Ground control system and control method of aircraft, aircraft and storage medium

Abstract

The invention relates to a ground control system of an aircraft, a control method, the aircraft and a storage medium. The system at least comprises a remote control module, a communication module and a data display module, wherein the communication module is provided with at least two communication adapter plates and at least two telemetering radio stations; wherein the remote control module is used for sending a current control signal to the communication module; the communication adapter plate is used for receiving the current control signal, converting the current control signal into a target control signal, and forwarding the target control signal to the aircraft through the telemetering radio station so as to control the aircraft to execute a flight task; the current flight data forwarded by the telemetering radio station is received, and the current flight data is classified and sent to the data display module; and the data display module is used for displaying the current flight data in a classified manner to monitor the flight state of the aircraft in real time. According to the system provided by the invention, the architecture design is more reasonable, and the security of the system is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft control technology, and in particular to a ground control system, a control method, an aircraft, and a storage medium for an aircraft. Background Art

[0002] The ground control system is a key system that provides control, monitoring, communication and other functions to the aircraft. Users can remotely control the aircraft to perform corresponding flight missions and monitor the aircraft's working data through the ground control system.

[0003] The current ground control system is mainly developed based on UAVs, and its architecture design focuses on lightweight and portability. In actual development and design, in order to simplify the architecture of the ground control system, users prefer to set up a point-to-point data transmission mechanism in the ground control system, that is, the switch quantity, throttle lever and other signals of the control console are collected by the control console controller and forwarded to the control computer, and then transmitted to the communication equipment through the link.

[0004] This data transmission mechanism relies on a single data transmission path and has poor real-time performance, which makes it impossible for the current ground control system to efficiently process frequently changing control signals and flight data in highly dynamic or complex flight scenarios. It is prone to problems such as control signal delays and loss of key data, which in turn leads to poor system safety. Summary of the invention

[0005] The present application provides a ground control system of an aircraft, a control method, an aircraft and a storage medium to solve or partially solve the problem of how to improve the safety of the ground control system.

[0006] In a first aspect, the present application provides a ground control system for an aircraft, the ground control system comprising at least a remote control module, a communication module and a data display module, the communication module being provided with at least two communication adapter boards and at least two telemetry radio stations; wherein, The remote control module is used to send a current control signal to the communication module; The communication adapter board is used to receive the current control signal, convert the current control signal into a target control signal, and forward the target control signal to the aircraft through the telemetry radio station to control the aircraft to perform a flight mission; and receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module in a classified manner; The data display module is used to display the current flight data in categories so as to monitor the flight status of the aircraft in real time.

[0007] In one example, the communication module is further provided with a communication receiver and a communication converter connected to the communication adapter board; The communication receiver is used to receive the current control signal sent by the remote control module and send the current control signal to the communication converter; The communication converter is used to convert the current control signal into the target control signal and send it to the communication adapter board.

[0008] In one example, the at least two communication adapter boards include a first communication adapter board and a second communication adapter board, and the first communication adapter board and the second communication adapter board are connected via a local area network port; The at least two telemetry stations include a first telemetry station connected to the first communication adapter board, and a second telemetry station connected to the second communication adapter board.

[0009] In one example, when the first communication adapter board and the second communication adapter board are working normally, they simultaneously receive and process the current control signal; when one of the first communication adapter board and the second communication adapter board is abnormal, the other communication adapter board is switched to receive and process the current control signal.

[0010] In one example, the current flight data includes first flight data and second flight data; When the first telemetry station and the second telemetry station operate normally, the first telemetry station receives the first flight data returned by the aircraft, and the second telemetry station receives the second flight data returned by the aircraft; when one of the first telemetry station and the second telemetry station is abnormal, the other telemetry station is switched to receive and forward the first flight data and the second flight data.

[0011] In one example, the remote control module includes a plurality of remote control components and a remote controller, wherein the remote control components are connected to the communication adapter board via a controller area network bus, and the remote controller is connected to the communication receiver via a wireless network; The remote control module is used to detect the user's control operation on the remote control component and / or the remote controller, and generate the current control signal.

[0012] In one instance, the data display module includes multiple main displays, backup displays, and extended displays connected to the communication adapter board via a local area network port; the main displays, the backup displays, and the extended displays are used to display different types of data; the backup display is also used to automatically take over and display the current flight data corresponding to the main display with the abnormality when one or more main displays have an abnormality.

[0013] A second aspect of the present application provides a method for controlling an aircraft, wherein the ground control system comprises at least a remote control module, a communication module and a data display module, wherein the communication module is provided with at least two communication adapter boards and at least two telemetry radio stations; The method comprises: Receiving a current control signal sent by the remote control module; The communication adapter receives the current control signal, converts the current control signal into a target control signal, and the telemetry station forwards the target control signal to the aircraft to control the aircraft to perform a flight mission; and, Receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module by the communication adapter board in a classified manner; The current flight data is displayed by the data display module in a classified manner to monitor the flight status of the aircraft in real time.

