Intelligent flight system and method

Abstract

The invention relates to an intelligent flight system and method, through integrated control of a terminal transportation module, an aircraft module, a terminal interaction module, a communication module, a path planning module and a safety monitoring module, deep fusion of aircraft-level reliability, intelligent cluster scheduling and a green energy technology is realized, and unmanned intelligent flight driving is realized. Wherein the terminal transportation module has two modes, one mode serves users of high-rise buildings and is provided with independent vertical transportation equipment and parking aprons, and the other mode is provided with independent information verification rooms and parking aprons and is applied to users in mountainous areas, independent areas and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of transportation equipment, and particularly relates to an intelligent flight system and method. Background Art

[0002] With the progress of technology, cars have become the first choice for most people to travel. However, due to the limitations of road planning and the increasing number of cars, urban traffic has become more congested. As another means of transportation, airplanes have a large flight space. However, existing airplanes are generally only used for long-distance flights, and it is relatively difficult to obtain an airplane driver's license, so not everyone can drive an airplane. To solve this problem, designing an aircraft that can fly automatically has become a more important issue. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an intelligent flight system and method that can reasonably plan a flight path and perform unmanned flight.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is: an intelligent flight system, including a terminal transportation module, an aircraft module, a terminal interaction module, a communication module, a path planning module, and a safety monitoring module;

[0005] The terminal transportation module is used to store the aircraft module and provide a ride for customers;

[0006] The aircraft module includes an aircraft body; the aircraft body is used to carry passengers;

[0007] The terminal interaction module is used to verify the identity of passengers, provide real-time positioning information, and perform information interaction;

[0008] The communication module is used to notify passengers of flight information, guide passengers to board according to requirements, and broadcast the current location and arrival time in real time;

[0009] The path planning module is used to plan the optimal flight path for the initial location and destination provided by passengers and send it to the aircraft module so that it can fly according to the optimal flight path;

[0010] The safety monitoring module is used to detect whether the component information provided by the terminal transportation module, the aircraft module, the communication module, and the terminal interaction module, or other flight-related information is abnormal, and issue a warning in a timely manner when an abnormality is found.

[0011] An intelligent flight method is operated using an intelligent flight system, including the following steps:

[0012] S1. After the passenger sets the initial location and destination, the path planning module plans the optimal flight route and time, and sends them to the terminal interaction module of the passenger;

[0013] S2. The safety monitoring module conducts self-checks on the aircraft module, communication module, and terminal transportation module;

[0014] S3. The passenger conducts a primary identity verification at the location of the terminal transportation module. The user drives the aircraft module to the designated takeoff area, and then conducts a secondary identity verification inside the aircraft module;

[0015] S4. After determining that the passengers have fastened their seat belts, the aircraft module takes off;

[0016] S5. Move according to the four-dimensional flight route planned by the path planning module. The four dimensions of the four-dimensional flight route include X, Y, Z, and time. The four-dimensional flight route can predict in advance the position where the aircraft should arrive at a certain time;

[0017] S6. During the flight of the aircraft module, the position is sent to the central control in real time, and a real-time moving path and time-predicted flight path are formed. According to the flight speeds of each aircraft module and the time-predicted flight path, the flight speeds of each aircraft module and the time-predicted flight path are revised in a timely manner;

[0018] S7. Upon reaching the destination, enter the terminal transportation module to conduct a third identity verification on all passengers.

[0019] Furthermore, the terminal transportation module includes a vertical transportation device. A first camera, a face recognition screen, and an identity reading area are installed inside the vertical transportation device. When multiple passengers enter the vertical transportation device, they need to conduct face recognition on the face recognition screen and identity card reading in sequence.

[0020] Furthermore, the aircraft module adopts a heterogeneous redundant flight control system. The heterogeneous redundant flight control system is processed by an ARM-Cortex-A78AE processor, and the heterogeneous redundant flight control system operates based on a real-time operating system of VxWorks-653.

[0021] Furthermore, the terminal interaction module includes a mobile phone, a tablet computer, or a notebook computer. The terminal interaction module enables the passenger to view their position and flight information in real time by establishing a city BIM model and applying it to AR software.

