An intelligent flight control system and method for a vertical take-off drone

Abstract

The application provides a vertical take-off unmanned aerial vehicle intelligent flight control system and method, comprising: a data acquisition module for acquiring interference factors corresponding to the vertical take-off unmanned aerial vehicle in different flight stages, and dynamically monitoring the flight environment of the vertical take-off unmanned aerial vehicle in different flight stages based on the interference factors; a flight planning module for real-time analysis of the dynamic monitoring result, and planning of the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages based on the real-time analysis result; and a flight control module for differential control of the vertical take-off unmanned aerial vehicle in different flight stages based on the planning result, and real-time monitoring and visual display of the flight state of the vertical take-off unmanned aerial vehicle based on the differential control result. The flight safety and stability of the vertical take-off unmanned aerial vehicle are ensured, and the next control scheme is responded and planned in advance in time, so that the control effect on the vertical take-off unmanned aerial vehicle is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of device control, in particular to a vertical take-off unmanned aerial vehicle intelligent flight control system and method. BACKGROUND

[0002] The vertical take-off unmanned aerial vehicle is a short name of the vertical take-off and landing unmanned aerial vehicle, has the ability of vertical take-off and landing, and does not need to rely on a long runway for take-off and landing like a traditional fixed-wing aircraft, and can realize take-off and landing operation in a relatively narrow space. With the continuous development of science and technology, unmanned aerial vehicles are widely used in more and more fields.

[0003] However, the existing vertical take-off unmanned aerial vehicle flight control method has certain deficiencies in intelligence and precision, for example, it cannot dynamically and accurately adjust the flight attitude and flight speed according to the environmental changes, which leads to poor flight effect and easily causes flight accidents, greatly reducing the control effect of the vertical take-off unmanned aerial vehicle.

[0004] Therefore, in order to overcome the above-mentioned defects, the present application provides a vertical take-off unmanned aerial vehicle intelligent flight control system and method. SUMMARY

[0005] The present application provides a vertical take-off unmanned aerial vehicle intelligent flight control system and method, which determines the corresponding interference factors of the vertical take-off unmanned aerial vehicle in different flight stages, realizes real-time and effective dynamic monitoring of the flight environment of different flight stages according to the interference factors, thereby providing reliable data support for planning the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages. Secondly, the dynamic monitoring results are effectively analyzed to realize accurate and reliable planning of the flight scheme of different flight stages, thereby facilitating effective control of the vertical take-off unmanned aerial vehicle in the whole process. Finally, the vertical take-off unmanned aerial vehicle is controlled differently in different flight stages through the planning results, and the flight state of the vertical take-off unmanned aerial vehicle is monitored and visualized in real time after the differential control, realizing effective acquisition of the flight state of the vertical take-off unmanned aerial vehicle after control, facilitating to ensure the flight safety and stability of the vertical take-off unmanned aerial vehicle, and also facilitating to make advance response and planning for the next control scheme in time, thereby guaranteeing the control effect of the vertical take-off unmanned aerial vehicle.

[0006] The present application provides a vertical take-off unmanned aerial vehicle intelligent flight control system, comprising:

[0007] A data acquisition module is configured to acquire the corresponding interference factors of the vertical take-off unmanned aerial vehicle in different flight stages, and dynamically monitor the flight environment of the vertical take-off unmanned aerial vehicle in different flight stages based on the interference factors.

[0008] A flight planning module is configured to analyze the dynamic monitoring results in real time, and plan the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages based on the real-time analysis results.

[0009] A flight control module is configured to control the VTOL UAV in different flight stages based on the planning result, and monitor and visualize the flight state of the VTOL UAV in real time based on the differential control result.

[0010] Preferably, the intelligent flight control system of the VTOL UAV comprises a data acquisition module, which comprises:

[0011] An index determination unit is configured to determine the flight stages contained in the flight of the VTOL UAV based on the flight process of the VTOL UAV, determine the stage labels corresponding to each flight stage, and convert the stage labels into index indicators based on a preset data retrieval engine;

[0012] A data retrieval unit is configured to access the database based on the index indicators, and retrieve the flight protocols corresponding to different flight stages based on the access result;

[0013] A factor determination unit is configured to perform text splitting on the flight protocols of different flight stages, and extract multi-dimensional key parameters from the flight protocols based on the text splitting result, to obtain a set of interference factors corresponding to the flight of the VTOL UAV in different flight stages.

[0014] Preferably, the intelligent flight control system of the VTOL UAV comprises a data acquisition module, which comprises:

[0015] A configuration unit is configured to:

[0016] obtain the interference factors, and determine the interference weights of different interference factors on the flight state of the VTOL UAV;

[0017] determine the monitoring requirements of the sensors on different interference factors based on the interference weights, and configure the parameters of the sensors based on the monitoring requirements;

[0018] A mechanism determination unit is configured to encapsulate the sensors based on the parameter configuration result, to obtain the monitoring mechanisms of different sensors, and determine the critical states of the VTOL UAV in different flight stages based on the flight requirements, and set the critical states as the trigger conditions for the VTOL UAV to enter different flight stages;

[0019] A monitoring unit is configured to:

[0020] associate and bind the trigger conditions with the monitoring mechanisms of different sensors, and obtain the dynamic monitoring mechanisms of different flight stages based on the association and binding result;

[0021] monitor the flight environment of the VTOL UAV in different flight stages based on the dynamic monitoring mechanisms.

[0022] Preferably, the intelligent flight control system of the vertical take-off unmanned aerial vehicle comprises a monitoring unit, which comprises:

[0023] The monitoring subunit is configured to:

[0024] acquire flight information of the vertical take-off unmanned aerial vehicle in real time, and control different sensors in linkage when the flight information meets critical states of different flight stages;

[0025] control different sensors to perform multi-dimensional monitoring on environmental parameters under the same space-time characteristics based on the linkage control result, to obtain multi-dimensional monitoring data;

[0026] The data marking subunit is configured to add a time stamp and a flight stage identifier to the multi-dimensional monitoring data, and feed back the multi-dimensional monitoring data to the main control center based on the addition result.

