Non-full-enveloped manned aircraft landing emergency method

Abstract

A non-full-cover manned aircraft landing emergency method, comprising: when the control system receives an emergency signal, it jumps out of the auxiliary landing process, triggers the emergency process, and records the current trigger time t0 and the current flight height H0; the control system makes a height determination in each communication period, and according to the flight environment in which the aircraft is currently located: when in low-altitude or ultra-low-altitude flight condition, if the flight height is determined to be higher than the second preset threshold Ht, the parachute pack determination guide process is executed, otherwise the control system triggers the opening of the airbags of the wearable airbag vest and guides the expansion of the support mechanical foot assembly; when in the flight condition dominated by the parachute, if the flight height is determined to be higher than the preset parachute opening height H1, the height determination of the next period is made, otherwise the parachute pack is guided to open, and the airbag and mechanical foot guide process is entered. The method can realize safe landing and emergency landing in low-altitude or ultra-low-altitude flight, and is compatible with landing guided by the parachute.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aircraft control technology, and relates to a single-person aircraft, in particular to a landing and forced landing method of a non-full-cover manned aircraft. BACKGROUND

[0002] The landing and lifesaving system of the non-cover manned aircraft cannot completely copy the existing aviation lifesaving system because there is no external support structure completely covering the pilot. The rescue system with a parachute as the core cannot guarantee low-altitude or ultra-low-altitude consumer flight. In order to adapt to the portability requirement and low-altitude flight characteristics of the single-person aircraft, the design idea of the existing aviation lifesaving system with a parachute as the core aviation rescue equipment must be changed, thereby requiring the development of a landing and lifesaving system matched with the non-cover manned aircraft, and the design of a corresponding landing and forced landing process. SUMMARY

[0003] In view of the above technical problems of the prior art, the present application provides a landing and forced landing method of a non-full-cover manned aircraft, which controls landing and forced landing based on a wearable airbag vest connected to the aircraft and a mechanical foot assembly, and can realize landing and forced landing in flight conditions dominated by a parachute, and can also realize landing and forced landing in low-altitude or ultra-low-altitude flight conditions, thereby ensuring the safety of the pilot.

[0004] In order to achieve the purpose of the present application, the following scheme is adopted:

[0005] A landing and forced landing method of a non-full-cover manned aircraft, which controls a wearable airbag vest connected to the aircraft, a support mechanical foot assembly, and a parachute bag, the front, back and sides of the wearable airbag vest are provided with trigger-type airbags, and the support mechanical foot assembly is uniformly distributed with multiple groups around the aircraft, and is used to form support after contacting the landing point before the aircraft and the pilot;

[0006] The method comprises the following steps:

[0007] S100, the aircraft is in a default auxiliary landing process maintaining state; in the auxiliary landing process, the control system of the aircraft guides the support mechanical foot assembly to expand for auxiliary landing when the flight height is lower than a first preset threshold;

[0008] S200, the control system jumps out of the auxiliary landing process when receiving a forced landing trigger signal, triggers a forced landing process, and records the current trigger time t0 and the current flight height H0;

[0009] S300, after entering the triggered forced landing process, the control system performs height determination in each communication period, and according to the flight environment in which the aircraft is currently located:

[0010] When in the low altitude or ultra-low altitude flight condition, if the flight height is higher than the second preset threshold Ht, the S401 is entered for execution, otherwise the control system triggers to open the airbags of the wearable airbag vest and guides the support mechanical foot assembly to expand;

[0011] When in the parachute-dominant flight condition, if the flight height is higher than the preset parachute opening height H1, the height determination of the next cycle is continued, otherwise the parachute bag is guided to open and the S402 is entered for execution;

[0012] S401, the control system determines that the flight height is lower than or equal to H1 for the first time or reaches a predetermined time interval starting from t0, and guides the parachute bag to open; the predetermined time interval is preset according to H0 and H1, and the value is , unit: second;

[0013] S402, the control system determines that the flight height is lower than H1, and further determines whether the flight height is higher than Ht, if higher than Ht, the relationship with Ht is determined in the next cycle, if lower than or equal to Ht, the control system triggers to open the airbags of the wearable airbag vest, and guides the support mechanical foot assembly to expand.

