Aircraft control method, system, terminal device and storage medium

Abstract

The present invention discloses a control method, system, terminal device and storage medium for an aircraft. The method comprises: obtaining sensor data of the aircraft, and judging whether the aircraft is off the ground according to the sensor data; if the aircraft is not off the ground, judging whether an unplanned target has intruded into the safety boundary of the aircraft according to the sensor data; if an unplanned target has intruded into the safety boundary, adjusting the state of the aircraft based on the working state of the power system of the aircraft. When an unplanned target intrudes into the safety boundary of the aircraft, the present invention actively reduces the security threat posed by the aircraft to itself and the unplanned intruding target, thereby ensuring the safety of the aircraft and the unplanned intruding target.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to an aircraft control method, system, terminal equipment and storage medium. Background Art

[0002] With the development of aircraft design technology, manufacturing technology and related supporting industries, the functions, performance and output of aircraft have gradually become stable and mature, and the operation of aircraft has gradually developed from application fields such as national defense and military, customs inspection, police security, and aerial surveying and mapping to civil aviation fields such as logistics and transportation and manned transportation. However, due to the particularity of the flight platform itself, new challenges have been raised to the ground safety of aircraft operations.

[0003] Taking the power system as an example, medium and large aircraft mostly use propellers as the power source. From takeoff to landing, the propellers are in a high-speed rotation state throughout the entire process. When the aircraft is on the ground, once an unplanned target (people, support vehicles, large animals, etc.) breaks into the propeller operation area, it will pose a huge security threat to the aircraft itself and the target. At present, medium and large aircraft have not considered how to actively reduce the security threat posed by unplanned targets. Summary of the invention

[0004] The main purpose of the embodiments of the present invention is to provide a control method, system, terminal device and storage medium for an aircraft, which can actively reduce the security threats posed by the aircraft to itself and the unplanned target when an unplanned target breaks into the safety boundary of the aircraft, thereby ensuring the safety of the aircraft and the unplanned target.

[0005] To achieve the above object, an embodiment of the present invention provides a method for controlling an aircraft, the method comprising:

[0006] Acquiring sensor data of the aircraft, and determining whether the aircraft is off the ground according to the sensor data;

[0007] If the aircraft has not left the ground, determining whether an unplanned target has intruded into the safety boundary of the aircraft based on the sensor data;

[0008] If an unplanned target intrudes into the safety boundary, the state of the aircraft is adjusted based on the working state of the power system of the aircraft.

[0009] Optionally, the step of adjusting the state of the aircraft based on the working state of the power system of the aircraft includes:

[0010] Determining the operating status of the power system of the aircraft;

[0011] If the power system is not started, outputting a start prohibition instruction to the power system;

[0012] If the power system has been started, the working state of the power system is adjusted according to the adjustment mode corresponding to the aircraft.

[0013] Optionally, if the power system has been started, the step of adjusting the working state of the power system according to the adjustment mode corresponding to the aircraft includes:

[0014] If the adjustment mode corresponding to the aircraft is the first mode, outputting a shutdown command to the power system;

[0015] If the adjustment mode corresponding to the aircraft is the second mode, an operation instruction is obtained, and the working state of the power system is adjusted according to the operation instruction.

[0016] Optionally, the step of obtaining an operation instruction includes:

[0017] Obtaining operating instructions sent by the driver; or

[0018] Get the operation instructions sent by the ground operator.

[0019] Optionally, the step of adjusting the working state of the power system according to the operating instruction includes:

[0020] If the operation instruction carries information not to shut down the power system, controlling the power system to maintain the current working state;

[0021] If the operation instruction carries information for shutting down the power system, a shutdown instruction is output to the power system.

[0022] Optionally, the step of determining whether the aircraft has taken off the ground according to the sensor data includes:

[0023] If the aircraft has left the ground, the power system is controlled to prohibit execution of preset information.

[0024] Optionally, if the aircraft has already left the ground, the step of controlling the power system to prohibit execution of preset information includes:

[0025] If the aircraft has left the ground, transmitting information indicating that the aircraft has left the ground to the flight control computer through the flight management computer;

[0026] When the flight control computer receives the information that the aircraft has taken off the ground, the flight control computer controls the aircraft power system to prohibit the execution of preset information.

[0027] Optionally, the sensor data includes data obtained by a lift-off sensor and data obtained by an environmental perception sensor; the lift-off sensor and the environmental perception sensor are located on the fuselage of the aircraft.

[0028] Optionally, the step of determining whether an unplanned target has intruded into the safety boundary of the aircraft according to the sensor data includes:

[0029] If no unplanned target intrudes into the safety boundary, no control command is output.

[0030] Optionally, the step of determining the operating state of the power system of the aircraft includes:

[0031] Transmitting information about an unplanned target intrusion into the safety boundary to the flight control computer through the flight management computer;

[0032] When the flight control computer receives information that an unplanned target has intruded into the safety boundary, the flight control computer determines the operating state of the power system of the aircraft.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also provides a control system for an aircraft, the system comprising:

[0034] An acquisition module, used to acquire sensor data of the aircraft;

[0035] A judgment module, used to judge whether the aircraft has left the ground according to the sensor data; if the aircraft has not left the ground, to judge whether an unplanned target has intruded into the safety boundary of the aircraft according to the sensor data;

[0036] The adjustment module is used to adjust the state of the aircraft based on the working state of the power system of the aircraft if an unplanned target intrudes into the safety boundary.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes: a memory, a processor, and an aircraft control method stored in the memory and executable on the processor, and the steps of the aircraft control method as described above are implemented when the aircraft control program is executed by the processor.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a program for controlling an aircraft is stored. When the program for controlling the aircraft is executed by a processor, the steps of the aircraft control method as described above are implemented.