[0027] Preferably, the intelligent flight control system of the vertical take-off unmanned aerial vehicle comprises a flight planning module, which comprises:

[0028] The flight stage comprises a take-off stage, an in-flight stage and a landing stage.

[0029] Preferably, the intelligent flight control system of the vertical take-off unmanned aerial vehicle comprises a flight planning module, which comprises:

[0030] When the flight stage is the take-off stage:

[0031] The first data analysis unit is configured to:

[0032] acquire a dynamic monitoring result corresponding to the take-off stage, and perform index quantization on different dimensional monitoring data in the dynamic monitoring result based on the analysis index, to obtain a target parameter corresponding to each dimensional monitoring data;

[0033] determine a take-off state deflection amount of the vertical take-off unmanned aerial vehicle under relative non-interference conditions under the action of different dimensional monitoring data based on the target parameter, and correct and summarize the take-off state deflection amount based on mutual limiting relationships among the different dimensional monitoring data, to obtain a state interference amount;

[0034] The first scheme planning unit is configured to:

[0035] acquire a flight task of the vertical take-off unmanned aerial vehicle, and determine a take-off height and a take-off duration of the vertical take-off unmanned aerial vehicle based on the flight task;

[0036] analyze the state interference amount, the take-off height and the take-off duration based on a neural network, and obtain a take-off attitude and a power output distribution feature of the vertical take-off unmanned aerial vehicle based on the analysis result;

[0037] obtain a flight scheme of the vertical take-off unmanned aerial vehicle in the take-off stage based on the take-off attitude and the power output distribution feature.

[0038] Preferably, the intelligent flight control system of the vertical take-off and landing unmanned aerial vehicle comprises a flight planning module, which comprises:

[0039] When the flight phase is the air flight phase:

[0040] The second data analysis unit is configured to:

[0041] Obtain the dynamic monitoring result corresponding to the air flight phase, analyze the dynamic monitoring result, and obtain the climate environment and the space environment of the forward direction corresponding to the vertical take-off and landing unmanned aerial vehicle at the current time;

[0042] Extract the performance parameters of the vertical take-off and landing unmanned aerial vehicle, and synchronously transmit the climate environment and the performance parameters to the computer;

[0043] Based on the computer, the climate environment and the performance parameters are analyzed to obtain the flight state change amount of the vertical take-off and landing unmanned aerial vehicle under the influence of the climate environment, and based on the preset flight requirement, the multi-dimensional flight parameter correction amount of the vertical take-off and landing unmanned aerial vehicle is determined according to the flight state change amount;

[0044] Based on the multi-dimensional flight parameter correction amount, the flight state of the vertical take-off and landing unmanned aerial vehicle is corrected, and at the same time, based on the correction result, the local space environment map is constructed according to the space environment, and the preset flight route of the vertical take-off and landing unmanned aerial vehicle is superimposed and displayed on the local space environment map;

[0045] Based on the superimposed display result, the relative height and the relative direction of the obstacle existing on the preset flight route of the vertical take-off and landing unmanned aerial vehicle are determined, and based on the safety obstacle avoidance distance, the preset flight route is locally and dynamically adjusted according to the relative height and the relative direction;

[0046] The control unit is configured to obtain the first flight scheme planning element based on the correction result of the flight state and the local dynamic adjustment result of the preset flight route, and set the priority of the automatic control and the terminal control of the vertical take-off and landing unmanned aerial vehicle in the air flight based on the control requirement, and configure the contact jump mechanism based on the priority of the automatic control and the terminal control, wherein the priority of the terminal control is higher than that of the automatic control.

[0047] The second scheme planning unit is configured to take the contact jump mechanism as the second flight scheme planning element, and to aggregate the first flight scheme planning element to obtain the flight scheme of the vertical take-off and landing unmanned aerial vehicle in the air flight phase.

[0048] Preferably, the intelligent flight control system of the vertical take-off and landing unmanned aerial vehicle comprises a flight planning module, which comprises:

[0049] When the flight phase is the landing phase:

[0050] A third data analysis unit is configured to obtain dynamic monitoring results corresponding to the landing stage, analyze the dynamic monitoring results, and determine the target terrain and current climate parameters of the landing site;

[0051] A third scheme planning unit is configured to:

[0052] Based on the target terrain, determine the extension height of different legs of the vertical take-off and landing UAV during landing, and based on the landing standard, determine the landing posture and landing speed of the vertical take-off and landing UAV according to the current climate parameters;

[0053] Based on the extension height of different legs, the landing posture and the landing speed of the vertical take-off and landing UAV, obtain the flight scheme of the vertical take-off and landing UAV during the landing stage.

[0054] Preferably, a vertical take-off and landing UAV intelligent flight control system, a flight control module, comprises:

[0055] A control unit is configured to:

[0056] Real-time monitor the current flight stage of the vertical take-off and landing UAV, and determine the real-time flight scheme planned for the corresponding stage based on the current flight stage;

[0057] Based on the real-time flight scheme planned for the corresponding stage, perform differential control on the vertical take-off and landing UAV, and after the differential control, perform real-time self-checking on the flight state of the vertical take-off and landing UAV;

[0058] A visual display unit is configured to:

[0059] Return the real-time self-checking result to the main control center, and based on the main control center, analyze the real-time self-checking result to determine the multi-dimensional state parameters of the vertical take-off and landing UAV;

[0060] Extract the data representation characteristics of different dimensional state parameters, and based on the data representation characteristics, call the corresponding visual template to visually display the corresponding dimensional state parameters.

[0061] The present application provides a vertical take-off and landing UAV intelligent flight control method, comprising:

[0062] Step 1: Obtain the corresponding interference factors of the vertical take-off and landing UAV during different flight stages, and based on the interference factors, dynamically monitor the flight environment of the vertical take-off and landing UAV during different flight stages;

[0063] Step 2: Real-time analyze the dynamic monitoring results, and based on the real-time analysis results, plan the flight scheme of the vertical take-off and landing UAV during different flight stages;

[0064] Step 3: Based on the planning results, perform differential control on the vertical take-off and landing UAV during different flight stages, and based on the differential control results, perform real-time monitoring and visual display on the flight state of the vertical take-off and landing UAV.

