EVTOL take-off and landing management system and method based on mobile take-off and landing platform

Abstract

The invention discloses an eVTOL take-off and landing management system and method based on a mobile take-off and landing platform. The eVTOL take-off and landing management system comprises a low-altitude flight scheduling system, a take-off and landing platform system, an approach management system, a radio height feedback system, an RTK differential positioning system, a Beidou positioning system, a guiding system, an undercarriage fixing system, a recording system and a process feedback system. By using the take-off and landing management system, an eVTOL flexible take-off and landing application channel is opened, and an important guarantee is provided for the mobile take-off and landing platform to take off and land the eVTOL; by means of the mobile take-off and landing platform, take-off and landing at any suitable position in the eVTOL field are achieved, the problem that take-off and landing can only be conducted at a fixed take-off and landing point is solved, and a foundation is laid for wide application of the eVTOL; various sensing systems and intelligent computing systems are applied, technical support is provided for eVTOL take-off and landing, the take-off and landing difficulty is lowered, and human intervention is reduced.

Description

Technical Field

[0001] The present invention relates to the takeoff and landing management of eVTOL, and particularly to an eVTOL takeoff and landing management system and method based on a mobile takeoff and landing platform. Background Art

[0002] With the rapid development of technology and the acceleration of urbanization, the problem of ground traffic congestion has become increasingly serious. The traditional civil aviation industry can no longer meet people's travel needs. In recent years, the relevant laws and regulations of the low-altitude economy have been gradually improved, and the low-altitude economy is becoming a new growth point of the global economy. Among them, the electric vertical takeoff and landing aircraft (eVTOL) is an important part of the low-altitude economy. The biggest feature of eVTOL is its outstanding vertical takeoff and landing ability. Whether it is at a dedicated airport, or in the city center with high-rise buildings, on a flat rooftop, or a narrow street, as long as the conditions permit, it can take off and land safely without a runway. This provides great possibilities for scenarios such as people's travel activities, emergency medical services, and rapid material transportation.

[0003] There are still some limitations in the development of eVTOL: eVTOL is not a general flying car, so it does not have the ability to move on the ground; although eVTOL has excellent vertical takeoff and landing capabilities, to ensure safety, the takeoff and landing of eVTOL still need to meet certain conditions, such as a stable takeoff and landing platform, a relatively open space, etc. In some emergency situations, there may be problems such as difficult landing and difficult recovery. The defects of the existing technology are as follows: 1. Limitations of fixed takeoff and landing points: The existing eVTOL takeoff and landing management systems mainly rely on fixed takeoff and landing points, lacking flexibility and being unable to meet the takeoff and landing requirements in emergency situations or special scenarios.

[0004] 2. Lack of real-time scheduling and communication capabilities: The existing systems are relatively backward in scheduling and communication, and cannot achieve real-time scheduling and efficient communication.

[0005] 3. Insufficient takeoff and landing guidance and positioning accuracy: The existing systems have deficiencies in takeoff and landing guidance and positioning accuracy, resulting in a large amount of human intervention during the takeoff and landing process, increasing the operation difficulty and risk.

[0006] 4. Lack of comprehensive recording and feedback mechanism: The existing system lacks comprehensive recording and feedback on the takeoff and landing process, and cannot provide data support for subsequent task optimization. The mobile takeoff and landing platform can provide more takeoff and landing options for eVTOL, solve the limitations of fixed takeoff and landing points, and enable eVTOL to take off and land at any suitable location. Through the low-altitude flight scheduling system, approach management system, radio altitude feedback system, RTK differential positioning system, and Beidou positioning system, high-precision positioning and altitude feedback are provided, reducing human intervention and the difficulty of takeoff and landing; through the recording system and process feedback system, key data in the takeoff and landing process are comprehensively recorded, providing data support for subsequent task optimization; through the management system, eVTOL pilots are guided to align with the takeoff and landing platform, and the altitude and heading of eVTOL are adjusted to ensure sufficient separation between aircraft. Real-time communication with the management center is carried out to achieve mobile management and efficient scheduling, and better flight area control.

[0007] When the takeoff conditions are not met in a certain area, the eVTOL can be first moved to a suitable position for takeoff; or when the eVTOL encounters an emergency, the mobile takeoff and landing platform can provide a temporary landing platform for the eVTOL, solving problems such as difficult landing and recovery. Through these innovations, the present invention provides technical support for the wide application of eVTOL, and solves the defects of the existing management system in terms of flexibility, dispatching communication, guidance and positioning, and recording and feedback. Summary of the Invention

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a takeoff and landing management system and method based on a mobile takeoff and landing platform, which provides services such as takeoff and landing platforms, platform dispatching, ground communication, takeoff and landing guidance, and ground movement for eVTOL, thereby providing an important guarantee for general aviation services.