[0039] The control method, system, terminal device and storage medium of the aircraft proposed in the embodiment of the present invention obtain the sensor data of the aircraft, and judge whether the aircraft is off the ground according to the sensor data; if the aircraft has not left the ground, judge whether there is an unplanned target intruding into the safety boundary of the aircraft according to the sensor data; if there is an unplanned target intruding into the safety boundary, adjust the state of the aircraft based on the working state of the power system of the aircraft. The present invention determines whether the aircraft has left the ground according to the sensor data, and when the aircraft has not left the ground, further adjusts the state of the aircraft according to the position information of the target within the safety boundary of the aircraft and the working state of the power system of the aircraft. The present invention actively detects the state and environment of the aircraft to actively reduce the security threats posed by the aircraft to itself and the unplanned intruding targets, thereby ensuring the safety of the aircraft and the unplanned intruding targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the functional modules of the terminal equipment to which the control device of the aircraft of the present invention belongs;

[0041] Figure 2 It is a schematic flow chart of a first embodiment of a method for controlling an aircraft of the present invention;

[0042] Figure 3 A top view of the arrangement positions of sensors on an aircraft involved in the aircraft control method of the present invention;

[0043] Figure 4 A side view of the arrangement position of sensors on an aircraft involved in the aircraft control method of the present invention;

[0044] Figure 5 A left side view of the arrangement position of sensors on an aircraft involved in the aircraft control method of the present invention;

[0045] Figure 6 A right side view of the arrangement position of sensors on an aircraft involved in the aircraft control method of the present invention;

[0046] Figure 7 A schematic diagram of the effective monitoring radiation range of each environment perception sensor of the aircraft involved in the control method of the aircraft of the present invention;

[0047] Figure 8 A system architecture diagram of the control method of the aircraft of the present invention;

[0048] Figure 9a , Figure 9b A schematic diagram of a flow chart of a third embodiment of a method for controlling an aircraft according to the present invention;

[0049] Fig.10a , Fig.10bA schematic diagram of a flow chart of a fourth embodiment of a method for controlling an aircraft according to the present invention;

[0050] Fig.11 It is a schematic diagram of the functional modules of the control system of the aircraft of the present invention.

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0053] The main solution of the embodiment of the present invention is: to obtain sensor data of the aircraft, and to determine whether the aircraft has taken off the ground based on the sensor data; if the aircraft has not taken off the ground, to determine whether there are any unplanned targets intruding into the safety boundary of the aircraft based on the sensor data; if there are any unplanned targets intruding into the safety boundary, to adjust the state of the aircraft based on the working state of the power system of the aircraft.

[0054] Technical terms involved in the embodiments of the present invention:

[0055] VTOL: (Vertical Take-Off and Landing), generally refers to fighter jets or bombers.

[0056] EVTOL: (Electric Vertical Takeoff and Landing), currently in China, EVTOL aircraft are also called flying cars. Flying cars usually refer to electric vertical takeoff and landing aircraft, which are mainly used in urban air transportation.

[0057] SAR: (Synthetic Aperture Radar) is an active earth observation system that can be installed on aircraft, satellites, spacecraft and other flying platforms to observe the earth around the clock and in all weather conditions, and has a certain surface penetration capability. Therefore, the SAR system has unique advantages in disaster monitoring, environmental monitoring, ocean monitoring, resource exploration, crop yield estimation, surveying and mapping, and military applications. Radar satellite (SAR radar) is a general term for earth observation remote sensing satellites equipped with synthetic aperture radar (SAR).

[0058] With the development of UAV design, manufacturing technology and related supporting industries, its functions, performance, output and other factors have gradually stabilized and matured. The operation of UAVs has gradually developed from application fields such as national defense and military, customs inspection, police security, and aerial surveying to civil aviation fields such as logistics and transportation and manned transportation. Typical applications of UAVs, especially medium and large UAVs, in the civil field in recent years include:

[0059] (1) Logistics and transportation

[0060] Since drones do not require pilots, the complexity of the flight platform system is reduced, the flight platform's adaptability to harsh environments is improved, and the difficulty and cost of air transportation operations are reduced. Therefore, medium and large drones currently have broad application prospects in the logistics and transportation industry. Currently, drone cargo routes have been approved by the Civil Aviation Administration and are operating stably.

[0061] (2) Manned flight

[0062] With the emergence and widespread discussion of the concept of Urban Air Mobility (UAM) in recent years, companies in many countries and regions have conducted research on large unmanned aerial vehicles (VTOL) with vertical take-off and landing capabilities and capable of autonomous flight. At present, some companies' related manned flight platforms have entered the stage of airworthiness certification.

[0063] Whether drones are used for air transport or manned flights, they will gradually become part of people's lives as technology develops. However, due to the particularity of the flight platform itself and the fact that drone operators are a new and special group of operators, they do not have the sound systems and processes of traditional trunk / feeder aircraft operators and fixed-wing / helicopter general aviation operators, which poses new challenges to the ground safety requirements of drone operations.