[0022] Furthermore, the communication module includes a sound source output device, a video playback device, and an anti-interference device inside the aircraft module. The sound source output device and the video playback device are used to play the information during the flight in real time and teach the user how to use the emergency devices inside the aircraft module; the anti-interference device realizes end-to-end quantum encryption transmission through the combination of frequency hopping spread spectrum and cognitive radio.

[0023] Furthermore, the path planning module includes a multi-source fusion positioning system and a dynamic airspace management system. The multi-source fusion positioning system includes a positioning component and an environmental perception component. The positioning component is used to locate the current position in real time, and the annular perception component is used to perceive obstacles encountered during flight and sense the visible distance. The dynamic airspace management system constructs a four-dimensional flight route through a hierarchical planning architecture and adjusts the flight path and speed of each aircraft module based on the four-dimensional flight route and various flight information.

[0024] Furthermore, the safety monitoring module includes a three-level safety protection layer. The three-level safety protection layer includes a prevention layer, a detection layer, and a response layer. The prevention layer simulates the flight process of the aircraft module through a digital twin pressure test platform. The detection layer is used to detect various abnormal behaviors and abnormal data of the aircraft module. The response layer sends early warnings to the central control terminal in a timely manner based on the information simulated by the prevention layer and the information detected by the detection layer.

[0025] Furthermore, the safety monitoring module also includes an emergency management system. The emergency management system is used for fault tree analysis, pre-sets multiple disposal plans, and plans the nearest emergency landing point according to the real-time traveling position of the aircraft module.

[0026] Furthermore, the self-checking scope of the aircraft module in step S2 includes battery capacity, battery health, whether various sensors are normal, and whether various emergency devices can respond normally.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Extreme safety: Through the heterogeneous redundant flight control system and nine-level safety protection, a failure probability of 10 -9 is achieved, which improves the safety of the system by three orders of magnitude compared with traditional UAV systems and can resist common-mode faults of software and hardware and cyber attacks.

[0029] 2. High-efficiency traffic capacity: The hierarchical intelligent scheduling system improves the airspace traffic efficiency by more than 5 times, supports high-density operation of 200 sorties per hour per square kilometer, and shortens the end-to-end travel time by 70% compared with ground traffic.

[0030] 3. Intelligent adaptability: The multi-source fusion positioning system still maintains a positioning accuracy of ±0.5 m in a GNSS-denied environment. The AI obstacle avoidance system can identify obstacles above 0.1 m 3 and generate an emergency path within 50 ms.

[0031] 4. Social and economic benefits: The construction cost is only 1 / 5 of that of the subway, and a three-dimensional urban transportation network can be quickly constructed. It is expected that the annual GDP growth brought by the improvement of commuting efficiency will reach 0.8%.

[0032] 5. An intelligent flight system and method mentioned in this solution provide a complete implementable solution for future urban air traffic through the deep integration of aviation-level reliability, intelligent cluster scheduling, and green energy technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a flowchart of an intelligent flight method in the present invention;

[0034] Figure 2 It is an execution flowchart of a dynamic airspace management system in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to make the above features and advantages of the present invention more obvious and understandable, specific embodiments are hereinafter given and described in detail in conjunction with the accompanying drawings.

[0036] This embodiment provides an intelligent flight system, including a terminal transportation module, an aircraft module, a terminal interaction module, a communication module, a path planning module, and a safety monitoring module.

[0037] The terminal transportation module is used to transport customers and the aircraft module from inside the building to the boarding area. Specifically, the terminal transportation module includes a vertical transportation device, a helipad, and an aircraft centralized parking area. The vertical transportation device is an elevator (a dedicated elevator for the aircraft module). A first camera, a face recognition screen, and an identity reading area are installed inside the vertical transportation device. When multiple passengers enter the vertical transportation device, they need to undergo face recognition on the face recognition screen and identity card reading in sequence; when passengers enter the elevator, they need to be identified in sequence according to the registered personnel information, and the first camera will compare the number of people photographed with the number of registered people. When the comparison result does not match, the vertical transportation device will not start and will issue a warning. An independent aisle is provided between the vertical transportation device and the helipad. The aircraft centralized parking area is the designated parking area for the aircraft module. The aircraft module is transported between the helipad and the aircraft centralized parking area inside the high-rise building through the vertical transportation device. The aircraft centralized parking area is an area dedicated to parking the aircraft module, such as the same as the basement, or a separate area for parking the aircraft module set in the user's own home. The above structure is mainly applied to community or high-rise building scenarios.