[0065] Compared with the prior art, the beneficial effects of the present application are as follows:

[0066] 1. By determining the corresponding interference factors of the vertical take-off unmanned aerial vehicle when flying in different flight stages, the flight environment in different flight stages is dynamically monitored in real time according to the interference factors, thereby providing reliable data support for planning the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages. Secondly, the dynamic monitoring results are effectively analyzed to accurately and reliably plan the flight scheme in different flight stages, thereby facilitating effective control of the vertical take-off unmanned aerial vehicle in the whole process. Finally, the vertical take-off unmanned aerial vehicle is differentially controlled in different flight stages through the planning results, and the flight state of the vertical take-off unmanned aerial vehicle is monitored and visually displayed in real time after differential control, thereby effectively obtaining the flight state of the vertical take-off unmanned aerial vehicle after control, facilitating the flight safety and stability of the vertical take-off unmanned aerial vehicle, and also facilitating timely response and planning for the next control scheme, thereby ensuring the control effect of the vertical take-off unmanned aerial vehicle.

[0067] 2. By analyzing the dynamic monitoring results of the flight stage, the climate environment and the space environment in the forward direction corresponding to the vertical take-off unmanned aerial vehicle at the current time are determined. At the same time, the performance parameters of the vertical take-off unmanned aerial vehicle are extracted, and the climate environment and the performance parameters are analyzed to determine the multi-dimensional flight parameter correction amount of the vertical take-off unmanned aerial vehicle in the flight stage, thereby facilitating the correction of the flight state of the vertical take-off unmanned aerial vehicle and ensuring the reliability of the flight state of the vertical take-off unmanned aerial vehicle. Secondly, a local space environment map is generated according to the space environment, and the preset flight route of the vertical take-off unmanned aerial vehicle in the flight stage is locally dynamically adjusted according to the local space environment map, thereby providing a basis for formulating the flight scheme in the flight stage. Finally, by setting the priority of automatic control and terminal control, the automatic control and terminal control configuration contact jump mechanism are formulated, and finally the flight state correction scheme and the obstacle avoidance scheme of the preset flight route are summarized to accurately and effectively formulate the flight scheme of the vertical take-off unmanned aerial vehicle in the flight stage, thereby improving the control reliability of the vertical take-off unmanned aerial vehicle in the flight stage and ensuring the flight stability and safety of the vertical take-off unmanned aerial vehicle.

[0068] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof.

[0069] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0070] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and are used to explain the application without restricting it. In the drawings:

[0071] Figure 1 a structure diagram of an intelligent flight control system of a vertical take-off unmanned aerial vehicle in an embodiment of the application;

[0072] Figure 2 a structure diagram of a data acquisition module in an intelligent flight control system of a vertical take-off unmanned aerial vehicle in an embodiment of the application;

[0073] Figure 3 a flow chart of an intelligent flight control method of a vertical take-off unmanned aerial vehicle in an embodiment of the application. DETAILED DESCRIPTION

[0074] The preferred embodiments of the application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the application, and are not used to limit the application.

[0075] Embodiment 1

[0076] This embodiment provides an intelligent flight control system of a vertical take-off unmanned aerial vehicle, as shown in Figure 1 , which comprises:

[0077] a data acquisition module, configured to acquire interference factors corresponding to the vertical take-off unmanned aerial vehicle in different flight stages, and dynamically monitor the flight environment of the vertical take-off unmanned aerial vehicle in different flight stages based on the interference factors;

[0078] a flight planning module, configured to analyze the dynamic monitoring results in real time, and plan flight schemes of the vertical take-off unmanned aerial vehicle in different flight stages based on the real-time analysis results;

[0079] a flight control module, configured to perform differential control on the vertical take-off unmanned aerial vehicle in different flight stages based on the planning results, and perform real-time monitoring and visual display on the flight state of the vertical take-off unmanned aerial vehicle based on the differential control results.

[0080] In this embodiment, different flight stages refer to the take-off stage, the in-air flight stage and the landing stage of the vertical take-off unmanned aerial vehicle.

[0081] In this embodiment, the interference factors refer to reasons affecting the flight state of the vertical take-off unmanned aerial vehicle in different flight stages, for example, including wind speed, wind direction, site flatness and obstacle distribution, etc.

[0082] In this embodiment, the flight scheme refers to a specific strategy for controlling the vertical take-off unmanned aerial vehicle in different flight stages.

[0083] In this embodiment, the difference control refers to controlling the flight of the vertical take-off unmanned aerial vehicle according to the planned real-time flight scheme according to the real-time flight situation of different stages, so as to achieve effective control of the whole flight process of the vertical take-off unmanned aerial vehicle.

[0084] The working principle and beneficial effects of the above technical solution are: by determining the corresponding interference factors of the vertical take-off unmanned aerial vehicle in different flight stages, real-time and effective dynamic monitoring of the flight environment of different flight stages is realized according to the interference factors, thereby providing reliable data support for planning the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages. Secondly, the dynamic monitoring results are effectively analyzed to realize accurate and reliable planning of the flight scheme of different flight stages, thereby facilitating effective control of the whole process of the vertical take-off unmanned aerial vehicle. Finally, the vertical take-off unmanned aerial vehicle is controlled differently in different flight stages through the planning results, and the flight state of the vertical take-off unmanned aerial vehicle is monitored and visualized in real time after the difference control, realizing effective acquisition of the flight state of the vertical take-off unmanned aerial vehicle after control, facilitating to ensure the flight safety and flight stability of the vertical take-off unmanned aerial vehicle, and also facilitating to make advance response and planning for the next control scheme in time, thereby guaranteeing the control effect of the vertical take-off unmanned aerial vehicle.

[0085] Embodiment 2:

[0086] Based on embodiment 1, this embodiment provides an intelligent flight control system for a vertical take-off unmanned aerial vehicle, as shown in Figure 2 The data acquisition module comprises:

[0087] The index indicator determination unit is configured to determine the flight stages contained in the flight of the vertical take-off unmanned aerial vehicle based on the flight process of the vertical take-off unmanned aerial vehicle, and determine the stage label corresponding to each flight stage, and convert the stage label into an index indicator based on the preset data retrieval engine.

[0088] The data retrieval unit is configured to access the database based on the index indicator, and retrieve the flight protocol corresponding to different flight stages based on the access result.

