Suspension dynamic wearing method based on wearable low-altitude aircraft

Abstract

The invention discloses a suspension dynamic wearing method based on a wearable low-altitude aircraft, and the aircraft is equipped with a one-key take-off and landing switch and a control handle with a springback button, and supports the switching between a fixed-point flight mode and a traction follow-up mode. The flight control module detects an external tension threshold value in real time, so that the aircraft dynamically adjusts the hovering position along with traction of an operator. The dynamic wearing process comprises the following steps: taking-off wearing: taking off the aircraft to a specified height at a fixed point and then entering a traction mode, and switching to a flight mode after an operator adjusts the wearing height; and landing / re-flying wearing: when the aircraft lands to a specified height, an operator realizes safe separation or rapid re-flying preparation through a traction mode. Through intelligent mode switching and height control, the man-machine cooperation problem of the wearable aircraft is effectively solved, and the wearing safety and the operation convenience are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of multi-rotor aircraft, and in particular relates to a suspension dynamic wearing method based on a wearable low-altitude aircraft. Background Art

[0002] With the rise of low-altitude economy, many low-altitude aircraft for manned purposes have emerged. Among them, there is a type of wearable low-altitude manned aircraft for manned purposes.

[0003] Compared with open-cabin and closed-cabin low-altitude manned aircraft, wearable low-altitude manned aircraft require passengers to bind the aircraft to their bodies through certain devices before carrying out manned flight. This type of aircraft can be regarded as clothing or wearable equipment, so it is called a wearable manned aircraft. Wearable manned aircraft has the characteristics of flexible wear and fast maneuverability.

[0004] Wearable aircraft generally require the aircraft to be worn by passengers when it is not started. However, since the heights of different passengers may vary greatly, wearable aircraft with a fixed height are difficult to adapt to the different heights of passengers during the wearing process. In order to adapt to the heights of different passengers, wearable aircraft need to be designed with a height adjustment mechanism, which increases the complexity of the structure and the weight of the whole machine, thus affecting the flight time. Regardless of whether the wearable aircraft is fixed or adjustable in height when it is not started, it will affect the ease of use and flexibility of the wearable aircraft and reduce the user experience. At the same time, wearable manned aircraft are generally heavy, and the wearing process also requires a certain amount of physical strength from the passengers. Summary of the invention

[0005] The present invention aims to provide a suspension dynamic wearing method based on a wearable low-altitude aircraft, which improves the wearability of the aircraft and reduces the requirements on the physical fitness of the operator.

[0006] In order to achieve the purpose of the present invention, the present invention provides a suspension dynamic wearing method based on a wearable low-altitude aircraft, comprising:

[0007] The aircraft is provided with a one-key take-off and landing switch for completing one-key take-off and one-key landing of the aircraft;

[0008] The aircraft is provided with a control handle, and the control handle is provided with a rebound button for switching between a pulling follow-up mode and a fixed-point flight mode;

[0009] The aircraft is provided with a flight control module for stably controlling the flight of the single-person aircraft;

[0010] The flight control module has a built-in traction follow-up mode: when the aircraft detects external traction, the aircraft enters a 0 speed control mode, at which time the aircraft changes its hovering position with the external traction and enters a traction follow-up mode;

[0011] The suspended dynamic wearing method includes wearing in the following process based on the pulling follow-up mode:

[0012] Wearing during take-off: When the aircraft is stationary on the ground and has the conditions for fixed-point take-off, it enters the wearing process of taking off;

[0013] Wear during landing or go-around: The operator of the aircraft is performing a flight mission in the air. When the aircraft is about to land, it wears the equipment during landing or go-around.

[0014] The internal instructions of the aircraft's traction-following mode specifically include the following steps:

[0015] Step 1: The flight control module determines that the aircraft enters the fixed-point mode;

[0016] Step 2, the flight control module determines whether the pull-follow mode switch is turned off; when the pull-follow mode switch is turned off, the pull-follow mode is exited and the process goes to step 6; when the pull-follow mode switch is turned on, the pull-follow mode is continued and the process goes to step 3;

[0017] Step 3: The flight control module detects in real time whether there is a value greater than or equal to the threshold value. external tension; when the external tension is greater than or equal to the threshold When the external tension is less than the threshold , go to step 1;

[0018] Step 4, when the aircraft enters the 0-speed mode, in which the aircraft is expected to maintain a 0-speed flight in three-dimensional space by default, but its state can be changed by the joystick, and at this time, the external force pulls the aircraft, and the aircraft can follow, and go to step 5;

[0019] Step 5: The flight control module detects in real time whether the external tension is less than a threshold value. ; When the external pulling force is detected to be less than the threshold When the external pulling force is greater than or equal to the threshold, go to step 1; When , go to step 4;

[0020] Step 6: Exit the pull-follow mode.