[0014] A third aspect of the present application provides an aircraft, comprising: Processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0015] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0016] The technical solution provided by this application may have the following beneficial effects: In an embodiment of the present application, the ground control system includes at least a remote control module, a communication module and a data display module, and the communication module is provided with at least two communication adapter boards and at least two telemetry radio stations; wherein the remote control module is used to send a current control signal to the communication module; the communication adapter board is used to receive the current control signal, convert the current control signal into a target control signal, and forward the target control signal to the aircraft through the telemetry radio station to control the aircraft to perform a flight mission; and, receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module in a classified manner; the data display module is used to classify and display the current flight data to monitor the flight status of the aircraft in real time.

[0017] Compared with the systems of related technologies, the ground control system of the present application has multiple independent modules. The modules work together to achieve efficient aircraft control and data monitoring. When the user needs to remotely control the aircraft, the remote control module provides a variety of human-computer interaction methods to meet the user's needs for flexible control of the aircraft, and can send the generated current control signal directly to the communication module. The communication module uses multiple communication adapter boards and multiple telemetry radio stations configured internally to implement a multi-level redundant working mechanism. While preventing safety risks caused by single-point failures of the system, it efficiently converts the current control signal into a target control signal suitable for the aircraft, ensuring that the aircraft responds to the target control signal in a timely manner, and classifies the current flight data returned by the aircraft and sends it to the data display module. The data display module receives and classifies the current flight data in real time, helping users to monitor the flight status of the aircraft in real time and make accurate control decisions.

[0018] It can be seen that the ground control system architecture design of the present application is more reasonable, which significantly improves the safety of the system. In complex flight scenarios, the ground control system can efficiently complete the task of aircraft control and provide reliable data monitoring.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail the exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0021] Figure 1 is a structural schematic diagram of a ground control system of an aircraft shown in an embodiment of the present application; Figure 2 is a structural schematic diagram of a communication module shown in an embodiment of the present application; Figure 3 is a structural schematic diagram of a remote control module shown in an embodiment of the present application; Figure 4 This is a structural diagram of a data display module shown in an embodiment of the present application; Figure 5 is a structural schematic diagram of an aircraft ground control system shown in an embodiment of the present application; Figure 6 is a flow chart of a method for controlling an aircraft shown in an embodiment of the present application; Figure 7 It is a schematic diagram of the structure of an aircraft shown in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0023] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0025] An eVTOL (Electric Vertical Take-Off and Landing) aircraft is an electrically powered aircraft that does not require a runway to take off or land, and has multiple vertical take-off and landing and horizontal flight modes.

[0026] In the early stages of eVTOL aircraft development, the aircraft needs to be tested for flight to ensure that the design and performance of the aircraft meet safety standards. In order to improve the safety of flight tests, a ground control system is usually used to remotely control the aircraft so that the aircraft can complete the test flight mission.

[0027] However, most of the current ground control systems are designed around the flight scenarios of drones, and their architecture design focuses on lightweight and portability. In actual development and design, in order to simplify the architecture of the ground control system, users prefer to set up a point-to-point data transmission mechanism in the ground control system, that is, the switch quantity, throttle lever and other signals of the control console are collected by the control console controller and forwarded to the control computer, and then transmitted to the communication equipment through the link.

[0028] This data transmission mechanism relies on a single data transmission path and has poor real-time performance. In highly dynamic or complex flight scenarios, the system cannot efficiently handle frequently changing control signals and flight data, and is prone to problems such as control signal delays and loss of key data, resulting in poor system security.

[0029] In view of the above problems, an embodiment of the present application provides a ground control system for an aircraft, which can improve the safety of the ground control system.

[0030] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0031] Figure 1 is a schematic diagram of the structure of a ground control system of an aircraft shown in an embodiment of the present application. Figure 1 The ground control system at least includes a remote control module 100, a communication module 200 and a data display module 300. The communication module 200 is provided with at least two communication adapter boards and at least two telemetry radio stations; wherein, The remote control module 100 is used to send a current control signal to the communication module; The communication adapter board 200 is used to receive the current control signal, convert the current control signal into a target control signal, and forward the target control signal to the aircraft through the telemetry radio station to control the aircraft to perform the flight mission; and receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module in a classified manner; The data display module 300 is used to display the current flight data in categories so as to monitor the flight status of the aircraft in real time.

[0032] In an embodiment of the present application, the ground control system may be a remote control system that integrates functions such as aircraft control, flight status monitoring, and information display. A variety of redundant mechanisms are designed within the system to ensure that when a failure occurs within the system, the aircraft can still perform flight missions and transmit flight data normally, and the system has high security.

[0033] As an example, the ground control system of the present application can be used as a remote control system of an aircraft alone, or it can be integrated into other control platforms and become a part of other control platforms. For example, the ground control system can be transplanted into a vehicle and become a part of the vehicle-mounted system.

[0034] The remote control module 100 of the ground control system may be an operating console equipped with a variety of remote control components, capable of detecting the operator's physical operation of the remote control components, converting the physical operation into a control signal, and sending the control signal to the communication module 200 .