[0014] The landing emergency landing method of the present application is suitable for non-coated manned aircraft, and by controlling the parachute bag, wearable airbag vest and support mechanical foot assembly installed on the aircraft, effective and safe emergency landing is realized under the condition of low altitude or ultra-low altitude flight, or parachute-dominant flight, according to the set judgment conditions, time points, height thresholds and the like, avoiding the parachute entanglement of the city environment design of dense buildings, power grids and towers under the condition of low altitude or ultra-low altitude flight, and ensuring the safety of the pilot. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the vest, support mechanical foot assembly and parachute bag of the embodiment of the present application connected to the aircraft.

[0016] Figure 2 The figure is a schematic diagram of the landing emergency landing method of the embodiment of the present application.

[0017] Figure 3 The figure is a schematic diagram of the vest, support mechanical foot assembly and parachute bag of the embodiment of the present application connected to the aircraft. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the embodiment of the present application more clear, the embodiments of the present application will be described in detail below with reference to the drawings, but the described embodiments of the present application are part of the embodiments of the present application, not all the embodiments.

[0019] The embodiment of the present application provides a landing and forced landing method of a non-full-coated manned aircraft, which is realized by controlling the wearable airbag vest connected to the aircraft, the supporting mechanical foot assembly and the parachute bag as shown in the drawings. Figure 1

[0020] Wherein, the front, back and side of the wearable airbag vest are provided with trigger airbags, the airbags are inflated by inflators after trigger switches, and the inflators can be installed on the aircraft or the back side of the vest and connected with the airbags through air tubes.

[0021] The supporting mechanical foot assembly is uniformly distributed with multiple groups around the aircraft, for example, four groups as shown in the drawings, and the state shown is a folded state. Figure 1 When landing and forced landing, the supporting mechanical foot assembly is unfolded according to the guidance of the aircraft control system, and the supporting mechanical foot assembly contacts the landing point to form support before the aircraft and the pilot, as shown in the drawings. Figure 3

[0022] As shown in the drawings, the landing and forced landing method of the present embodiment includes the following steps: Figure 2

[0023] S100, the aircraft is in a default auxiliary landing flow maintaining state. In the auxiliary landing flow, the supporting mechanical foot assembly is unfolded for auxiliary landing when the flight height is lower than a first preset threshold value, which is guided by the control system of the aircraft.

[0024] S200, the control system jumps out of the auxiliary landing flow when receiving a forced landing trigger signal, triggers a forced landing flow, and records the current trigger time t0 (unit: second) and the current flight height H0 (unit: meter). The forced landing trigger signal includes an external signal or a confirmed input signal.

[0025] Wherein, the external signal is a hard trigger, which is obtained by converting a mechanical signal triggered manually by the pilot into an electrical signal. The confirmed input signal is a soft trigger, which is derived from the aircraft control system, including at least one of the following: a forced landing request signal sent to the pilot by the control system in a man-machine interactive manner and agreed by the pilot according to the aircraft state, or a forced landing request signal sent to the ground station by the control system in a remote control and telemetry manner and agreed by the ground station according to the aircraft state, or a forced landing request signal continuously initiated by the control system to the pilot / ground station within a preset information interaction period and not cancelled by the pilot / ground station.

[0026] Specifically, the aircraft state includes a health state and a flight state, the health state includes a power state, a tank state, an oil circuit state, etc., and the flight state includes a pitch state, an angular velocity state, a falling state, etc.; the control system sends a forced landing request signal when at least one state in the health state and / or at least one state in the flight state is abnormal.

[0027] ​​​S300, after entering the triggered forced landing flow, the control system determines the height in each communication cycle, and according to the current flight environment of the aircraft:

[0028] When in low-altitude or ultra-low-altitude flight conditions, such as in urban environments with dense buildings, power grids, and towers, when it is determined that the flight height is higher than the second preset threshold Ht (unit: meters), S401 is executed, otherwise the control system triggers the opening of the airbags of the wearable airbag vest and guides the expansion of the support mechanical foot assembly.

[0029] When in a parachute-dominant flight condition, such as when the flight environment is suitable for landing with a parachute as the guide, when it is determined that the flight height is higher than the preset parachute opening height H1 (unit: meters), the height determination of the next cycle is continued, otherwise the parachute bag is guided to open, and S402 is executed.