[0021] The take-off process includes the following steps:

[0022] Step 1: The aircraft has a one-key takeoff function. When the aircraft takes off in a fixed-point flight mode, go to step 2;

[0023] Step 2: The aircraft flies from the air to a specified height from the ground When , go to step 3;

[0024] Step 3, the aircraft enters the pulling and following mode; at this time, the operator pulls the aircraft according to his own height to make it suitable for his own height, and completes the wearing of the aircraft, and then goes to step 4;

[0025] Step 4: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the take-off process is completed.

[0026] The landing or go-around process includes the following steps:

[0027] Step 1: The aircraft lands to a height less than Height in meters;

[0028] Step 2: After the operator lands and stands firmly with both feet on the ground, the mode is switched to the pull-follow mode to complete the separation of the flight operator from the aircraft;

[0029] Step 3, the aircraft enters the traction follow-up mode;

[0030] Step 4: The operator selects the next step according to whether to land. If landing is selected, the operator proceeds to step 5; if go-around is selected, the operator proceeds to step 6.

[0031] Step 5: After the operator separates from the aircraft, he controls the aircraft to land, and the landing process is completed;

[0032] Step 6: The operator pulls the aircraft according to his / her height to make it fit his / her height, and completes the go-around process;

[0033] Step 7: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the go-around process is completed.

[0034] The present invention also includes an aircraft operation method based on a suspension dynamic wearing method of a wearable low-altitude aircraft, comprising the following steps:

[0035] During the take-off phase, the aircraft is set to take off to a height of 1 meter from the ground, and then the aircraft enters the pulling and following mode. The operator pulls the aircraft to adapt to his or her height and completes the wearing operation. Then, the operator presses the rebound button on the handle to switch to the fixed-point mode to complete the flight mission.

[0036] During the landing phase, after the aircraft lands at a height of 1.5 meters and both feet touch the ground, the operator releases the control handle and the rebound button at the same time, and the aircraft enters the pull-follow mode. The operator releases the connection with the aircraft, ends the flight mission or replaces another operator to repeat the wearing operation and continue the flight mission using the control handle. After the current operator releases the connection with the aircraft, presses the one-button take-off and landing switch to complete the landing of the aircraft.

[0037] Compared with the prior art, the present invention has significant progress in that the dynamic wearing method proposed by the present invention can adapt to the wearing requirements of people of different heights. The flight operator can manually adjust the height of the aircraft to suit his own height after the aircraft takes off, and quickly complete the wearing action of the aircraft.

[0038] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 is a flow chart of the pull-follow mode of the present invention;

[0041] Figure 2 It is a flowchart of the take-off process of the present invention;

[0042] Figure 3 is a flow chart of a landing or go-around process of the present invention;

[0043] Figure 4 This is a composition diagram of a three-ducted single-person vertical take-off and landing aircraft system according to the present invention;

[0044] Figure 5 This is a diagram of the avionics system of a three-ducted single-person vertical take-off and landing aircraft based on the present invention.

[0045] Explanation of the reference numerals: 1-power unit A, 2-power unit B, 3-power unit C, 4-avionics system, 5-human-computer interaction system, 6-safety and life-saving system, 7-wearable fuselage, 17-flight control module. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] The present invention provides a suspension dynamic wearing method based on a wearable low-altitude aircraft.

[0048] Combination Figure 4 The aircraft includes a power unit A1, a power unit B2, a power unit C3, an avionics system 4, a human-machine interaction system 5, a safety and life-saving system 6, and a wearable fuselage 7, and can realize single-person vertical take-off and landing and directional maneuvering flight in the air;

[0049] The aircraft is also provided with a one-key take-off and landing switch for completing the one-key take-off and one-key landing of the aircraft;

[0050] The human-machine interaction system 5 is a joystick, and the joystick is provided with a rebound button for switching between the pulling follow-up mode and the fixed-point flight mode;

[0051] Combination Figure 5 , the avionics system 4 of the aircraft includes a flight control module 17 for stably controlling the flight of a single-person aircraft;

[0052] The flight control module has a built-in traction follow-up mode: when the aircraft detects external traction, the aircraft enters a 0 speed control mode, at which time the aircraft changes its hovering position with the external traction and enters a traction follow-up mode;

[0053] The suspended dynamic wearing method includes wearing in the following process based on the pulling follow-up mode:

[0054] Wearing during take-off: When the aircraft is stationary on the ground and has the conditions for fixed-point take-off, it enters the wearing process of taking off;

[0055] Wear during landing or go-around: The operator of the aircraft is performing a flight mission in the air. When the aircraft is about to land, it wears the equipment during landing or go-around.