[0035] This is different from the current ground control system, which, in pursuit of convenience, is usually unable to arrange components such as pedals, resulting in the need to use independent levers to control the aircraft's turns, reducing human-machine efficiency. The control console also has poor stability, is restricted by its size and weight, and has insufficient endurance.

[0036] The remote control module 100 of the present application can provide a variety of remote control components, providing the operator with a rich human-computer interaction method, allowing the operator to better perceive the control of the aircraft and improve the operator's experience of remotely controlling the aircraft.

[0037] The communication module 200 of the ground control system can be a communication box equipped with components such as a communication adapter board, a telemetry radio, a communication receiver, and a communication converter. It can be responsible for receiving, converting, and forwarding control signals and flight data to ensure that the aircraft responds quickly to control signals and monitors flight data in real time. It is mainly used to receive current control signals, convert current control signals into target control signals, and forward target control signals to the aircraft through the telemetry radio to control the aircraft to perform flight missions, as well as receive current flight data forwarded by the telemetry radio, and classify the current flight data and send them to the data display module 300.

[0038] The data display module 300 of the ground control system can be a monitoring station equipped with multiple displays. It can display flight data through multiple screens, so that the operator can monitor the flight status of the aircraft in real time. If the aircraft fails during the flight mission, the operator can quickly find the cause of the failure through the data display module 300 and implement timely intervention.

[0039] It is worth noting that the present application designs redundancy mechanisms in the remote control module 100 , the communication module 200 and the data display module 300 , respectively.

[0040] Furthermore, the present application sets a backup component of the remote control component in the remote control module 100, sets a plurality of communication adapter boards and a plurality of telemetry radio stations in the communication module 200, each communication adapter board is a backup component for each other, each telemetry radio station is also a backup component for each other, and sets a plurality of displays in the data display module 300, each display is a backup component for each other. In the present application, when a component in the remote control module 100, the communication module 200, and the data display module 300 fails, the ground control system can automatically switch to other components that are working normally, thereby ensuring the normal operation of each module.

[0041] In order to explain the technical solution of the present application more clearly and in detail, various data involved in the present application are explained one by one below.

[0042] The current control signal may be a control instruction issued by the remote control module 100 in the ground control system, which is mainly used to instruct the aircraft to complete a corresponding flight mission. For example, if the current control signal is a control instruction such as throttle, pitch, yaw, roll, flaps, rudder, etc., the aircraft needs to complete a flight mission that matches the current control instruction.

[0043] The target control signal may be an Ethernet signal that is converted by inputting the current control signal into a communication adapter board or a communication converter and is converted via the communication adapter board or the communication converter. The target control signal has a high transmission speed and stability.

[0044] The current flight data may be real-time data generated by the aircraft during flight, which is mainly used to monitor the flight status, environmental conditions and performance of the aircraft.

[0045] In the present application, the current flight data may be divided into first flight data and second flight data according to the importance of the data.

[0046] For example, the current flight data is divided into first flight data and second flight data, the first flight data is important data, the second flight data is ordinary data, the control link information and key parameters are classified as first flight data, and the whole machine R&D requirement data, image data and video data are classified as second flight data.

[0047] Further, the first flight data and the second flight data are described: Control link information refers to the communication link between the aircraft and the ground control system.

[0048] Key parameters refer to real-time data that is crucial to flight safety, performance and mission execution during the flight of an aircraft, such as the aircraft's airspeed, altitude, attitude, angle of attack and other parameters.

[0049] The whole-machine demand data refers to the operating status data of the entire aircraft, which can reflect the health status, mechanical performance and overall reliability of the aircraft, such as the temperature, strain, vibration, rotor tilt and other data of the aircraft equipment compartment.

[0050] After the first flight data and the second flight data are acquired, the corresponding information or pictures can be flexibly extracted from the first flight data and the second flight data and displayed on the corresponding display according to the number of displays and the display content of each display pre-set in the data display module 300. This application does not specifically limit the number of displays set and the content displayed on each display.

[0051] For example, if a display in the data display module needs to display the real-time image of the aircraft, the image data and video data can be extracted from the second flight data. If a display in the data display module needs to display the parameters of the aircraft, the key parameters can be extracted from the first flight data.

[0052] Next, based on the above data, the components configured inside each module in the ground control system and the data processing process of each component are introduced.

[0053] Reference Figure 2 , Figure 2 The communication module 200 is a key module of the ground control system, and has multiple communication adapter boards, multiple telemetry radio stations, and communication receivers and communication converters connected to the communication adapter boards.

[0054] When the communication module 200 receives the current control signal sent by the remote control module 100, the communication adapter board converts the current control signal into a target control signal, or the communication receiver sends the current control signal to the communication converter, the communication converter converts the current control signal into a target control signal, and sends it to the communication adapter board. After the telemetry station receives the target control signal through the communication adapter board, it forwards the target control signal to the aircraft to control the aircraft to perform the flight mission.