[0064] Taking the power system as an example, medium and large drones mostly use propellers as the power source. From takeoff to landing, the propellers are in a high-speed rotation state throughout the entire process. When the drone is on the ground, once the propeller blades fall off during operation, it will pose a huge threat to the safety of people or other equipment around it. Or if an unplanned target (people, support vehicles, large animals, etc.) breaks into the propeller operation area, it will also pose a huge safety threat to the drone itself and the target that breaks in. As for the pure electric vertical take-off and landing fixed-wing aircraft (EVTOL), which is currently the mainstream solution for urban air travel, due to the particularity of its take-off and landing environment (which can be the airport apron of the operating company, a private apron, or a temporary and arbitrary parking point), it is necessary to consider any moment after the landing gear of the aircraft touches the apron and before it leaves the ground again, to ensure that people (typically children of passengers) and objects (vehicles) who do not have a wide range of safety awareness break into the working range of the propeller, and the propeller will not pose a safety threat to people or objects outside the aircraft cabin.

[0065] Currently, all medium and large aircraft, especially various types of manned EVTOL (which may not be equipped with a pilot and only have passengers on board), have not considered taking active measures to reduce the security threats that the aircraft may cause to unplanned intrusions when people and objects invade their safety impact range.

[0066] The present invention provides a solution, when unplanned people or objects intrude around a medium or large aircraft, the aircraft will take active measures to reduce and eliminate the security threats to the aircraft itself and the intruding people and / or objects as much as possible.

[0067] Specifically, refer to Figure 1 , Figure 1 Schematic diagram of the functional modules of the terminal device to which the control device of the aircraft of the present invention belongs. The control device of the aircraft can be a device independent of the terminal device and capable of image processing and network model training, which can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal with data processing function such as a mobile phone or a tablet computer, or a fixed terminal device or server with data processing function.

[0068] In this embodiment, the terminal device to which the control device of the aircraft belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0069] The memory 130 stores the operation method and the control program of the aircraft; the output module 110 may be a display screen, etc. The communication module 140 may include a WIFI module, a mobile communication module, a Bluetooth module, etc., and communicates with an external device or server through the communication module 140.

[0070] When the control program of the aircraft in the memory 130 is executed by the processor, the following steps are implemented:

[0071] Acquiring sensor data of the aircraft, and determining whether the aircraft is off the ground according to the sensor data;

[0072] If the aircraft has not left the ground, determining whether an unplanned target has intruded into the safety boundary of the aircraft based on the sensor data;

[0073] If an unplanned target intrudes into the safety boundary, the state of the aircraft is adjusted based on the working state of the power system of the aircraft.

[0074] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0075] Determining the operating status of the power system of the aircraft;

[0076] If the power system is not started, outputting a start prohibition instruction to the power system;

[0077] If the power system has been started, the working state of the power system is adjusted according to the adjustment mode corresponding to the aircraft.

[0078] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0079] If the adjustment mode corresponding to the aircraft is the first mode, outputting a shutdown command to the power system;

[0080] If the adjustment mode corresponding to the aircraft is the second mode, an operation instruction is obtained, and the working state of the power system is adjusted according to the operation instruction.

[0081] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0082] Obtaining operating instructions sent by the driver; or

[0083] Get the operation instructions sent by the ground operator.

[0084] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0085] If the operation instruction carries information not to shut down the power system, controlling the power system to maintain the current working state;

[0086] If the operation instruction carries information for shutting down the power system, a shutdown instruction is output to the power system.

[0087] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0088] If the aircraft has left the ground, the power system is controlled to prohibit execution of preset information.

[0089] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0090] If the aircraft has left the ground, transmitting information indicating that the aircraft has left the ground to the flight control computer through the flight management computer;

[0091] When the flight control computer receives the information that the aircraft has taken off the ground, the flight control computer controls the aircraft power system to prohibit the execution of preset information.

[0092] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented, and the sensor data includes data obtained by a lift-off sensor and data obtained by an environmental perception sensor; the lift-off sensor and the environmental perception sensor are located on the fuselage of the aircraft.

[0093] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0094] If no unplanned target intrudes into the safety boundary, no control command is output.

[0095] Furthermore, when the control program of the aircraft in the memory 130 is executed by the processor, the following steps are also implemented:

[0096] Transmitting information about an unplanned target intrusion into the safety boundary to the flight control computer through the flight management computer;

[0097] When the flight control computer receives information that an unplanned target has intruded into the safety boundary, the flight control computer determines the operating state of the power system of the aircraft.

[0098] This embodiment adopts the above scheme, specifically by acquiring the sensor data of the aircraft, and judging whether the aircraft is off the ground according to the sensor data; if the aircraft is not off the ground, judging whether there is an unplanned target intruding into the safety boundary of the aircraft according to the sensor data; if there is an unplanned target intruding into the safety boundary, adjusting the state of the aircraft based on the working state of the power system of the aircraft. When an unplanned target intrudes into the safety boundary of the aircraft, the present invention actively reduces the security threat posed by the aircraft to itself and the unplanned intruding target, thereby ensuring the safety of the aircraft and the unplanned intruding target.

[0099] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present invention is proposed.