[0089] The factor determination unit is configured to perform text splitting on the flight protocol of different flight stages, and perform multi-dimensional key parameter extraction on the flight protocol based on the text splitting result to obtain a set of interference factors corresponding to the flight of the vertical take-off unmanned aerial vehicle in different flight stages.

[0090] In this embodiment, the flight process of the vertical take-off unmanned aerial vehicle is known in advance.

[0091] In this embodiment, the stage label is a marker symbol used to distinguish different flight stages, and different flight stages correspond to different stage labels.

[0092] In this embodiment, the preset data retrieval engine is set in advance to convert the stage label into an index label, wherein the index label is a reference basis for retrieving the corresponding flight protocol from the database.

[0093] In this embodiment, the flight protocol is used to define the flight standards and requirements that the vertical take-off unmanned aerial vehicle needs to achieve in different flight stages.

[0094] The working principle and beneficial effects of the above technical solution are: by retrieving the flight protocol of the corresponding flight stage from the database according to the flight stage of the vertical take-off unmanned aerial vehicle, and analyzing the flight protocol, the interference factor set of the vertical take-off unmanned aerial vehicle in different flight stages is accurately and effectively determined, so that the dynamic of the vertical take-off unmanned aerial vehicle in different flight stages is accurately and comprehensively monitored according to the interference factor set, which provides convenience for the flight control of the vertical take-off unmanned aerial vehicle.

[0095] Embodiment 3:

[0096] Based on embodiment 1, this embodiment provides an intelligent flight control system for a vertical take-off unmanned aerial vehicle, a data acquisition module, comprising:

[0097] A configuration unit is configured to:

[0098] Obtain the interference factors and determine the interference weights of different interference factors on the flight state of the vertical take-off unmanned aerial vehicle;

[0099] Determine the monitoring requirements of the sensor for different interference factors based on the interference weights, and configure the parameters of the sensor based on the monitoring requirements;

[0100] A mechanism determination unit is configured to encapsulate the sensor based on the parameter configuration result to obtain the monitoring mechanism of different sensors, and determine the critical state of the vertical take-off unmanned aerial vehicle in different flight stages based on the flight requirements, and set the critical state as the trigger condition for the vertical take-off unmanned aerial vehicle to enter different flight stages;

[0101] A monitoring unit is configured to:

[0102] Associate and bind the trigger condition with the monitoring mechanism of different sensors, and obtain the dynamic monitoring mechanism for different flight stages based on the association and binding result;

[0103] Based on the dynamic monitoring mechanism, the flight environment of the vertical take-off unmanned aerial vehicle in different flight stages is dynamically monitored.

[0104] In this embodiment, the interference weight is used to represent the influence degree of different interference factors on the flight of the vertical take-off unmanned aerial vehicle, and the greater the weight value, the more serious the influence of the interference factor on the flight of the vertical take-off unmanned aerial vehicle.

[0105] In this embodiment, the monitoring requirement is a monitoring standard for characterizing different interference factors, which can be, for example, the degree of rigor of interference factor monitoring.

[0106] In this embodiment, parameter configuration refers to adapting the operating parameters of the sensor according to the monitoring requirement, with the purpose of ensuring that the sensor effectively monitors the interference factors.

[0107] In this embodiment, the flight requirement is known in advance and is used to characterize the flight state of the vertical take-off and landing UAV in different flight stages, thereby facilitating the determination of the critical state of the vertical take-off and landing UAV when switching between different flight stages.

[0108] In this embodiment, the critical state refers to the flight speed and aircraft attitude of the vertical take-off and landing UAV corresponding to the take-off, normal flight, and landing stages.

[0109] In this embodiment, the dynamic monitoring mechanism refers to a monitoring scheme obtained by associating the trigger conditions of different flight stages with the monitoring mechanisms of the sensors in different flight stages, i.e., when the vertical take-off and landing UAV enters different flight stages, the sensors in the current stage will be triggered to monitor the flight state of the vertical take-off and landing UAV.

[0110] The working principle and beneficial effects of the above technical solution are as follows: by determining the interference weights of different interference factors on the flight state of the vertical take-off and landing UAV, corresponding parameter configurations of the sensors are realized according to the interference weights, thereby facilitating effective monitoring of the flight state of the vertical take-off and landing UAV according to the configuration results. Secondly, the critical state of the vertical take-off and landing UAV in different flight stages is determined according to the flight requirement, which realizes accurate and effective determination of the trigger conditions of the vertical take-off and landing UAV in different flight stages. Finally, the critical state of different flight stages is associated with the monitoring mechanism of the corresponding sensor, which realizes accurate and effective formulation of the dynamic monitoring mechanism of different flight stages, thereby realizing effective monitoring of the flight environment of the vertical take-off and landing UAV in different flight stages, and ensuring the comprehensiveness and reliability of the monitoring.

[0111] Embodiment 4:

[0112] Based on embodiment 3, the present embodiment provides a vertical take-off and landing UAV intelligent flight control system, a monitoring unit, comprising:

[0113] a monitoring subunit, configured to:

[0114] real-time acquisition of flight information of the vertical take-off and landing UAV, and linkage control of different sensors when the flight information meets the critical state of different flight stages;

[0115] based on the linkage control result, control different sensors to perform multi-dimensional monitoring of environmental parameters under the same space-time feature to obtain multi-dimensional monitoring data;

[0116] The data marking subunit is configured to add a timestamp and a flight phase identifier to the multidimensional monitoring data, and feed the multidimensional monitoring data to the master control center based on the addition result.

[0117] In this embodiment, the flight information refers to the current flight parameters of the vertical take-off UAV, including the flight speed and flight attitude, etc.

[0118] In this embodiment, the same space-time feature refers to the monitoring of various types of environmental parameters in the same time and space dimensions.

[0119] In this embodiment, the multidimensional monitoring data refers to the results obtained after monitoring different types of parameters in the environmental parameters, such as temperature, wind speed, and light intensity, etc.

[0120] In this embodiment, the flight phase identifier is a marker used to distinguish different flight phases. The vertical take-off UAV can be effectively distinguished in different flight phases through the marker, and the flight phase corresponds to the flight phase identifier.