[0030] S401, the control system determines that the flight height is lower than or equal to H1 for the first time or reaches a predetermined time interval from t0, and guides the opening of the parachute bag; the predetermined time interval is preset according to H0 and H1, and the value is , unit: seconds. This formula is a simplified equation for solving height and rounding coefficients, and the formula only retains one preset parameter H1 and one variable H0, which can reduce the calculation amount and improve the reliability of the timer.

[0031] S402, the control system determines that the flight height is lower than H1, and further determines whether the flight height is higher than Ht, if higher than Ht, continue to determine the relationship with Ht in the next cycle, if lower than or equal to Ht, the control system triggers the opening of each airbag of the wearable airbag vest, and guides the expansion of the support mechanical foot assembly.

[0032] The above is only a preferred embodiment of the present application, and does not mean the only or limit the present application. Those skilled in the art should understand that various changes or equivalent replacements made to the present application without departing from the scope of the present application, all belong to the scope of protection of the present application.

Claims

1. A method for emergency landing of a non-fully enclosed manned aircraft, characterized in that, This is achieved by controlling the wearable airbag vest, supporting mechanical foot assembly, and parachute pack connected to the aircraft. The wearable airbag vest has trigger-type airbags on the front, back, and sides. The supporting mechanical foot assembly is evenly distributed in multiple sets around the aircraft, which are used to form support before the aircraft and pilot contact the landing point after deployment. The method includes the following steps: S100, the aircraft is in the assisted landing process hold state by default; during the assisted landing process, the aircraft's control system guides the support mechanical foot assembly to deploy for assisted landing when it detects that the flight altitude is lower than the first preset threshold. When the S200 control system receives a forced landing trigger signal, it exits the assisted landing procedure and triggers the forced landing procedure, recording the current trigger time t0 and the current flight altitude H0. S300: After entering the emergency landing trigger procedure, the control system determines the altitude in each communication cycle based on the aircraft's current flight environment. When in low-altitude or ultra-low-altitude flight, if the flight altitude is determined to be higher than the second preset threshold Ht, the system will enter S401 to execute; otherwise, the control system will trigger the opening of each airbag of the wearable airbag vest and guide the deployment of the support mechanical foot assembly. When in a parachute-dominated flight condition, if the flight altitude is determined to be higher than the preset parachute deployment altitude H1, the altitude determination of the next cycle continues; otherwise, the parachute is guided to open and the process enters S402 for execution. S401. When the control system determines that the flight altitude is lower than or equal to H1 for the first time, or after the predetermined time interval starting from time t0 is reached, the parachute is guided to open. S402. After the control system determines that the flight altitude is lower than H1, it further determines whether the flight altitude is higher than Ht. If it is higher than Ht, it continues to determine the relationship with Ht in the next cycle. If it is lower than or equal to Ht, the control system triggers the opening of each airbag of the wearable airbag vest and guides the deployment of the support mechanical foot assembly.

2. The landing and emergency landing method for a non-fully enclosed manned aircraft according to claim 1, characterized in that, The predetermined time interval is preset based on H0 and H1, and its value is: The unit is seconds.

3. The landing and emergency landing method for a non-fully enclosed manned aircraft according to claim 1, characterized in that, Forced landing trigger signals include external signals, which are hard triggers, obtained by converting the mechanical signals manually triggered by the pilot into electrical signals.

4. The landing and emergency landing method for a non-fully enclosed manned aircraft according to claim 1, characterized in that, The forced landing trigger signal includes a confirmed input signal, which is a soft trigger originating from the aircraft's own control system. It includes at least one of the following: a forced landing request signal sent by the control system to the pilot in a human-machine interaction manner based on the aircraft status and agreed to by the pilot; a forced landing request signal sent by the control system to the ground station in a remote telemetry manner based on the aircraft status and agreed to by the ground station; or a forced landing request signal continuously initiated by the control system to the pilot / ground station within a preset information interaction period and not canceled by the pilot / ground station.

5. The landing and emergency landing method for a non-fully enclosed manned aircraft according to claim 4, characterized in that, The aircraft status includes health status and flight status. Health status includes power status, fuel tank status, and fuel system status. Flight status includes pitch status, angular velocity status, and crash status. When the control system detects an abnormality in at least one of the health statuses and / or an abnormality in at least one of the flight statuses, it sends a forced landing request signal.

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