[0056] Combination Figure 1 The internal instructions of the aircraft's traction-following mode specifically include the following steps:

[0057] Step 1: The flight control module determines that the aircraft enters the fixed-point mode;

[0058] Step 2, the flight control module determines whether the pull-follow mode switch is turned off; when the pull-follow mode switch is turned off, the pull-follow mode is exited and the process goes to step 6; when the pull-follow mode switch is turned on, the pull-follow mode is continued and the process goes to step 3;

[0059] Step 3: The flight control module detects in real time whether there is a value greater than or equal to the threshold value. external tension; when the external tension is greater than or equal to the threshold When the external tension is less than the threshold When , go to step 1; threshold The operator needs to debug and determine according to the actual situation;

[0060] Step 4, when the aircraft enters the 0-speed mode, in which the aircraft is expected to maintain a 0-speed flight in three-dimensional space by default, but its state can be changed by the joystick, and at this time, the external force pulls the aircraft, and the aircraft can follow, and go to step 5;

[0061] Step 5: The flight control module detects in real time whether the external tension is less than a threshold value. ; When the external pulling force is detected to be less than the threshold When the external pulling force is greater than or equal to the threshold, go to step 1; When , go to step 4;

[0062] Step 6: Exit the pull-follow mode.

[0063] Combination Figure 2 The take-off process includes the following steps:

[0064] Step 1: The aircraft has a one-key takeoff function. When the aircraft takes off in a fixed-point flight mode, go to step 2;

[0065] Step 2: The aircraft flies from the air to a specified height from the ground When , go to step 3;

[0066] Step 3, the aircraft enters the pulling and following mode; at this time, the operator pulls the aircraft according to his own height to make it suitable for his own height, and completes the wearing of the aircraft, and then goes to step 4;

[0067] Step 4: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the take-off process is completed.

[0068] Combination Figure 3 The landing or go-around process includes the following steps:

[0069] Step 1: The aircraft lands to a height less than Height in meters;

[0070] Step 2: After the operator lands and stands firmly with both feet on the ground, the mode is switched to the pull-follow mode to complete the separation of the flight operator from the aircraft;

[0071] Step 3, the aircraft enters the traction follow-up mode;

[0072] Step 4, the operator selects the next step according to whether to land, and if landing is selected, the operator proceeds to step 5; if go-around is selected, the operator proceeds to step 6;

[0073] Step 5: After the operator separates from the aircraft, he controls the aircraft to land, and the landing process is completed;

[0074] Step 6: The operator pulls the aircraft according to his / her height to make it fit his / her height, and completes the go-around process;

[0075] Step 7: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the go-around process is completed.

[0076] The takeoff process is worn at the designated altitude of step 2 rice.

[0077] The landing height of step 1 of the landing or go-around process is 1.5 meters.

[0078] The present invention also includes an aircraft operation method based on a suspension dynamic wearing method of a wearable low-altitude aircraft, which specifically comprises the following steps:

[0079] During the take-off phase, the aircraft is set to take off to a height of 1 meter from the ground, and then the aircraft enters the pulling and following mode. The operator pulls the aircraft to adapt to his or her height and completes the wearing operation. Then, the operator presses the rebound button on the handle to switch to the fixed-point mode to complete the flight mission.

[0080] During the landing phase, after the aircraft has landed to a height of 1.5 meters and both feet have touched the ground, the operator releases the joystick and the rebound button at the same time, and the aircraft enters the pull-follow mode. The operator releases the connection with the aircraft, ends the flight mission, or replaces another operator to repeat the wearing operation and continue the flight mission using the joystick. The aircraft can also be landed by pressing the one-button take-off and landing switch after the current operator releases the connection with the aircraft.