[0121] The working principle and beneficial effects of the above technical solution are as follows: the flight phase of the vertical take-off UAV is accurately and effectively determined according to the flight information of the vertical take-off UAV at different times, so that the current stage sensor can be conveniently controlled in linkage according to the flight phase, the environmental parameters of the current flight phase of the vertical take-off UAV are comprehensively and effectively collected according to the linkage control result, the reliability and comprehensiveness of the environmental parameter collection are ensured, and finally the monitored environmental parameters are fed back to the master control center, which facilitates the master control center to accurately and effectively control the vertical take-off UAV.

[0122] Embodiment 5:

[0123] On the basis of embodiment 1, the vertical take-off UAV intelligent flight control system provided in this embodiment comprises a flight planning module, which comprises:

[0124] The flight phase comprises a take-off phase, an in-flight phase, and a landing phase.

[0125] Embodiment 6:

[0126] On the basis of embodiment 5, the vertical take-off UAV intelligent flight control system provided in this embodiment comprises a flight planning module, which comprises:

[0127] When the flight phase is the take-off phase:

[0128] The first data analysis unit is configured to:

[0129] acquire the dynamic monitoring result corresponding to the take-off phase, and quantize the monitoring data in different dimensions in the dynamic monitoring result based on the analysis index to obtain a target parameter corresponding to each dimension of monitoring data;

[0130] determine a take-off state deflection of the vertical take-off UAV under the influence of different dimensions of monitoring data based on the target parameter, and correct and summarize the take-off state deflection based on the mutual limiting relationship between different dimensions of monitoring data to obtain a state interference;

[0131] The first scheme planning unit is configured to:

[0132] acquire a flight task of the vertical take-off UAV, and determine a take-off height and a take-off duration of the vertical take-off UAV based on the flight task;

[0133] analyze the state interference, the take-off height and the take-off duration based on a neural network, and obtain a take-off attitude and a power output distribution feature of the vertical take-off UAV based on the analysis result;

[0134] obtain a flight scheme of the vertical take-off UAV in the take-off phase based on the take-off attitude and the power output distribution feature.

[0135] In this embodiment, the analysis index is set in advance and is a reference basis and standard for analyzing the dynamic monitoring result.

[0136] In this embodiment, the index quantization refers to converting the monitoring result corresponding to the corresponding analysis index into a specific numerical value, for example, the wind speed can be three meters per second, etc., wherein the target parameter is the result obtained after index quantization.

[0137] In this embodiment, the take-off state deflection refers to the change degree of the take-off parameter of the vertical take-off UAV under the current interference factor relative to the case without interference.

[0138] In this embodiment, the mutual limiting relationship refers to the mutual influence relationship between different dimensions of monitoring data, for example, the wind speed can affect the temperature.

[0139] In this embodiment, the state interference refers to the specific influence degree of the environmental parameter in the current flight phase on the vertical take-off UAV during take-off, including the influence degree on the speed, attitude, etc.

[0140] In this embodiment, the flight task refers to the take-off height and the expected flight route that the vertical take-off UAV needs to reach, etc.

[0141] In this embodiment, the power output distribution feature refers to the rotating speed of different wings, so as to ensure that the vertical take-off UAV can take off according to the take-off attitude.

[0142] The working principle and beneficial effects of the technical solution are as follows: by analyzing the dynamic monitoring result in the take-off stage, the target parameter of each dimension monitoring data is accurately and effectively determined, at the same time, according to the target parameter, the state interference quantity of the vertical take-off unmanned aerial vehicle in the take-off stage is accurately and effectively judged, secondly, according to the flight task of the vertical take-off unmanned aerial vehicle, the take-off height and take-off time of the vertical take-off unmanned aerial vehicle are analyzed, the take-off attitude and power output distribution characteristics of the vertical take-off unmanned aerial vehicle are determined according to the state interference quantity, take-off height and take-off time, which provides convenience for formulating the take-off control scheme of the vertical take-off unmanned aerial vehicle, finally, through the take-off attitude and power output distribution characteristics, the flight scheme of the vertical take-off unmanned aerial vehicle in the take-off stage is accurately and effectively formulated, so as to guarantee the reliable control of the vertical take-off unmanned aerial vehicle in the take-off state, and ensure the take-off safety of the vertical take-off unmanned aerial vehicle.

[0143] Embodiment 7:

[0144] On the basis of embodiment 5, the embodiment provides an intelligent flight control system of a vertical take-off unmanned aerial vehicle, and a flight planning module, comprising:

[0145] When the flight stage is an air flight stage:

[0146] A second data analysis unit is configured to:

[0147] Obtain the dynamic monitoring result corresponding to the air flight stage, and analyze the dynamic monitoring result to obtain the climate environment and the space environment of the forward direction corresponding to the vertical take-off unmanned aerial vehicle at the current time;

[0148] Extract the performance parameters of the vertical take-off unmanned aerial vehicle, and synchronously transmit the climate environment and the performance parameters to a computer;

[0149] Based on the computer, the climate environment and the performance parameters are analyzed to obtain the flight state change quantity of the vertical take-off unmanned aerial vehicle under the influence of the climate environment, and based on the preset flight requirement, the multi-dimensional flight parameter correction quantity of the vertical take-off unmanned aerial vehicle is determined according to the flight state change quantity;

[0150] Based on the multi-dimensional flight parameter correction quantity, the flight state of the vertical take-off unmanned aerial vehicle is corrected, at the same time, based on the correction result, a local space environment map is constructed according to the space environment, and the preset flight route of the vertical take-off unmanned aerial vehicle is superimposed and displayed on the local space environment map;

[0151] Based on the superimposed display result, the relative height and the relative direction of the obstacle existing on the preset flight route of the vertical take-off unmanned aerial vehicle are determined, and based on the safe obstacle avoidance distance, the preset flight route is locally dynamically adjusted according to the relative height and the relative direction;

[0152] The control unit is configured to obtain a first flight scheme planning element based on a correction result of the flight state and a local dynamic adjustment result of the preset flight route, set priorities for automatic control and terminal control of the vertical take-off unmanned aerial vehicle when flying in the air based on control requirements, and configure a touch point jump mechanism for the automatic control and the terminal control based on the priorities, where the priority of the terminal control is higher than that of the automatic control.