[0038] The terminal transportation module in another embodiment includes an information verification room and a helipad, which are connected through an independent aisle. The verification process in the information verification room is the same as the verification process in the above-mentioned vertical transportation device. This embodiment is mainly applicable to single-family or non-high-rise building scenarios, such as in towns, mountains, etc., where there are no high-rise buildings. When the aircraft module lands on the helipad and the information verification is completed, the user can move the aircraft module home or to a designated centralized parking area.

[0039] The aircraft module includes an aircraft body; the aircraft body is used to carry passengers, and a ground moving mechanism is also provided on the aircraft body. A device such as a vehicle is adopted to facilitate the user to drive the aircraft body back to a designated parking area or home set by themselves. The aircraft module adopts a heterogeneous redundant flight control system. The heterogeneous redundant flight control system uses an ARM-Cortex-A78AE processor for processing and operates based on the VxWorks-653 real-time operating system. This is the main control channel. The functions that can be achieved by using the above software and hardware are as follows: execute normal flight control laws (LQR control, feedforward compensation), process sensor fusion data (Kalman filter), and the safety mechanism of the system: the memory protection unit (MPU) isolates critical tasks, and performs periodic self-checks (BIT detection is performed every 10 ms). The heterogeneous redundant flight control system also has a standby control channel and an emergency channel. The standby control channel uses a RISC-V open-source architecture processor and operates with a lightweight FreeRTOS system. The functions are as follows: run a simplified control algorithm (PID controller and monitor the output consistency of the main control channel). The emergency channel is implemented by an analog circuit + FPGA (without a software layer) to achieve a preset safety mode (such as emergency climb, hovering) directly by reading key sensors (independently powered) through a comparator. The triggering conditions are as follows: the output difference between the main and standby channels > 15% for 200 ms and the power supply voltage < 18V (abnormal lithium battery).

[0040] Preferably, the aircraft body is driven in a pure oil, pure electric, or oil-electric hybrid range extender mode. In this embodiment, the oil-electric hybrid range extender mode is adopted, and a solar charging panel is provided at the aircraft tail fin. On sunny days, it can charge the battery inside the aircraft body. The driving modes adopted by the aircraft body in this solution are all existing technologies and can be selected according to requirements. (Endurance problem)

[0041] The terminal interaction module is used to verify the passenger's identity, provide real-time positioning information, and information interaction; the terminal interaction module includes a mobile phone, a tablet, or a laptop. The terminal interaction module enables the passenger to view their position and flight information in real time by establishing a city BIM model and applying it to AR software. Preferably, a positioning QR code is also set inside the aircraft body. By scanning the QR code with a mobile phone, a tablet, or a laptop, the specific position in the AR software can be remembered and located. This position displays the current spatial position of the aircraft module. Since the existing GPS positioning can only locate in two dimensions and it is impossible to accurately obtain the height of the aircraft module during flight, through the above settings, by scanning the QR code and accessing the spatial system in the AR software, three-dimensional positioning can be achieved.

[0042] The communication module is used to notify passengers of flight information, guide passengers to take the flight as required, and broadcast the current location and arrival time in real time. The communication module includes a sound source output device, a video playback device, and an anti-interference device inside the aircraft module. The sound source output device and the video playback device are used to play the information during the flight in real time and teach users how to use the emergency devices inside the aircraft module. The anti-interference device combines frequency hopping spread spectrum with cognitive radio to achieve end-to-end quantum encryption transmission.

[0043] The path planning module is used to plan the optimal flight path for the starting point and destination provided by the passengers and send it to the aircraft module so that it can fly according to the optimal flight path. The path planning module includes a multi-source fusion positioning system and a dynamic airspace management system. The multi-source fusion positioning system includes a positioning component and an environmental perception component. The positioning component is used to locate the current position in real time, and the annular perception component is used to sense the obstacles encountered during the flight and sense the visible distance. The positioning component includes UWB indoor positioning (accuracy ±10 cm), vision-aided GNSS (anti-multipath interference), and quantum inertial navigation (zero drift <1 m / hr). The environmental perception component consists of a 4D millimeter-wave radar (256 virtual channels) and an event-driven vision sensor (microsecond-level delay).