[0100] Reference Figure 2 , Figure 2 The flowchart of the first embodiment of the control method of the aircraft of the present invention is shown in FIG. The control method of the aircraft includes:

[0101] Step S101, obtaining sensor data of an aircraft, and determining whether the aircraft is off the ground based on the sensor data.

[0102] The execution subject of the method of this embodiment can be a control device of an aircraft, or a control terminal device or server of an aircraft. This embodiment takes the control device of an aircraft as an example, and the control device of the aircraft can be integrated in a terminal device such as an aircraft. If the performance of the flight management computer (flight management computer) of the aircraft is strong enough, and the flight management computer can directly process the data of the sensor, then the flight management computer and the flight control computer (flight control computer) are merged, and the flight management computer is directly used to realize the relevant functions of the flight control computer, and the flight management computer is used as the control device of the above-mentioned aircraft; if the performance of the flight management computer of the aircraft is limited, it is necessary to process the sensor data through the flight management computer to produce basic control information / judgment results and send them to the flight control computer, and then the flight control computer processes them, then the flight control computer and the flight management computer constitute the control device of the above-mentioned aircraft; wherein, an additional mission computer can also be arranged between the sensor and the flight management computer, and after the sensor sends the data to the mission computer and completes the data processing, the mission computer sends the necessary control information / judgment results to the flight management computer / flight control computer. In this embodiment, the control device of the above-mentioned aircraft is composed of a flight control computer and a flight management computer to improve the processing efficiency of the aircraft control device and avoid the situation where the entire aircraft system is paralyzed due to a computer failure.

[0103] In order to proactively reduce the security threat posed by the aircraft to itself and the unplanned target when an unplanned target intrudes into the aircraft's safety boundary, first, the aircraft's sensor data is obtained, and then it is determined whether the aircraft is off the ground based on the sensor data. As an implementation method, in this embodiment, the arrangement of sensors in the aircraft is as follows: Figure 3 , Figure 4 , Figure 5 , Figure 6 shown. Figure 3 , Figure 4 , Figure 5 , Figure 6 The figure is a schematic diagram of the layout of various types of sensors on the aircraft, where numbers 1, 2-1, 2-2, 3-1, 3-2, and 4 are all environmental perception sensors, which are arranged around the fuselage. The environmental perception sensors include one or more sensors such as monocular cameras, binocular cameras, millimeter-wave radars, SAR radars, lidars, and acoustic wave measurements that can detect fixed or moving targets in the space around the aircraft in real time. Numbers 5-1, 5-2, and 5-3 are lift-off sensors, which are mainly arranged on the belly or in the space below the belly. They can be one or more sensors such as laser altimeters, millimeter-wave altimeters, and wheel-mounted switches that can determine whether the aircraft is off the ground. Figure 7 As shown, Figure 7 This is a schematic diagram of the effective monitoring radiation range of each environmental perception sensor of the aircraft. During the actual installation of the sensors, the actual number and location of the sensors should be determined based on the type and authenticity of the sensors. In principle, it should be able to ensure effective monitoring of any spatial direction or main direction around the fuselage at 360°.

[0104] It should be noted that the sensors (position sensors, image sensors, spatial point cloud sensors, acoustic wave sensors, electromagnetic wave sensors, optical sensors, laser sensors) proposed in this embodiment are only typical examples. The number and arrangement positions of sensors shown in the accompanying figure of this embodiment are only examples of typical applications.

[0105] like Figure 8 As shown, Figure 8 The system architecture diagram of the control system of the aircraft of the present invention. In this embodiment, the aircraft obtains data about the environment around the aircraft and the distance between the aircraft and the ground through the environment perception sensor and the ground lift sensor, for example, obstacles in the environment around the aircraft, the temperature of the environment around the aircraft, the height of the aircraft from the ground, and other data; the data obtained by the environment perception sensor and the ground lift sensor are used as the above-mentioned sensor data. The environment perception sensor and the ground lift sensor send the obtained sensor data to the control device of the aircraft. In this embodiment, the environment perception sensor and the ground lift sensor send the obtained sensor data to the mission computer or the flight control computer.

[0106] Furthermore, the mission computer or the flight control computer determines the current state of the aircraft based on the data fed back by the lift-off sensor in the sensor data, thereby confirming whether the aircraft has left the ground.

[0107] Therefore, the sensor data obtained is transmitted to the mission computer or the flight control computer through the environmental perception sensor and the ground lift sensor, so that the mission computer or the flight control computer can judge the current state of the aircraft according to the sensor data, thereby predicting the decision of the aircraft and actively reducing the security threats posed by the aircraft to itself and unplanned intrusions.

[0108] The method after step S101 includes:

[0109] Step A1: If the aircraft has taken off the ground, the flight management computer transmits the information that the aircraft has taken off the ground to the flight control computer.

[0110] Step A2, when the flight control computer receives the information that the aircraft has taken off the ground, the flight control computer controls the aircraft power system to prohibit the execution of preset information.

[0111] In this embodiment, if the mission computer or the flight control computer determines that the aircraft has left the ground based on the data fed back by the lift-off sensor in the sensor data, the mission computer or the flight control computer transmits the information that the aircraft has left the ground to the flight control computer; when the flight control computer receives the information that the aircraft has left the ground, the flight control computer will control the power system of the aircraft to prohibit the execution of preset information; wherein the preset information can be information sent by the pilot and / or the operator of the ground control station to shut down the power system and / or lock the power system.