[0081] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0082] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A suspension dynamic wearing method based on a wearable low-altitude aircraft, characterized in that: The aircraft is provided with a one-key take-off and landing switch for completing one-key take-off and one-key landing of the aircraft; The aircraft is provided with a control handle, and the control handle is provided with a rebound button for switching between a pulling follow-up mode and a fixed-point flight mode; The aircraft is provided with a flight control module for stably controlling the flight of the single-person aircraft; The flight control module has a built-in traction follow-up mode: when the aircraft detects external traction, the aircraft enters a 0 speed control mode, at which time the aircraft changes its hovering position with the external traction and enters a traction follow-up mode; The suspended dynamic wearing method includes wearing in the following process based on the pulling follow-up mode: Wearing during take-off: When the aircraft is stationary on the ground and has the conditions for fixed-point take-off, it enters the wearing process of taking off; Wear during landing or go-around: The operator of the aircraft is performing a flight mission in the air. When the aircraft is about to land, it wears the equipment during landing or go-around.

2. A suspension dynamic wearing method based on a wearable low-altitude aircraft according to claim 1, characterized in that: The internal instructions of the aircraft's traction-following mode specifically include the following steps: Step 1: The flight control module determines that the aircraft enters the fixed-point mode; Step 2, the flight control module determines whether the pull-follow mode switch is turned off; when the pull-follow mode switch is turned off, the pull-follow mode is exited and the process goes to step 6; when the pull-follow mode switch is turned on, the pull-follow mode is continued and the process goes to step 3; Step 3: The flight control module detects in real time whether there is a value greater than or equal to the threshold value. external tension; when the external tension is greater than or equal to the threshold When the external tension is less than the threshold , go to step 1; Step 4, when the aircraft enters the 0-speed mode, in which the aircraft is expected to maintain a 0-speed flight in three-dimensional space by default, but its state can be changed by the joystick, and at this time, the external force pulls the aircraft, and the aircraft can follow, and go to step 5; Step 5: The flight control module detects in real time whether the external tension is less than a threshold value. ; When the external pulling force is detected to be less than the threshold When the external pulling force is greater than or equal to the threshold, go to step 1; When , go to step 4; Step 6: Exit the pull-to-follow mode.

3. A suspension dynamic wearing method based on a wearable low-altitude aircraft according to claim 2, characterized in that: The take-off process includes the following steps: Step 1: The aircraft has a one-key takeoff function. When the aircraft takes off in a fixed-point flight mode, go to step 2; Step 2: The aircraft flies from the air to a specified height from the ground When , go to step 3; Step 3, the aircraft enters the pulling and following mode; at this time, the operator pulls the aircraft according to his own height to make it suitable for his own height, and completes the wearing of the aircraft, and then goes to step 4; Step 4: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the take-off process is completed.

4. A suspension dynamic wearing method based on a wearable low-altitude aircraft according to claim 2, characterized in that: The landing or go-around process includes the following steps: Step 1: The aircraft lands to a height less than Height in meters; Step 2: After the operator lands and stands firmly with both feet on the ground, the mode is switched to the pull-follow mode to complete the separation of the flight operator from the aircraft; Step 3, the aircraft enters the traction follow-up mode; Step 4: The operator selects the next step according to whether to land. If landing is selected, the operator proceeds to step 5; if go-around is selected, the operator proceeds to step 6. Step 5: After the operator separates from the aircraft, he controls the aircraft to land, and the landing process is completed; Step 6: The operator pulls the aircraft according to his / her height to make it fit his / her height, and completes the go-around process; Step 7: The operator exits the pull-follow mode and pushes the throttle to start the flight mission, and the go-around process is completed.

5. A suspension dynamic wearing method based on a wearable low-altitude aircraft according to claim 3, characterized in that: The takeoff process wears the designated altitude of step 2 rice.

6. A suspension dynamic wearing method based on a wearable low-altitude aircraft according to claim 4, characterized in that: The landing height of step 1 of the landing or go-around process is 1.5 meters.

7. An aircraft operation method based on the suspension dynamic wearing method of a wearable low-altitude aircraft according to any one of claims 1 to 6, comprising the following steps: During the take-off phase, the aircraft is set to take off to a height of 1 meter from the ground, and then the aircraft enters the pulling and following mode. The operator pulls the aircraft to adapt to his or her height and completes the wearing operation. Then, the operator presses the rebound button on the handle to switch to the fixed-point mode to complete the flight mission. During the landing phase, after the aircraft lands at a height of 1.5 meters and both feet touch the ground, the operator releases the control handle and the rebound button at the same time, and the aircraft enters the pull-follow mode. The operator releases the connection with the aircraft, ends the flight mission or replaces another operator to repeat the wearing operation and continue the flight mission using the control handle. After the current operator releases the connection with the aircraft, presses the one-button take-off and landing switch to complete the landing of the aircraft.

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