[0055] In the present application, the number of communication adapter boards and telemetry radio stations is greater than or equal to 2. In actual use, N communication adapter boards and telemetry radio stations are flexibly set according to flight requirements, and N is a positive integer greater than 1. For example, communication adapter board 1, communication adapter board 2, communication adapter board 3, communication adapter board 4...communication adapter board N, etc. are set. By increasing the number of data link channels and telemetry radio stations, multi-channel data link communication can be formed, thereby maximizing the safety of remote control.

[0056] The communication adapter board can convert the CAN (Controller Area Network Bus Signal) bus signal from the remote control module 100 into an Ethernet signal, and transmit it to the telemetry radio through the LAN interface (Local Area Network), or forward the flight data of the aircraft to a display device or the like. The communication adapter board can also usually support functions such as data routing, protocol conversion, and signal amplification to ensure real-time communication between devices.

[0057] A telemetry radio is a wireless communication device that can serve as an information bridge between the aircraft and the ground control system, receiving and forwarding control signals and flight data between the aircraft and the ground control system, and realizing two-way communication.

[0058] The communication receiver refers to a serial communication wireless receiver, which is attached to the telemetry radio. The communication receiver can also receive control signals sent by the operator through the ground control system, and can also receive flight data returned by the aircraft. For example, the communication receiver is an SBUS (Serial Bus, serial communication) receiver, which is used to receive control signals from the remote controller.

[0059] The communication converter can convert the aircraft's control signals, sensor data, telemetry information, etc. from one communication protocol to another to meet the needs of different devices. For example, the communication converter is an SBUS to ETH (Ethernet) component, which can convert the control signal received from the remote control into an Ethernet signal.

[0060] It should be noted that the communication adapter board and other components realize Ethernet communication through the LAN interface. The introduction of Ethernet communication enables the ground control system to expand various devices such as computers, thereby enhancing the scalability of the system.

[0061] As an example, it is assumed that the communication module 200 includes a first communication adapter board and a second communication adapter board, a first telemetry radio station, a second telemetry radio station, a communication converter and a communication receiver, and the connection between the various components is through a LAN port.

[0062] Hot backup is implemented between the first communication adapter board and the second communication adapter board, and the first communication adapter board is communicatively connected to the first telemetry station, and the second communication adapter board is communicatively connected to the second telemetry station, the communication converter and the communication receiver respectively.

[0063] When the first communication adapter board and the second communication adapter board are working normally, the first communication adapter board and the second communication adapter board receive and process the current control signal. When one of the communication adapter boards is abnormal, the other communication adapter board (the communication adapter board working normally) is switched to receive and process the current control signal.

[0064] If an abnormality occurs in the second communication adapter board, the first communication adapter board receives the current control signal sent by the remote control module 100, converts the current control signal into a target control signal, and sends the target control signal to the first telemetry station.

[0065] If an abnormality occurs in the first communication adapter board, the second communication adapter board receives the current control signal sent by the remote control module 100, converts the current control signal into a target control signal, and sends the target control signal to the second telemetry station.

[0066] Among them, the abnormality of the communication adapter board refers to a state in which an abnormality occurs in the hardware, software or connection of the communication adapter board, resulting in the communication adapter board being unable to normally perform the expected functions.

[0067] The present application ensures through hot backup of the first communication adapter board and the second communication adapter board that when one of the communication adapter boards fails, the other communication adapter board can take over seamlessly, thereby avoiding interruption or failure of signal transmission and data transmission of the ground control system, and greatly improving the reliability and safety of the ground control system.

[0068] In addition, a wireless network can be integrated inside the second communication adapter board to achieve access to expanded computers on the ground, allowing other computers to monitor the flight data of the aircraft through the wireless network, making the ground control system scalable.

[0069] As another example, assume that the communication module 200 includes a first telemetry station and a second telemetry station. When the first telemetry station and the second telemetry station are working normally, the first telemetry station receives the first flight data returned by the aircraft, and the second telemetry station receives the second flight data returned by the aircraft. When one of the telemetry stations has an abnormality, the other telemetry station (the telemetry station working normally) is switched to receive and forward the first flight data and the second flight data.

[0070] If an abnormality occurs in the first telemetry station, the second telemetry station receives the first flight data and the second flight data, sends the first flight data and the second flight data to the second communication adapter board, and forwards the first flight data to the first communication adapter board through the second communication adapter board.

[0071] If the second telemetry station is abnormal, the second telemetry station stops receiving and forwarding the second flight data, and the first telemetry station still receives and forwards the first flight data normally.

[0072] Among them, the abnormality of the telemetry radio station refers to the failure of the internal circuits, communication links, antennas and other components of the telemetry radio station, which makes it unable to send or receive signals normally, resulting in the interruption of communication between the ground control system and the aircraft.

[0073] The present application achieves information isolation of important parameters, control instructions and ordinary videos, pictures, and R&D demand data by designing the types of data sent and received by the first telemetry station and the second telemetry station. Important parameters, control instructions and other key data are only transmitted through the first telemetry station, and ordinary information is transmitted through the second telemetry station, ensuring the real-time nature of key data while also enhancing system security.