[0112] Therefore, when the aircraft has taken off, the flight control computer controls the power system of the aircraft to prohibit the execution of preset information, so as to avoid flight accidents caused by human error and improve the safety of aircraft flight.

[0113] Step S102: If the aircraft has not left the ground, it is determined based on the sensor data whether there is an unplanned target intruding into the safety boundary of the aircraft.

[0114] Step S103: If an unplanned target intrudes into the safety boundary, the state of the aircraft is adjusted based on the working state of the power system of the aircraft.

[0115] In this embodiment, if the flight control computer has determined that the aircraft has not left the ground, the flight control computer will use the data from the environmental perception sensor to determine whether there is an unplanned target intruding around the aircraft's safety boundary. If an unplanned target intrudes within the safety boundary, the aircraft's state will be adjusted based on the working state of the aircraft's power system; the safety boundary is as follows: Figure 7 As shown, different types of aircraft have their own corresponding safety boundaries. During the operation of the aircraft, it should be ensured that no unplanned targets enter the safety boundary, thereby ensuring the normal operation of the aircraft. When an unplanned target enters the safety boundary, it means that the aircraft may pose a threat to itself and the unplanned target. At this time, the aircraft state should be adjusted based on the working state of the aircraft's power system to reduce or eliminate the possible safety threat to the unplanned target.

[0116] Wherein, after step S102, the following steps are included:

[0117] Step B1: If there is no unplanned target intruding into the safety boundary, no control instruction is output.

[0118] In this embodiment, if the flight control computer has determined that the aircraft has not left the ground, the flight control computer will determine whether there are unplanned targets intruding around the aircraft's safety boundary through the data of the environmental perception sensor. If the flight control computer determines that there are no unplanned targets intruding within the safety boundary, the flight control computer and the flight control computer will not output redundant control instructions to the power system; wherein, redundant control instructions are control instructions other than the aircraft's planned control instructions. Thus, when the aircraft has not left the ground and there are no unplanned targets intruding within the safety boundary, the normal work flow of the aircraft is maintained to ensure the work efficiency of the aircraft.

[0119] In this embodiment, when the aircraft is in a non-takeoff state (including ground testing / debugging / maintenance state, state before takeoff, and state after landing), the environmental perception sensor is used to determine whether there are unplanned targets in the surrounding area that intrude into the safety boundary defined when the aircraft power system is working, and the flight control computer controls the power system to not work or stop working within its authority, thereby actively reducing the security threat of the aircraft to unplanned intruders, and then avoiding serious safety accidents such as casualties and damage / destruction of the aircraft.

[0120] It should be noted that the method involved in this embodiment is aimed at aircraft, especially medium and large aircraft in the fields of logistics transportation and urban air travel. It can effectively prevent the aircraft from causing casualties to ground personnel who illegally intrude during the frequent operation of the aircraft; and the method involved in this embodiment will not introduce new failure modes and safety risks to the aircraft flight control system; the method involved in this embodiment has strong engineering practicality, can be effectively implemented in specific engineering projects, has a wide range of applications, is not targeted at specific models, and can generate sufficient market scale and market effect after productization.

[0121] This embodiment adopts the above scheme, specifically by acquiring the sensor data of the aircraft, and judging whether the aircraft has taken off the ground according to the sensor data; if the aircraft has not taken off the ground, judging whether there is an unplanned target intruding into the safety boundary of the aircraft according to the sensor data; if there is an unplanned target intruding into the safety boundary, adjusting the state of the aircraft based on the working state of the power system of the aircraft. The present invention combines the current development concepts of urban air travel and other technologies and the current state of technological development, and creatively proposes the concept of aircraft actively reducing the security threats to external unplanned intruders and / or objects; the present invention combines the current state of technological development, including sensors, computers, control technologies, etc., and provides a specific implementation method for aircraft to actively reduce external security threats, while ensuring economy; while solving the problem of aircraft actively reducing security threats to external unplanned intruders and / or objects, it ensures that the newly introduced system will not reduce the system security of the aircraft itself.

[0122] Based on the above Figure 2 The embodiment shown is a second embodiment of the control method of the aircraft of the present invention. In this embodiment, step S103: adjusting the state of the aircraft based on the working state of the power system of the aircraft includes:

[0123] Step S1031, determining the working status of the power system of the aircraft.

[0124] Step S1032: if the power system is not started, output a prohibition start instruction to the power system.

[0125] As an implementation method, in this embodiment, since the aircraft has not left the ground and an unplanned target has entered the safety boundary, first, the working state of the aircraft's power system is determined. If the power system is not started, a prohibition start instruction is output to the power system.

[0126] Specifically, if the power system is not started, the flight control computer will output a disable start command to disable the power system controller from being enabled. When the user needs to start the power system, the power system can be started immediately by inputting a start command.

[0127] As another implementation, in this embodiment, if the power system is not started, the flight control computer will output a prohibition start instruction to prohibit the power system controller from being enabled and lock the power system. At this time, even if the power system receives the instruction information, it will not perform the corresponding operation. When the power system needs to be started, the power system needs to be unlocked, and the unlocking of the power system can be manually confirmed by the pilot and / or the ground control station to ensure the accuracy of the unlocking of the power system and avoid flight accidents caused by misjudgment; wherein, the way to lock the power system includes cutting off the signal of the power system, cutting off the power supply of the power system, etc.; the way to unlock the power system includes restoring the signal of the power system, restoring the power supply of the power system, etc.