[0153] The second scheme planning unit is configured to take the touch point jump mechanism as a second flight scheme planning element, and aggregate the first flight scheme planning element to obtain a flight scheme of the vertical take-off unmanned aerial vehicle in the air flight stage.

[0154] In this embodiment, the climate environment refers to the current wind speed, temperature, humidity and the like.

[0155] In this embodiment, the space environment refers to whether there is an obstacle in the forward direction of the vertical take-off unmanned aerial vehicle and the distribution of other objects.

[0156] In this embodiment, the performance parameter refers to the maximum speed and maximum height that the vertical take-off unmanned aerial vehicle can reach when flying.

[0157] In this embodiment, the flight state change amount refers to the influence degree of the current climate environment on the flight state of the vertical take-off unmanned aerial vehicle.

[0158] In this embodiment, the preset flight requirement is set in advance, for example, the smoothness of flight.

[0159] In this embodiment, the multi-dimensional flight parameter correction amount refers to the adjustment amount of the flight parameter of the vertical take-off unmanned aerial vehicle in the flight process according to the flight state change amount, so as to ensure that the vertical take-off unmanned aerial vehicle can still fly stably under the influence of the current climate environment.

[0160] In this embodiment, the local space environment map refers to a map constructed according to the space environment, which is used to analyze the distribution of different objects in the forward direction of the vertical take-off unmanned aerial vehicle, so as to facilitate accurate and effective obstacle avoidance strategy making for the flight route.

[0161] In this embodiment, the preset flight route is set in advance.

[0162] In this embodiment, the relative height and the relative direction refer to the height and direction of the vertical take-off unmanned aerial vehicle relative to the obstacle, so as to facilitate obstacle avoidance planning of the vertical take-off unmanned aerial vehicle.

[0163] In this embodiment, the safe obstacle avoidance distance is set in advance, for example, the distance from the obstacle cannot be less than 5 meters.

[0164] In this embodiment, the local dynamic adjustment refers to adjusting the part of the preset flight route that intersects with the obstacle.

[0165] In this embodiment, the first flight plan planning element refers to the final flight route obtained by locally dynamically adjusting the preset flight route.

[0166] In this embodiment, the control requirement is set in advance and is used to represent the control standard for the vertical take-off unmanned aerial vehicle.

[0167] In this embodiment, the priority is used to represent the priority of automatic control and terminal control when controlling the vertical take-off unmanned aerial vehicle, that is, when the vertical take-off unmanned aerial vehicle is under automatic control, if the terminal control requirement is received, the automatic control can be interrupted and handed over to the terminal for control.

[0168] In this embodiment, the contact jump mechanism refers to switching configuration of automatic control and terminal control according to the priority, that is, if the terminal control requirement is received, the automatic control can be interrupted.

[0169] In this embodiment, the second flight plan planning element refers to the contact jump mechanism as one of the elements of the flight phase flight plan, which is used to limit the control mode.

[0170] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the dynamic monitoring result of the flight phase, the climate environment and the space environment in the forward direction corresponding to the vertical take-off unmanned aerial vehicle at the current time are determined, at the same time, the performance parameters of the vertical take-off unmanned aerial vehicle are extracted, and the climate environment and the performance parameters are analyzed, the multi-dimensional flight parameter correction amount of the vertical take-off unmanned aerial vehicle in the flight phase is determined, so as to facilitate the correction of the flight state of the vertical take-off unmanned aerial vehicle, and the reliability of the flight state of the vertical take-off unmanned aerial vehicle is ensured. Secondly, according to the space environment, a local space environment map is generated, the preset flight route of the vertical take-off unmanned aerial vehicle in the flight phase is locally dynamically adjusted according to the local space environment map, so as to provide a basis for formulating the flight plan of the flight phase. Finally, by setting the priority of automatic control and terminal control, the contact jump mechanism of automatic control and terminal control configuration is formulated, and finally the flight state correction scheme and the obstacle avoidance scheme of the preset flight route are summarized, the flight plan of the vertical take-off unmanned aerial vehicle in the flight phase is accurately and effectively formulated, the control reliability of the vertical take-off unmanned aerial vehicle in the flight phase is improved, and the flight stability and flight safety of the vertical take-off unmanned aerial vehicle are ensured.

[0171] Embodiment 8:

[0172] On the basis of embodiment 5, the present embodiment provides an intelligent flight control system for a vertical take-off unmanned aerial vehicle, a flight planning module, comprising:

[0173] When the flight phase is the landing phase:

[0174] The third data analysis unit is configured to obtain dynamic monitoring results corresponding to the landing stage, analyze the dynamic monitoring results, and determine a target terrain and a current climate parameter of the landing site;

[0175] The third scheme planning unit is configured to:

[0176] determine the extension heights of different legs of the vertical take-off and landing UAV based on the target terrain, and determine the landing posture and landing speed of the vertical take-off and landing UAV based on the current climate parameter according to the landing standard;

[0177] obtain the flight scheme of the vertical take-off and landing UAV in the landing stage based on the extension heights of the different legs, the landing posture and the landing speed of the vertical take-off and landing UAV.

[0178] In this embodiment, the target terrain refers to the ground surface undulation corresponding to the landing position when the vertical take-off and landing UAV lands.

[0179] In this embodiment, the landing standard is set in advance and is used to limit the requirements that the vertical take-off and landing UAV needs to meet when landing, for example, horizontal landing.

[0180] The working principle and beneficial effects of the above technical scheme are as follows: by analyzing the dynamic monitoring results of the vertical take-off and landing UAV in the landing stage, the extension heights of different legs of the vertical take-off and landing UAV are accurately and effectively determined according to the target terrain, the landing posture and the landing speed of the vertical take-off and landing UAV are locked according to the current climate parameter, and finally, the flight scheme of the vertical take-off and landing UAV in the landing stage is obtained according to the extension heights of the different legs, the landing posture and the landing speed of the vertical take-off and landing UAV, thereby improving the control effectiveness of the vertical take-off and landing UAV in the landing stage.