[0074] Furthermore, when the first telemetry station fails or fails, the second telemetry station can serve as a backup telemetry station for the first telemetry station and transmit important parameters and control instructions normally.

[0075] Reference Figure 3 , Figure 3 The remote control module 100 is a schematic diagram of the structure of a remote control module shown in an embodiment of the present application. The remote control module 100 is configured with multiple remote control components and remote controllers, each remote control component is connected to a communication adapter board (a first communication adapter board and a second communication adapter board) via a controller local area network bus, and the remote controller is connected to a communication receiver via a wireless network.

[0076] The remote control module 100 is mainly used to detect the user's control operation on the remote control component, generate a current control signal, and send the current control signal to the first communication adapter board and the second communication adapter board.

[0077] If at least one remote control component is abnormal, the remote control module 100 can use the remote control as a backup control component for the abnormal remote control component, then detect the user's control operation on the backup control component, generate a current control signal, and send the current control signal to the communication receiver.

[0078] The abnormality of the remote control component means that the remote control component cannot work normally and cannot convert the operator's actions into control signals and accurately transmit them to the communication module 200.

[0079] As an example, the remote control components include but are not limited to foot pedals, switch panels, joysticks, throttle levers, tilt switches, and flap control switches.

[0080] Among them, the pedals are mainly used for steering control of the aircraft. When the pedals are adjusted by the operator (i.e., the user), the pedal position sensor collects the user's control operations and converts them into control signals, which are then transmitted to the first communication adapter board and the second communication adapter board through the CAN bus, and then forwarded to the aircraft's control system through the first telemetry radio station, so that the aircraft can perform a turning task.

[0081] The joystick is mainly used for lateral control (roll) and longitudinal control (pitch) of the aircraft. After the user's forward and backward push and pull or left and right push and pull of the joystick are converted into control signals, the control signals are transmitted to the first communication adapter board and the second communication adapter board through the CAN bus.

[0082] The throttle lever is mainly used to control the thrust or power output of the aircraft. By adjusting the engine power or battery energy output, it affects the acceleration, deceleration or stable flight of the aircraft. After the user's control operation on the throttle lever is converted into a control signal, it is transmitted to the first communication adapter board and the second communication adapter board through the CAN bus.

[0083] The switch panel integrates various switches required for flight control and has a switch status indicator, which is used to operate the aircraft's control system. After converting the user's control operation on the switch into a switch signal, it is transmitted to the first communication adapter board and the second communication adapter board through the CAN bus.

[0084] For example, the tilt switch on the switch panel is mainly used to control the tilt angle of the rotor and adjust the flight mode of the aircraft (such as vertical take-off and landing mode and horizontal flight mode). The flap control switch on the switch panel is mainly used to control the retraction and extension of the aircraft flaps, and adjust the lift, drag and flight stability of the aircraft by changing the angle of the flaps.

[0085] As another example, the remote control component also includes a remote controller, which can serve as a backup control component for all remote control components of the aircraft. The control signal emitted by the remote controller is transmitted to the communication receiver via radio waves to ensure seamless takeover of the control of the aircraft at critical moments.

[0086] When the pedals, switch panel, joystick, throttle lever, tilt switch, or flap control switch on the control console fail individually or as a whole, the remote controller can replace the faulty or failed remote control components and continue to control the aircraft.

[0087] It can be understood that the remote control module 100 of the present application is equipped with a large number of control devices (such as remote control component 1, remote control component 2, remote control component 3...remote control component N), and the signal types are different. Therefore, the present application adopts a communication architecture based on CAN bus and Ethernet in the design of the remote control module 100. Various control devices and switch panels are ultimately converted into CAN bus signals and then transmitted to the communication adapter board. The introduction of control devices similar to those in the cockpit can make users feel as if they are in the scene and improve human-machine efficiency. The introduction of CAN bus can make the system easier to expand.

[0088] Furthermore, in the remote control module 100, the remote controller is used as a backup control component for all remote control components of the aircraft. When one or more remote control components fail, the system can automatically switch to a backup control mode to prevent the aircraft from losing control, thereby improving the safety of the system itself and the flight safety of the aircraft.

[0089] Reference Figure 4 , Figure 4 The data display module 300 is configured with multiple main displays, spare displays and extended displays connected to the communication adapter board via a local area network port, each of which is used to display different types of data.

[0090] The first communication adapter board and the second communication adapter board are connected to a plurality of main displays, the standby display is connected to the second communication adapter board, and the extended display is connected to the second communication adapter board.

[0091] The first communication adapter board and the second communication adapter board are used to classify and send the current flight data to the main display, the backup display and the extended display, and use the main display, the backup display and the extended display to monitor the flight status of the aircraft in real time.

[0092] When one or more primary displays have an abnormality, the backup display automatically takes over and displays the current flight data corresponding to the primary display with the abnormality.