[0128] Wherein, step S1031 includes:

[0129] Step C1, transmitting information that an unplanned target has intruded into the safety boundary to the flight control computer through the flight management computer.

[0130] Step C2, when the flight control computer receives information that an unplanned target has intruded into the safety boundary, the flight control computer determines the operating status of the power system of the aircraft.

[0131] In this embodiment, the flight control computer transmits the relevant information of the unplanned target intruding into the safety boundary to the flight control computer. When the flight control computer receives the information of the unplanned target intruding into the safety boundary, the flight control computer determines the working state of the current power system of the aircraft. Thus, by determining the working state of the aircraft power system, the state of the aircraft is determined, which facilitates the formulation of a disposal strategy for avoiding unplanned targets in the future.

[0132] Step S1033: If the power system has been started, the working state of the power system is adjusted according to the adjustment mode corresponding to the aircraft.

[0133] In this embodiment, if the power system has been started, the working state of the power system is adjusted according to the preset adjustment mode of the aircraft, wherein each aircraft has its corresponding adjustment mode of the power system, and each aircraft has only one adjustment mode of the power system.

[0134] Wherein, step S1033 includes:

[0135] Step D1: if the adjustment mode corresponding to the aircraft is the first mode, a shutdown command is output to the power system.

[0136] As an implementation method, in this embodiment, if the adjustment mode corresponding to the aircraft is the first mode, that is, the person is not in the loop, the flight control computer will output a shutdown command to the power system controller. When the user needs to start the power system, the power system can be started immediately by inputting a start command.

[0137] As another implementation mode, in this embodiment, if the adjustment mode corresponding to the aircraft is the first mode, that is, the person is not in the loop, the flight control computer will output a shutdown command to the power system controller and lock the power system. When the power system needs to be unlocked, the pilot and / or the ground control station can manually confirm that the power system is unlocked, so as to ensure the accuracy of the power system unlocking and avoid flight accidents caused by misjudgment; wherein, the method of locking the power system includes cutting off the signal of the power system, cutting off the power supply of the power system, etc.; the method of unlocking the power system includes restoring the signal of the power system, restoring the power supply of the power system, etc.

[0138] Step D2: If the adjustment mode corresponding to the aircraft is the second mode, an operation instruction is obtained, and the working state of the power system is adjusted according to the operation instruction.

[0139] In this embodiment, if the adjustment mode corresponding to the aircraft is the second mode, that is, the man is in the loop, it means that if the aircraft travels as originally planned, it will pose a threat to unplanned targets. At this time, it is necessary to obtain operating instructions issued by the pilot on the aircraft or the controller in the ground control station, and adjust the working state of the power system based on the operating instructions, so as to adjust the original planned path of the aircraft by adjusting the working state of the power system, so as to actively reduce the security threats posed by the aircraft to itself and unplanned intrusions, and ensure the safety of the aircraft and unplanned intrusions.

[0140] Wherein, step D2 comprises:

[0141] Step E1, if the operation instruction carries information not to shut down the power system, controlling the power system to maintain the current working state;

[0142] Step E2: if the operation instruction carries information for shutting down the power system, a shutdown instruction is output to the power system.

[0143] In this embodiment, the power system has been started, and the adjustment mode corresponding to the aircraft is the second mode, that is, the man-in-the-loop. The control device of the aircraft needs to obtain the operation instructions issued by the pilot on the aircraft or the control personnel in the ground control station, and adjust the working state of the power system based on the operation instructions. At this time, the flight control computer inquires whether to shut down the power system, and the pilot confirms whether to shut down the power system through the control panel in the cockpit and / or the ground operator confirms whether to shut down the power system through the control panel in the ground control station; if the pilot and / or the ground operator confirms not to shut down the power system, the flight control computer will maintain the current working state of the power system or other working states on demand; if the pilot and / or the ground operator confirms to shut down the power system, the flight control computer will output a shutdown instruction to the power system controller and lock the power system. When it is necessary to unlock the power system, the pilot and / or the ground control station can manually confirm to unlock the power system, so as to ensure the accuracy of unlocking the power system and avoid flight accidents caused by misjudgment; wherein, the way to lock the power system includes cutting off the signal of the power system, cutting off the power supply of the power system, etc.; the way to unlock the power system includes restoring the signal of the power system, restoring the power supply of the power system, etc.

[0144] This embodiment uses the above scheme to obtain the sensor data of the aircraft and judge whether the aircraft is off the ground according to the sensor data; if the aircraft is not off the ground, judge whether there is an unplanned target intruding into the safety boundary of the aircraft according to the sensor data; if there is an unplanned target intruding into the safety boundary, adjust the state of the aircraft based on the working state of the power system of the aircraft. When the aircraft is in a non-off-the-ground state (including ground testing / debugging / maintenance state, state before takeoff, and state after landing), judge whether there is an unplanned target in the surrounding area intruding into the safety boundary defined when the aircraft power system is working through the environmental perception sensor, and control the power system to not work or stop working within the authority through the flight control computer, so as to actively reduce the safety threat of the aircraft to unplanned intruding targets, and then avoid serious safety accidents such as casualties and damage / destruction of the aircraft.