[0044] The dynamic airspace management system constructs a four-dimensional flight route through a hierarchical planning architecture and adjusts the flight path and speed of each aircraft module through the four-dimensional flight route and various flight information. The dynamic airspace management system consists of a central control, a regional dispatching center, flight edge computing, and on-board real-time decision-making. The central control sends the airspace access strategy to the regional dispatching center, and the regional dispatching center sends the airspace communication strategy to the processor inside the aircraft module. Then, after the processor performs flight edge computing, it issues a control instruction to the execution module of the aircraft module. After issuing the control instruction, it needs to feedback to the central control and the processor inside the aircraft module. (Flight collision problem, set the four-dimensional flight route)

[0045] The four-dimensional flight route includes the X, Y, Z axes and the time axis. When the starting point and destination are input into the aircraft module, the central control will set the best airspace access strategy according to the on-site information, weather factors, and other flight routes to avoid flight route overlap and collisions, and then send it to the regional dispatching center. The regional dispatching center then sends it to the processor inside the aircraft module. After the processor performs flight edge computing, it issues a control instruction to the execution module of the aircraft module, and the aircraft module starts to fly. During the flight, due to the flight speed, air resistance, and other external interferences of the aircraft module, the airspace access strategy is corrected and then sent to the central control and the processor inside the aircraft module. The central control revises the airspace access strategy of this aircraft module according to the feedback, and then analyzes whether it overlaps with the airspace access strategies of other aircraft modules and whether there are dangerous matters, and conducts real-time scheduling.

[0046] The safety monitoring module is used to detect whether the component information provided by the terminal transportation module, the aircraft module, the communication module, and the terminal interaction module, or other flight-related information is abnormal, and issue a warning in a timely manner when an abnormality is found. Specifically, the safety monitoring module includes a three-level safety protection layer and an emergency management system. The three-level safety protection layer includes a prevention layer, a detection layer, and a response layer. The prevention layer simulates the flight process of the aircraft module through a digital twin pressure test platform. The detection layer is used to detect various abnormal behaviors and abnormal data of the aircraft module. The response layer sends a warning to the central control terminal in a timely manner according to the information simulated by the prevention layer and the information detected by the detection layer. The emergency management system is used for fault tree analysis, pre-sets a variety of disposal plans, and plans the nearest emergency landing point according to the real-time traveling position of the aircraft module.

[0047] Based on the above modules, this solution also provides an intelligent flight method, which is operated by an intelligent flight system and includes the following steps:

[0048] S1. After the passenger sets the initial location and destination, the path planning module plans the best flight route and time, and sends them to the passenger's terminal interaction module.

[0049] S2. The safety monitoring module conducts self-checks on the aircraft module, the communication module, and the terminal transportation module; specifically, in step S2, the self-check scope of the aircraft module includes battery capacity, battery health, whether various sensors are normal, and whether various emergency devices can respond normally.

[0050] S3. The passenger conducts a primary identity verification at the position of the terminal transportation module. The user starts the aircraft module and drives it to the apron, and conducts a secondary identity verification when in the aircraft module.

[0051] S4. After it is determined that the passengers have fastened their seat belts, the aircraft module takes off.

[0052] S5. Move according to the four-dimensional flight route planned by the path planning module. The four dimensions of the four-dimensional flight route include X, Y, Z, and time. The four-dimensional flight route can predict in advance where the aircraft should arrive at a certain time.

[0053] S6. During the flight of the aircraft module, the position is sent to the central control in real time, and a real-time moving path and a time-predicted flight path are formed. According to the flight speed of each aircraft module and the time-predicted flight path, the flight speed and the time-predicted flight path of each aircraft module are revised in a timely manner.

[0054] S7. Upon reaching the destination, enter the terminal transportation module to conduct a third identity verification on all passengers.