[0093] As an example, the data display module 300 includes two main displays and one backup display. The first main display is connected to the first communication adapter board and the second communication adapter board through the LAN port, the second main display is connected to the first communication adapter board through the LAN port, and the backup display is connected to the second communication adapter board through the LAN port.

[0094] The first main display is a camera screen display, which mainly displays the real-time first-person perspective and the real-time tilt perspective.

[0095] The second main display is a comprehensive flight information display, which mainly displays flight status information, warning information, flight control simple page diagram, power and energy information and map navigation information.

[0096] When the first main display and the second main display are operating normally, a portion of the second main display displays the navigation map and a portion displays parameter information, while the backup display can display the navigation map in full screen.

[0097] When an abnormality occurs in the first main display, the image of the first main display will be displayed entirely on the standby display; when an abnormality occurs in the second main display, the parameter information of the second main display will be displayed entirely on the standby display; when abnormalities occur in both the first main display and the second main display, the image of the first main display and the parameter information of the second main display will be displayed simultaneously on the standby display.

[0098] Among them, the abnormality of the main display means that it cannot provide any effective display output. Even when the power supply is normal, it cannot display important flight data or navigation maps.

[0099] In addition, the extended display is connected to the second communication adapter board through the LAN port to monitor the parameters of the power system, flight control system, low-voltage electrical system and other systems. The number of extended displays is 1, 2, 3, etc.

[0100] The redundant design of the main display and the backup display in this application ensures that the operator can continuously obtain the current flight data of the aircraft under any circumstances, avoiding the loss of flight information due to display device failure, thereby effectively ensuring flight safety and improving the reliability of the overall system.

[0101] Reference Figure 5 , Figure 5 1 is a schematic diagram of the structure of an aircraft ground control system shown in an embodiment of the present application. In order to enable those skilled in the art to better understand the embodiment of the present application, the embodiment of the present application is described below through the following examples.

[0102] The aircraft ground control system consists of a monitoring console, a communication box, a control console and a UPS (Uninterruptible Power Supply). The system uses AC power under normal circumstances. When the AC power is cut off, the UPS can power the entire system for 4 hours.

[0103] 1) The monitoring station consists of multiple monitors, and the functions of each monitor are as follows: Display 1 is a camera screen display, which mainly displays the real-time first-person perspective and the real-time tilt perspective.

[0104] Display 2 is a comprehensive flight information display, which mainly displays flight status information, warning information, flight control page diagram, power and energy information and map navigation information.

[0105] Display 3 is a backup display. When display 1 and display 2 are working normally, display 3 only displays the navigation map. When display 1 fails, the screen on display 1 can be displayed on display 3. When display 2 fails, the parameter information on display 2 can be displayed on display 3. When display 1 and display 2 fail at the same time, display 3 can display the screen on display 1 and the parameter information on display 2 at the same time.

[0106] Display X is an extended display, and the system can be extended to 3 displays at most. The extended display can monitor the parameters of the power system, flight control system, low-voltage electrical system, etc.

[0107] Display 1 is connected to communication adapter board 1 and communication adapter board 2 via a LAN port, display 2 is connected to communication adapter board 1 via a LAN port, display 3 is connected to communication adapter board 2 via a LAN port, and an extended display is connected to communication adapter board 2 via a LAN port.

[0108] 2) The communication box consists of a communication adapter board 1 / 2, a telemetry radio station (TR) 1 / 2, an SBUS receiver and an SBUS to ETH component. The functions of each component are as follows: Communication adapter board 1: Converts the CAN (Controller Area Network) bus of the pedal, switch panel, joystick, etc. into Ethernet signals, and then sends them to the telemetry radio and display through the LAN port. Communication adapter board 1 and communication adapter board 2 can realize hot backup.

[0109] Communication adapter board 2: Converts CAN bus signals such as pedals, switch panels, joysticks, etc. into Ethernet signals, and then sends them to the telemetry radio and display through the LAN port. In addition, it can also receive Ethernet signals converted from SBUS. Communication adapter board 2 has integrated WIFI (wireless network) inside, which can be extended to access the computer to achieve TR1: controls the rapid reception and forwarding of link information, key parameters and control instructions to ensure the real-time performance of the link. TR1 communicates with communication adapter board 1 through the LAN port.

[0110] TR2: Receives and forwards data required for the whole machine development, and receives image / video information. In the event of a TR1 failure, it can serve as a backup for receiving and forwarding key parameters and control instructions. TR2 communicates with the communication adapter board 2 through the LAN port.

[0111] SBUS receiver: Serial communication wireless receiver that can receive control signals from the remote control.

[0112] SBUS to ETH: Convert the received remote control signal into Ethernet signal, and then communicate with the communication adapter board 2 through the LAN port.

[0113] In actual use, the number of LAN ports on the communication adapter board in the communication box can be appropriately increased so that the ground control system can support multiple professionals and multiple people to jointly monitor flight data.

[0114] 3) The control console consists of remote control components such as pedals, switch panel, joystick, throttle lever, tilt switch, flap control switch and remote control. The control signal of each remote control component is directly forwarded to communication adapter board 1 and communication adapter board 2 through CAN.