[0145] Reference Figure 9a , Figure 9b , Figure 9a , Figure 9b This is a flow chart of the third embodiment of the control method of the aircraft of the present invention. Figure 2 In the embodiment shown, in this embodiment, the adjustment mode corresponding to the aircraft requires the pilot on the aircraft or the controller in the ground control station to confirm the information, that is, when the person is in the loop, the processing method is as follows:

[0146] First, the mission computer or flight control computer of the aircraft obtains the data of the liftoff sensor and the aircraft status information, and determines whether the aircraft has taken off the ground based on the data of the liftoff sensor and the aircraft status information. If the aircraft has taken off the ground, the flight control calculation will prohibit the aircraft's power system from shutting down or locking; if the aircraft has not taken off the ground, the mission computer or flight control computer obtains the data obtained by the environmental sensor, and determines whether there are any unplanned targets around the aircraft that have intruded into the safety boundary based on the data obtained by the environmental sensor.

[0147] If there are no unplanned targets around the aircraft that break into the safety boundary, the flight control computer will not output any unnecessary instructions. If there are no unplanned targets around the aircraft that break into the safety boundary, the flight control computer will further determine whether the aircraft's power system is in working condition.

[0148] If the aircraft power system is not in working condition, the flight control computer will prohibit the power system controller from being enabled and lock the power system. Only the pilot or ground control station can manually confirm to unlock the power system. If the aircraft power system is in working condition, the cockpit control panel or ground control station will obtain information from the pilot or ground operator to confirm whether to shut down the power system. If the power system is not shut down, the flight control computer will maintain the power system in its current state. If the power system needs to be shut down, the flight control computer will send a shutdown command to the power system and lock the power system. Only the pilot or ground control station can manually confirm to unlock the power system, so as to ensure the accuracy of unlocking the power system and avoid flight accidents caused by misjudgment.

[0149] The present invention combines the current technical development concepts and current technical development status of urban air travel, and solves the problem of actively reducing the security threat of external unplanned intrusion of people and / or objects by the aircraft. When the aircraft is in a non-takeoff state (including ground testing / debugging / maintenance state, the state before takeoff, and the state after landing), it uses environmental perception sensors to determine whether there are unplanned targets in the surrounding area that intrude into the safety boundary defined when the aircraft power system is working, and controls the power system to not work or stop working within the authority through the flight control computer, thereby actively reducing the security threat of the aircraft to unplanned intrusion targets, and then avoiding serious safety accidents such as casualties and damage / destruction of the aircraft.

[0150] Reference Fig.10a , Fig.10b , Fig.10a , Fig.10b This is a flow chart of the fourth embodiment of the control method of the aircraft of the present invention. Figure 2In the embodiment shown, in this embodiment, the adjustment mode corresponding to the aircraft is that the pilot on the aircraft or the controller in the ground control station does not need to confirm the information, that is, when the person is not in the loop, the processing method is as follows:

[0151] First, the mission computer or flight control computer of the aircraft obtains the data of the liftoff sensor and the aircraft status information, and determines whether the aircraft has taken off the ground based on the data of the liftoff sensor and the aircraft status information. If the aircraft has taken off the ground, the flight control calculation will prohibit the power system of the aircraft from being shut down or locked; if the aircraft has not taken off the ground, the mission computer or flight control computer obtains the data obtained by the environmental sensor, and determines whether there are any unplanned targets around the aircraft that have intruded into the safety boundary based on the data obtained by the environmental sensor.

[0152] If there are no unplanned targets around the aircraft that break into the safety boundary, the flight control computer will not output any unnecessary instructions. If there are no unplanned targets around the aircraft that break into the safety boundary, the flight control computer will further determine whether the aircraft's power system is in working condition.

[0153] If the aircraft power system is not in working condition, the flight control computer will prohibit the power system controller from being enabled and lock the power system. Only the pilot or the ground control station can manually confirm to unlock the power system, so as to ensure the accuracy of unlocking the power system and avoid flight accidents caused by misjudgment. If the aircraft power system is in working condition, the flight control computer will send a shutdown command to the power system and lock the power system. Only the pilot or the ground control station can manually confirm to unlock the power system, so as to ensure the accuracy of unlocking the power system and avoid flight accidents caused by misjudgment.

[0154] When an unplanned target intrudes into the safety boundary of the aircraft, the present invention controls the power system to not work or stop working within the authority through the flight control computer, thereby actively reducing the security threat of the aircraft to the unplanned intruder, and then avoiding serious safety accidents such as casualties and damage / destruction of the aircraft.

[0155] Reference Fig.11 , Fig.11 The following is a schematic diagram of the functional modules of the control system of the aircraft of the present invention. The control system of the aircraft includes:

[0156] An acquisition module 10 is used to acquire sensor data of the aircraft;

[0157] The judging module 20 is used to judge whether the aircraft has left the ground according to the sensor data; if the aircraft has not left the ground, to judge whether an unplanned target has entered the safety boundary of the aircraft according to the sensor data;

[0158] The adjustment module 30 is used to adjust the state of the aircraft based on the working state of the power system of the aircraft if an unplanned target intrudes into the safety boundary.

[0159] For the principle and implementation process of controlling the aircraft in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0160] In addition, an embodiment of the present invention also proposes a terminal device, which includes a memory, a processor, and an aircraft control program stored in the memory and executable on the processor, and the aircraft control program, when executed by the processor, implements the steps of the aircraft control method as described above.