[0181] Embodiment 9:

[0182] On the basis of the embodiment 1, the embodiment provides a vertical take-off and landing UAV intelligent flight control system, and the flight control module comprises:

[0183] The control unit is configured to:

[0184] monitor the current flight stage of the vertical take-off and landing UAV in real time, and determine a real-time flight scheme planned according to the corresponding stage based on the current flight stage;

[0185] differentially control the vertical take-off and landing UAV based on the real-time flight scheme planned according to the corresponding stage, and respectively perform real-time self-checks on the flight states of the vertical take-off and landing UAV after the differential control;

[0186] The visual display unit is configured to:

[0187] The real-time self-checking result is returned to the master control center, and the real-time self-checking result is analyzed based on the master control center to determine the multi-dimensional state parameters of the vertical take-off unmanned aerial vehicle;

[0188] Data representation characteristics of different dimensional state parameters are extracted, and corresponding visual templates are called based on the data representation characteristics to visually display the corresponding dimensional state parameters.

[0189] In this embodiment, the real-time flight scheme refers to the flight scheme corresponding to the current flight stage of the vertical take-off unmanned aerial vehicle, i.e., the flight schemes corresponding to the take-off stage, the flight stage, and the landing stage, respectively.

[0190] In this embodiment, the difference control refers to selecting the flight scheme of the corresponding stage for flight control according to the current flight stage of the vertical take-off unmanned aerial vehicle.

[0191] In this embodiment, the multi-dimensional state parameter refers to the final flight state of the vertical take-off unmanned aerial vehicle corresponding to the current flight stage after the vertical take-off unmanned aerial vehicle is controlled.

[0192] In this embodiment, the data representation characteristic refers to the data format corresponding to different dimensional state parameters and the display standard that needs to be achieved when displaying data.

[0193] The working principle and beneficial effects of the above technical solution are: by monitoring the current flight stage of the vertical take-off unmanned aerial vehicle in real time, the flight scheme of the corresponding stage is called to accurately and effectively control the vertical take-off unmanned aerial vehicle according to the current flight stage. Secondly, after control, the flight state of the vertical take-off unmanned aerial vehicle is self-checked in real time, the control result of the vertical take-off unmanned aerial vehicle is accurately and effectively determined according to the self-checking result, and the multi-dimensional state parameters after self-checking are visually displayed, so that the management personnel can intuitively and effectively understand the flight state of the vertical take-off unmanned aerial vehicle.

[0194] Embodiment 10:

[0195] The embodiment provides a vertical take-off unmanned aerial vehicle intelligent flight control method, as shown in Figure 3 , comprising:

[0196] Step 1: Obtain the interference factors corresponding to the flight of the vertical take-off unmanned aerial vehicle in different flight stages, and dynamically monitor the flight environment of the vertical take-off unmanned aerial vehicle in different flight stages based on the interference factors;

[0197] Step 2: Real-time analyze the dynamic monitoring result, and plan the flight scheme of the vertical take-off unmanned aerial vehicle in different flight stages based on the real-time analysis result;

[0198] Step 3: based on the planning result, the vertical take-off unmanned aerial vehicle is controlled differently in different flight stages, and the flight state of the vertical take-off unmanned aerial vehicle is monitored and visualized in real time based on the differential control result.

[0199] The working principle and beneficial effects of the above technical solution are: by determining the corresponding interference factors of the vertical take-off unmanned aerial vehicle in different flight stages, the flight environment of different flight stages is effectively and dynamically monitored in real time according to the interference factors, thereby providing reliable data support for the flight planning of the vertical take-off unmanned aerial vehicle in different flight stages. Secondly, the dynamic monitoring result is effectively analyzed to realize accurate and reliable planning of the flight scheme in different flight stages, thereby facilitating effective control of the vertical take-off unmanned aerial vehicle in the whole process. Finally, by the planning result, the vertical take-off unmanned aerial vehicle is controlled differently in different flight stages, and the flight state of the vertical take-off unmanned aerial vehicle is monitored and visualized in real time after differential control, realizing effective acquisition of the flight state of the vertical take-off unmanned aerial vehicle after control, facilitating to ensure the flight safety and flight stability of the vertical take-off unmanned aerial vehicle, and also facilitating to make advance response and planning for the next control scheme in time, thereby guaranteeing the control effect of the vertical take-off unmanned aerial vehicle.

[0200] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A vertical take-off drone intelligent flight control system, characterized in that, The application relates to a vertical take-off unmanned aerial vehicle (VTUAV) flight control method and device. The application comprises: a data acquisition module for acquiring interference factors corresponding to the VTUAV in different flight stages, and dynamically monitoring the flight environment of the VTUAV in different flight stages based on the interference factors; a flight planning module for real-time analysis of the dynamic monitoring result, and planning of a flight scheme of the VTUAV in different flight stages based on the real-time analysis result; a flight control module for differential control of the VTUAV in different flight stages based on the planning result, and real-time monitoring and visual display of the flight state of the VTUAV based on the differential control result; The flight planning module comprises: the flight stage comprises a take-off stage, an in-flight stage and a landing stage; when the flight stage is the in-flight stage: the second data analysis unit is used for: acquiring the dynamic monitoring result corresponding to the in-flight stage, and analyzing the dynamic monitoring result to obtain the climate environment and the space environment of the forward direction corresponding to the VTUAV at the current moment; extracting the performance parameters of the VTUAV, and synchronously transmitting the climate environment and the performance parameters to a computer; analyzing the climate environment and the performance parameters based on the computer, obtaining the flight state change amount of the VTUAV under the influence of the climate environment, and determining the multi-dimensional flight parameter correction amount of the VTUAV according to the flight state change amount based on the preset flight requirement; based on the multi-dimensional flight parameter correction amount, the flight state of the VTUAV is corrected, and at the same time, based on the correction result, a local space environment map is constructed according to the space environment, and the preset flight route of the VTUAV is superimposed and displayed on the local space environment map; The flight planning module comprises: when the flight stage is the take-off stage: the first data analysis unit is used for: acquiring the dynamic monitoring result corresponding to the take-off stage, and quantifying the different dimension monitoring data in the dynamic monitoring result based on the analysis index to obtain the target parameter corresponding to each dimension monitoring data; determining the take-off state deflection amount of the VTUAV under the action of different dimension monitoring data relative to the case without interference based on the target parameter, and correcting and summarizing the take-off state deflection amount based on the mutual limiting relationship between the different dimension monitoring data to obtain the state interference amount; the first scheme planning unit is used for: acquiring the flight task of the VTUAV, and determining the take-off height and take-off time length of the VTUAV based on the flight task; analyzing the state interference amount, the take-off height and the take-off time length based on a neural network, and obtaining the take-off attitude and the power output distribution feature of the VTUAV based on the analysis result; 2. The intelligent flight control system for a vertical take-off and landing drone of claim 1, wherein, obtaining the flight scheme of the VTUAV in the take-off stage based on the take-off attitude and the power output distribution feature. The data acquisition module comprises: an index index determination unit for determining the flight stages contained by the VTUAV during flight based on the VTUAV flight process, determining the stage label corresponding to each flight stage, and converting the stage label into an index index based on a preset data calling engine; a data calling unit for accessing a database based on the index index, and calling the flight protocol corresponding to different flight stages based on the access result; The factor determination unit is configured to perform text splitting on the flight protocol of different flight stages, and perform multi-dimensional key parameter extraction on the flight protocol based on the text splitting result, so as to obtain a set of interference factors corresponding to the flight of the unmanned aerial vehicle in different flight stages.