[0115] In actual use, the control devices of the control console can be appropriately increased to meet the requirements of the dual-pilot system, so that the ground control system can be expanded to other scenarios in addition to meeting the initial eVTOL test flight needs.

[0116] Through the above technical solution, we can know: From the perspective of architecture design, in the ground control system of the present application, the display, communication adapter board, telemetry radio, control device and power supply all adopt redundant design, and the failure of a single component will not cause loss of control of the aircraft, which greatly improves the safety of the system. In addition, due to the use of a communication architecture based on CAN bus and Ethernet, the system is easy to expand, including the expansion of control input and display monitoring.

[0117] In terms of data processing, the ground control system of the present application isolates important parameter information, control instructions and ordinary videos, images, and R&D demand data, ensuring the real-time nature of important data while also improving system security.

[0118] From the practical operation aspect, although the ground control system of the present application is not a portable system, it uses the same control devices and display components as the cockpit, including pedals, throttle levers, flap control switches, displays, etc. It is not only stable, but also allows the driver to be immersed in the situation. The driver has a good operating environment and is not easily fatigued even after working for a long time, and the human-machine efficiency is better.

[0119] It should be noted that the embodiments of the present application include but are not limited to the above examples. It is understandable that under the guidance of the ideas of the embodiments of the present application, technical personnel in this field can make settings according to actual conditions, and the present application does not limit this.

[0120] In an embodiment of the present application, the ground control system includes at least a remote control module 100, a communication module 200 and a data display module 300. The communication module 100 is provided with at least two communication adapter boards and at least two telemetry radio stations. The remote control module 100 is used to send a current control signal to the communication module 200. The communication adapter board is used to receive the current control signal, convert the current control signal into a target control signal, and forward the target control signal to the aircraft through the telemetry radio station to control the aircraft to perform a flight mission. In addition, the current flight data forwarded by the telemetry radio station is received, and the current flight data is classified and sent to the data display module 300. The data display module 300 is used to classify and display the current flight data to monitor the flight status of the aircraft in real time.

[0121] Compared with the systems of related technologies, the ground control system of the present application has multiple independent modules. The modules work together to achieve efficient aircraft control and data monitoring. When the user needs to remotely control the aircraft, the remote control module 100 provides a variety of human-computer interaction methods to meet the user's needs for flexible control of the aircraft, and can directly send the generated current control signal to the communication module 200. The communication module 200 uses multiple communication adapter boards and multiple telemetry radio stations configured internally to implement a multi-level redundant working mechanism. While preventing the system from causing safety risks due to single point failures, it efficiently converts the current control signal into a target control signal adapted to the aircraft, ensuring that the aircraft responds to the target control signal in a timely manner, and sends the current flight data returned by the aircraft to the data display module 300 in a classified manner. The data display module 300 receives and displays the current flight data in real time in a classified manner, helping the user to monitor the flight status of the aircraft in real time and make accurate control decisions.

[0122] It can be seen that the ground control system architecture design of the present application is more reasonable, which significantly improves the safety of the system. In complex flight scenarios, the ground control system can efficiently complete the task of aircraft control and provide reliable data monitoring.

[0123] Figure 6 This is a flow chart of a method for controlling an aircraft shown in an embodiment of the present application. Applied to a ground control system, the ground control system includes at least a remote control module, a communication module, and a data display module. The communication module is provided with at least two communication adapter boards and at least two telemetry radio stations. The method may include the following steps: Step 601, receiving a current control signal sent by a remote control module; Step 602, the communication adapter receives the current control signal, converts the current control signal into a target control signal, and the telemetry radio forwards the target control signal to the aircraft to control the aircraft to perform the flight mission; and Step 603, receiving the current flight data forwarded by the telemetry radio station, and the communication adapter board classifies the current flight data and sends it to the data display module; Step 604, classify and display the current flight data through the data display module to monitor the flight status of the aircraft in real time.

[0124] As an example of the present application, the communication module is further provided with a communication receiver and a communication converter connected to the communication adapter board, receiving the current control signal sent by the remote control module, and further comprising: The communication receiver receives the current control signal sent by the remote control module and sends the current control signal to the communication converter; The communication converter converts the current control signal into a target control signal and sends it to the communication adapter board.

[0125] As an example of the present application, at least two communication adapter boards include a first communication adapter board and a second communication adapter board, and the first communication adapter board and the second communication adapter board are connected through a local area network port; at least two telemetry stations include a first telemetry station connected to the first communication adapter board, and a second telemetry station connected to the second communication adapter board.

[0126] As an example of the present application, the communication adapter board receives the current control signal, including: When the first communication adapter board and the second communication adapter board work normally, they simultaneously receive and process the current control signal; When one of the first communication adapter board and the second communication adapter board is abnormal, the other communication adapter board is switched to receive and process the current control signal.