[0055] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent flight system, characterized in that: It includes terminal transportation module, aircraft module, terminal interaction module, communication module, path planning module and safety monitoring module; The terminal transport module is used to store aircraft modules and provide boarding for customers; The aircraft module comprises an aircraft body; the aircraft body is used to carry passengers; The terminal interaction module is used to verify the identity of passengers, provide real-time positioning information and information interaction; The communication module is used to inform passengers of flight information, guide passengers to take the flight as required, and broadcast the current location and arrival time in real time; The path planning module is used to plan the optimal flight path for the initial location and destination provided by the passenger and send it to the aircraft module so that it flies according to the optimal flight path; The safety monitoring module is used to detect whether the component information or other flight-related information provided by the terminal transportation module, aircraft module, communication module and terminal interaction module is abnormal, and to issue a timely warning when an abnormality is found.

2. An intelligent flight method, characterized in that: The intelligent flight system according to claim 1 is used for operation, comprising the following steps: S1. After the passenger sets the initial location and destination, the route planning module plans the best route and time and sends it to the passenger's terminal interaction module; S2, the safety monitoring module performs self-inspection on the aircraft module, the communication module and the terminal transportation module; S3. The passenger performs a primary identity verification at the terminal transportation module. The user drives the aircraft module to the designated take-off area and then performs a secondary identity verification in the aircraft module. S4. The aircraft module takes off after confirming that the passengers have fastened their seat belts; S5. Move according to the four-dimensional route planned by the path planning module. The four-dimensional route includes X, Y, Z and time. The four-dimensional route can predict in advance where the aircraft should arrive at a certain time; S6. During the flight of the aircraft module, the position is sent to the central control in real time, and a moving path and a time-predicted flight path are formed in real time. The flight speed and time-predicted flight path of each aircraft module are revised in time according to the flight speed and time-predicted flight path of each aircraft module; S7. Upon reaching the destination, enter the terminal transportation module to conduct a third identity verification on all passengers.

3. An intelligent flight method according to claim 2, characterized in that: The terminal transport module includes a vertical transport device, in which a first camera, a face recognition screen and an identity reading area are installed. When multiple passengers enter the vertical transport device, they need to perform face recognition screen and identity card reading in turn.

4. An intelligent flight method according to claim 2, characterized in that: The aircraft module adopts a heterogeneous redundant flight control system, the heterogeneous redundant flight control system is processed by an ARM-Cortex-A78AE processor, and the heterogeneous redundant flight control system is operated based on a real-time operating system of VxWorks-653.

5. An intelligent flight method according to claim 2, characterized in that: The terminal interaction module includes a mobile phone, a tablet or a laptop computer. The terminal interaction module establishes a city BIM model and applies it to AR software, so that passengers can see their location and flight information in real time through the terminal interaction module.

6. An intelligent flight method according to claim 2, characterized in that: The communication module includes an audio source output device, a video playback device and an anti-interference device in the aircraft module. The audio source output device and the video playback device are used to play information during the flight in real time and teach users how to use the emergency equipment in the aircraft module; the anti-interference device realizes end-to-end quantum encrypted transmission by combining frequency hopping spread spectrum with cognitive radio.

7. An intelligent flight method according to claim 2, characterized in that: The path planning module includes a multi-source fusion positioning system and a dynamic airspace management system. The multi-source fusion positioning system includes a positioning component and an environmental perception component. The positioning component is used to locate the current position in real time, and the annular perception component is used to perceive obstacles encountered during flight and sense the visible distance. The dynamic airspace management system constructs a four-dimensional route through a hierarchical planning architecture and adjusts the flight path and speed of each aircraft module through the four-dimensional route and various flight information.

8. An intelligent flight method according to claim 2, characterized in that: The security monitoring module includes three levels of security protection layers, which include a prevention layer, a detection layer and a response layer. The prevention layer simulates the flight process of the aircraft module through a digital twin stress testing platform. The detection layer is used to detect various abnormal behaviors and abnormal data of the aircraft module. The response layer sends an early warning to the central control end in a timely manner based on the information simulated by the prevention layer and the information detected by the detection layer.

9. An intelligent flight method according to claim 2, characterized in that: The safety monitoring module also includes an emergency management system, which is used for fault tree analysis and presets multiple disposal plans and plans the nearest forced landing point according to the real-time moving position of the aircraft module.

10. An intelligent flight method according to claim 2, characterized in that: The self-check scope of the aircraft module in step S2 includes battery capacity, battery health, whether various sensors are normal, and whether various emergency equipment can respond normally.

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