two load sensors,

detecting a malfunction of the parachute based on this analysis, and if a malfunction has been detected, commanding an actuator of the parachute or of the safety system, for performing a safety action.

48. A non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy, the method comprising: extracting data indicative of the geometrical configuration of the canopy from sensed data indicative of the geometrical configuration of the canopy during operation of the parachute,

comparing

o the extracted data, with

o reference data representing a normal operation of the parachute, detecting a malfunction of the parachute based at least on said comparison, and

if a malfunction has been detected, computing a signal for commanding at least an actuator for performing a safety action.

49. A non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy and load bearings attached to said canopy, the method comprising: extracting data indicative of the geometrical configuration of said suspension lines from sensed data indicative of the geometrical configuration of the canopy during operation of the parachute,

comparing

o the extracted data, with

50. A non-transitory storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a safety method for a parachute comprising a canopy and load bearings attached to said canopy, the method comprising: analyzing the load distribution of at least a suspension line based on sensed data indicative of the load of said suspension line,

detecting a malfunction of the parachute based at least on said analysis, and if a malfunction has been detected, computing a signal for commanding at least an actuator for performing a safety action.