[0127] As an example of the present application, the current flight data includes first flight data and second flight data, and receiving the current flight data forwarded by the telemetry station includes: When the first telemetry station and the second telemetry station operate normally, the first telemetry station receives the first flight data returned by the aircraft, and the second telemetry station receives the second flight data returned by the aircraft; When one of the first telemetry station and the second telemetry station is abnormal, the other telemetry station is switched to receive and forward the first flight data and the second flight data.

[0128] As an example of the present application, the remote control module includes multiple remote control components and remote controls. The remote control components are connected to the communication adapter board through a controller local area network bus, and the remote control is connected to the communication receiver through a wireless network. It also includes: the remote control module detects the user's control operations on the remote control components and / or the remote control, and generates a current control signal.

[0129] As an example of the present application, the data display module includes a plurality of main displays, spare displays and extended displays connected to the communication adapter board through a local area network port; the main display, spare display and extended display are respectively used to display different types of data; The current flight data is displayed by categories in the data display module, including: When one or more primary displays have an abnormality, the backup display automatically takes over and displays the current flight data corresponding to the primary display with the abnormality.

[0130] Regarding the method in the above embodiment, the specific manner of executing the operation in each step has been described in detail in the embodiment of the system, and will not be elaborated again here.

[0131] Figure 7 It is a schematic diagram of the structure of an aircraft shown in an embodiment of the present application.

[0132] See also Figure 7 , the aircraft 700 includes a memory 710 and a processor 720 .

[0133] The processor 720 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0134] The memory 710 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM may store static data or instructions required by the processor 720 or other modules of the computer. The permanent storage may be a readable and writable storage device. The permanent storage may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 710 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 710 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0135] The memory 710 stores executable codes, and when the executable codes are processed by the processor 720 , the processor 720 can execute part or all of the methods described above.

[0136] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0137] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0138] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A ground control system for an aircraft, characterized in that: The ground control system at least includes a remote control module, a communication module and a data display module, wherein the communication module is provided with at least two communication adapter boards and at least two telemetry radio stations; The remote control module is used to send a current control signal to the communication module; The communication adapter board is used to receive the current control signal, convert the current control signal into a target control signal, and forward the target control signal to the aircraft through the telemetry radio station to control the aircraft to perform a flight mission; and receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module in a classified manner; The data display module is used to display the current flight data in categories so as to monitor the flight status of the aircraft in real time.

2. The system according to claim 1, characterized in that The communication module is also provided with a communication receiver and a communication converter connected to the communication adapter board; The communication receiver is used to receive the current control signal sent by the remote control module and send the current control signal to the communication converter; The communication converter is used to convert the current control signal into the target control signal and send it to the communication adapter board.

3. The system according to claim 1 or 2, characterized in that: The at least two communication adapter boards include a first communication adapter board and a second communication adapter board, and the first communication adapter board and the second communication adapter board are connected via a local area network port; The at least two telemetry stations include a first telemetry station connected to the first communication adapter board, and a second telemetry station connected to the second communication adapter board.

4. The system according to claim 3, characterized in that When the first communication adapter board and the second communication adapter board are working normally, they simultaneously receive and process the current control signal; When one of the first communication adapter board and the second communication adapter board is abnormal, the other communication adapter board is switched to receive and process the current control signal.

5. The system according to claim 3, characterized in that The current flight data includes first flight data and second flight data; When the first telemetry station and the second telemetry station work normally, the first telemetry station receives the first flight data returned by the aircraft, and the second telemetry station receives the second flight data returned by the aircraft; When one of the first telemetry station and the second telemetry station is abnormal, the other telemetry station is switched to receive and forward the first flight data and the second flight data.

6. The system according to claim 2, characterized in that The remote control module includes a plurality of remote control components and a remote controller, wherein the remote control components are connected to the communication adapter board via a controller area network bus, and the remote controller is connected to the communication receiver via a wireless network; The remote control module is used to detect the user's control operation on the remote control component and / or the remote controller, and generate the current control signal.

7. The system according to claim 1, characterized in that The data display module includes a plurality of main displays, standby displays and extended displays connected to the communication adapter board via a local area network port; The main display, the standby display and the extended display are used to display different types of data; The standby display is also used to automatically take over and display the current flight data corresponding to the main display with the abnormality when one or more main displays have an abnormality.

8. A method for controlling an aircraft, characterized in that: Applicable to a ground control system, the ground control system at least includes a remote control module, a communication module and a data display module, the communication module is provided with at least two communication adapter boards and at least two telemetry radio stations; The method comprises: Receiving a current control signal sent by the remote control module; The communication adapter receives the current control signal, converts the current control signal into a target control signal, and the telemetry station forwards the target control signal to the aircraft to control the aircraft to perform a flight mission; and, Receive the current flight data forwarded by the telemetry radio station, and send the current flight data to the data display module by the communication adapter board in a classified manner; The current flight data is displayed by the data display module in a classified manner to monitor the flight status of the aircraft in real time.

9. An aircraft, characterized in that: include: processor; as well as A memory having executable codes stored therein, which, when executed by the processor, causes the processor to execute the method according to claim 8. 10 . A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to claim 8 .

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