[0161] Since all the technical solutions of all the aforementioned embodiments are adopted when the control program of the aircraft is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0162] In addition, an embodiment of the present invention further proposes a computer-readable storage medium, on which a control program of an aircraft is stored. When the control program of the aircraft is executed by a processor, the steps of the control method of the aircraft as described above are implemented.

[0163] Since all the technical solutions of all the aforementioned embodiments are adopted when the control program of the aircraft is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0164] Compared with the prior art, the present invention provides a control method, system, terminal device and storage medium for an aircraft, which obtains the sensor data of the aircraft and determines whether the aircraft is off the ground based on the sensor data; if the aircraft is not off the ground, it determines whether there is an unplanned target intruding into the safety boundary of the aircraft based on the sensor data; if there is an unplanned target intruding into the safety boundary, the state of the aircraft is adjusted based on the working state of the power system of the aircraft. When an unplanned target intrudes into the safety boundary of the aircraft, the present invention actively reduces the security threat posed by the aircraft to itself and the unplanned target, thereby ensuring the safety of the aircraft and the unplanned target.

[0165] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or method. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or method including the element.

[0166] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0167] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to execute the method of each embodiment of the present invention.

[0168] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling an aircraft, characterized in that: The method comprises the following steps: Acquiring sensor data of the aircraft, and determining whether the aircraft is off the ground according to the sensor data; If the aircraft has not left the ground, determining whether an unplanned target has intruded into the safety boundary of the aircraft based on the sensor data; If an unplanned target intrudes into the safety boundary, adjusting the state of the aircraft based on the working state of the power system of the aircraft; Wherein, the step of determining whether the aircraft is off the ground according to the sensor data includes: If the aircraft has left the ground, the power system is controlled to prohibit execution of preset information, wherein the preset information is information sent by the pilot and / or the operator of the ground control station to shut down the power system and / or lock the power system.

2. The method for controlling an aircraft according to claim 1, characterized in that: The step of adjusting the state of the aircraft based on the working state of the power system of the aircraft comprises: Determining the operating status of the power system of the aircraft; If the power system is not started, outputting a start prohibition instruction to the power system; If the power system has been started, the working state of the power system is adjusted according to the adjustment mode corresponding to the aircraft.

3. The method for controlling an aircraft according to claim 2, characterized in that: If the power system has been started, the step of adjusting the working state of the power system according to the adjustment mode corresponding to the aircraft includes: If the adjustment mode corresponding to the aircraft is the first mode, outputting a shutdown command to the power system; If the adjustment mode corresponding to the aircraft is the second mode, an operation instruction is obtained, and the working state of the power system is adjusted according to the operation instruction.

4. The method for controlling an aircraft according to claim 3, characterized in that: The step of obtaining the operation instruction comprises: Obtaining operating instructions sent by the driver; or Get the operation instructions sent by the ground operator.

5. The method for controlling an aircraft according to claim 3, characterized in that: The step of adjusting the working state of the power system according to the operation instruction comprises: If the operation instruction carries information not to shut down the power system, controlling the power system to maintain the current working state; If the operation instruction carries information for shutting down the power system, a shutdown instruction is output to the power system.

6. The method for controlling an aircraft according to claim 1, characterized in that: If the aircraft has already left the ground, the step of controlling the power system to prohibit execution of preset information comprises: If the aircraft has left the ground, transmitting information indicating that the aircraft has left the ground to the flight control computer through the flight management computer; When the flight control computer receives the information that the aircraft has taken off the ground, the flight control computer controls the aircraft power system to prohibit the execution of preset information.

7. The method for controlling an aircraft according to claim 1, characterized in that: The sensor data includes data obtained through a lift-off sensor and data obtained through an environment perception sensor; the lift-off sensor and the environment perception sensor are located on the fuselage of the aircraft.

8. The method for controlling an aircraft according to claim 1, characterized in that: The step of determining whether there is an unplanned target intruding into the safety boundary of the aircraft according to the sensor data includes: If no unplanned target intrudes into the safety boundary, no control command is output.

9. The method for controlling an aircraft according to claim 2, characterized in that: The step of determining the working state of the power system of the aircraft comprises: Transmitting information about an unplanned target intrusion into the safety boundary to the flight control computer through the flight management computer; When the flight control computer receives information that an unplanned target has intruded into the safety boundary, the flight control computer determines the operating state of the power system of the aircraft.

10. A control system for an aircraft, characterized in that: include: An acquisition module, used to acquire sensor data of the aircraft; A judgment module, used to judge whether the aircraft has left the ground according to the sensor data; if the aircraft has not left the ground, to judge whether an unplanned target has intruded into the safety boundary of the aircraft according to the sensor data; an adjustment module, configured to adjust the state of the aircraft based on the working state of the power system of the aircraft if an unplanned target intrudes into the safety boundary; The adjustment module is also used to control the power system to prohibit the execution of preset information if the aircraft has left the ground, wherein the preset information is information sent by the pilot and / or the operator of the ground control station to shut down the power system and / or lock the power system.

11. A terminal device, characterized in that: The terminal device includes a memory, a processor, and an aircraft control method stored in the memory and executable on the processor. When the aircraft control program is executed by the processor, the steps of the aircraft control method as described in any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for controlling an aircraft, and when the program for controlling an aircraft is executed by a processor, the steps of the method for controlling an aircraft according to any one of claims 1 to 9 are implemented.

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