3. The intelligent flight control system for a vertical take-off and landing drone of claim 1, wherein, The data acquisition module comprises: The configuration unit is configured to: Obtain the interference factors and determine the interference weights of different interference factors on the flight state of the unmanned aerial vehicle; Determine the monitoring requirements of the sensors for different interference factors based on the interference weights, and configure parameters of the sensors based on the monitoring requirements; The mechanism determination unit is configured to encapsulate the sensors based on the parameter configuration result to obtain the monitoring mechanism of different sensors, and determine the critical state of the unmanned aerial vehicle in different flight stages based on the flight requirements, and set the critical state as the trigger condition for the unmanned aerial vehicle to enter different flight stages; The monitoring unit is configured to: Associate and bind the trigger condition with the monitoring mechanism of different sensors, and obtain a dynamic monitoring mechanism for different flight stages based on the association and binding result; Perform dynamic monitoring on the flight environment of the unmanned aerial vehicle in different flight stages based on the dynamic monitoring mechanism.

4. The intelligent flight control system for a vertical take-off and landing drone of claim 3, wherein, The monitoring unit comprises: The monitoring subunit is configured to: Obtain the flight information of the unmanned aerial vehicle in real time, and control different sensors in linkage when the flight information meets the critical state of different flight stages; Control different sensors to perform multi-dimensional monitoring on environmental parameters under the same space-time characteristics based on the linkage control result, and obtain multi-dimensional monitoring data; The data labeling subunit is configured to add a timestamp and a flight stage identifier to the multi-dimensional monitoring data, and feed back the multi-dimensional monitoring data to the main control center based on the addition result.

5. The intelligent flight control system for a vertical take-off and landing drone of claim 1, wherein, The flight control module comprises: The control unit is configured to: Monitor the current flight stage of the unmanned aerial vehicle in real time, and determine a real-time flight scheme planned for the corresponding stage based on the current flight stage; Differentially control the unmanned aerial vehicle based on the real-time flight scheme planned for the corresponding stage, and perform real-time self-checking on the flight state of the unmanned aerial vehicle after differential control; The visual display unit is configured to: Return the real-time self-checking result to the main control center, analyze the real-time self-checking result based on the main control center, and determine multi-dimensional state parameters of the unmanned aerial vehicle; Extract data representation characteristics of different dimensional state parameters, and call corresponding visual templates to visually display the corresponding dimensional state parameters based on the data representation characteristics.

6. A method for intelligent flight control of a vertical take-off and landing drone, the method comprising: Comprise: Step 1: Obtain the interference factors corresponding to the flight of the unmanned aerial vehicle in different flight stages, and perform dynamic monitoring on the flight environment of the unmanned aerial vehicle in different flight stages based on the interference factors; Step 2: Perform real-time analysis on the dynamic monitoring result, and plan a flight scheme for the unmanned aerial vehicle in different flight stages based on the real-time analysis result; Step 3: Differentially control the unmanned aerial vehicle in different flight stages based on the planning result, and perform real-time monitoring and visual display on the flight state of the unmanned aerial vehicle based on the differential control result; Wherein, step 2 comprises: The flight stage comprises a take-off stage, an in-flight stage and a landing stage; When the flight stage is the in-flight stage: Obtain dynamic monitoring results corresponding to the aerial flight phase and analyze them to obtain the climate environment corresponding to the VTOL UAV at the current moment and the spatial environment in the direction of travel; Extract the performance parameters of the vertical take-off drone and transmit the climate environment and performance parameters to the computer synchronously; The computer analyzes the climate environment and performance parameters to obtain the change in the flight state of the vertical take-off UAV under the influence of the climate environment, and determines the multi-dimensional flight parameter correction amount of the vertical UAV based on the flight state change according to the preset flight requirements; The flight state of the vertical take-off UAV is corrected based on the multi-dimensional flight parameter correction value. At the same time, a local space environment map is constructed based on the correction result according to the space environment, and the preset flight path of the vertical UAV is superimposed and displayed on the local space environment map; Step 2 includes: When the flight phase is takeoff: Obtain the dynamic monitoring results corresponding to the takeoff phase, and quantify the different dimensions of monitoring data in the dynamic monitoring results based on analytical indicators to obtain the target parameters corresponding to each dimension of monitoring data; Based on the target parameters, the takeoff state deflection of the vertical take-off UAV under the influence of monitoring data in different dimensions is determined in a relatively interference-free situation. Based on the mutual restriction relationship between the monitoring data in different dimensions, the takeoff state deflection is corrected and summarized to obtain the state interference value. Obtain the flight mission of the vertical take-off UAV and determine the take-off height and take-off duration of the vertical take-off UAV based on the flight mission; The state disturbance, take-off height, and take-off duration are analyzed based on a neural network, and the take-off attitude and power output distribution characteristics of the vertical take-off UAV are obtained based on the analysis results. The flight plan of the vertical take-off UAV during the take-off phase is obtained based on the take-off posture and power output distribution characteristics.

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