[0009] The purpose of the present invention is achieved through the following technical solutions: An eVTOL takeoff and landing management system based on a mobile takeoff and landing platform, including a low-altitude flight scheduling system, a takeoff and landing platform system, an approach management system, a radio altitude feedback system, an RTK differential positioning system, a Beidou positioning system, a guidance system, a landing gear fixing system, a recording system, and a process feedback system; The low-altitude flight scheduling system is used for the docking of eVTOL pilots with the general aviation dispatching management center, the docking of ground personnel with the general aviation dispatching management center, real-time feedback of the position data of the mobile takeoff and landing platform to the general aviation dispatching center, and receiving remote dispatching instructions from the dispatching center to achieve takeoff and landing scheduling; The takeoff and landing platform system is used for the takeoff, landing, and parking of eVTOL. The takeoff and landing platform is controlled by ground personnel on the vehicle-mounted computer, and the status is displayed on the vehicle-mounted computer; The approach management system is used for the communication between the mobile takeoff and landing platform and the eVTOL, and the ground personnel or the system automatically guides the eVTOL pilot for takeoff and landing; The radio altitude feedback system is used to send the current altitude information of the aircraft to the eVTOL when the eVTOL lands; The Beidou positioning system provides accurate position information for the mobile takeoff and landing platform, reports the platform position to the dispatching management center in real time, and displays the current position, historical trajectory and future planned route of the platform through the vehicle-mounted display terminal; The RTK differential positioning system is used to provide differential positioning for the eVTOL to improve the positioning accuracy; The guiding system is used to provide lights for the eVTOL pilot to guide the pilot to land the eVTOL; The landing gear fixing system is used to fix the landing gear before takeoff or after landing to prevent the eVTOL from moving during transportation; The recording system is used to comprehensively record the key data in the takeoff and landing process; The process feedback system feeds back the entire takeoff and landing process.

[0010] The vehicle-mounted computer is used to comprehensively manage and control the entire eVTOL takeoff and landing management system.

[0011] Among them, the low-altitude flight dispatching system includes: The dispatching server is used to provide core computing power and run dispatching algorithms and task allocation logics; The communication module includes data link and voice communication functions and is used for two-way information transmission with the eVTOL pilot and ground equipment; The task management terminal is used for the user interface to display the flight task status and platform real-time information.

[0012] Among them, the takeoff and landing platform system includes an electric lifting device and an electric folding and telescoping device; The electric lifting device is used to adjust the height of the takeoff and landing platform, raise the platform during takeoff and landing to avoid obstacles, and lower the platform during transportation for convenient transportation; The electric folding and telescoping device is used to adjust the width of the platform, unfold the platform when the eVTOL lands to facilitate the landing of the eVTOL; Under the control of the ground personnel, the vehicle-mounted computer (with a display screen) is used to control the electric lifting device and the electric folding and telescoping device, and to display the status of the electric lifting device and the electric folding and telescoping device.

[0013] Among them, the approach management system includes a wireless communication module, a monitoring camera module and a lidar module; The wireless communication module is used for communication between ground personnel or systems and eVTOL pilots; The lidar collects the distances and contours of surrounding objects, providing high-precision environmental point cloud data; the monitoring camera supplements the collection of visual information, including color, texture, and signs; the information collected by the lidar and the monitoring camera is transmitted to the vehicle-mounted computer. After the vehicle-mounted computer receives the data collected by the radar and the camera, it extracts corner point or feature point data from the camera and corresponding three-dimensional points from the lidar point cloud, matches the feature points in the camera image with the three-dimensional points in the lidar point cloud, realizes the joint calibration of the camera and the lidar, and thus generates environmental perception data of the surrounding environment; then through local coordinate system conversion and projection conversion, the converted data is superimposed on the map, and the specific position information of the obstacles can be displayed on the map, including longitude and latitude coordinates or local coordinates; the obstacle information will be stored in the map database for real-time navigation or subsequent analysis; based on the collected obstacle information, the vehicle-mounted computer uses the dynamic window method and the D-star algorithm to generate a takeoff and landing path in real time, dynamically adjusts the takeoff and landing path according to the surrounding environmental obstacle information, and outputs obstacle avoidance suggestions, including adjusting the flight altitude and changing the flight direction.

[0014] Among them, the radio altitude feedback system includes a radio altitude detection module and a voice module; the radio altitude detection module is used to detect the altitude between the eVTOL and the takeoff and landing platform, and display the radio altitude on the vehicle-mounted computer and the eVTOL instrument panel; the voice module is used to convert the system prompt into voice information and broadcast it to the eVTOL pilot.

[0015] Among them, the guiding system includes: A light beacon, which is used to provide a green approach light, a red warning light, and a blue berth confirmation light; A light intensity adjustment module, which is used to automatically adjust the light brightness and flashing frequency; A control unit, which is used to link with the approach management system to activate or deactivate the specified light mode; A pattern identifier, which is used to indicate the position of the takeoff and landing platform system; When the aircraft approaches, the green light guides the pilot to land along the preset path; the red warning light is used to mark the dangerous area; the blue berth light is lit after the aircraft is safely berthed to confirm the completion of the operation.

[0016] Among them, the process feedback system includes: A timing information feedback module, which records the time nodes of each link based on a precise clock; An aircraft state feedback module, which records and displays the dynamic data of the aircraft's altitude and speed; A ground-air communication feedback module, which records and stores the ground-air communication content in real time; The video feedback module collects and stores the environmental videos around the platform in real time through multiple cameras.

[0017] An eVTOL takeoff and landing management method based on a mobile takeoff and landing platform, including a landing step and a takeoff step: The landing step includes: S101. When the eVTOL has a landing requirement, send a landing request to the low-altitude flight scheduling system; S102. The low-altitude flight scheduling system approves this landing application; S103. The low-altitude flight scheduling system commands the mobile takeoff and landing platform to drive to the designated position; S104. After the mobile takeoff and landing platform reaches the designated position, send the geographical coordinates of the takeoff and landing platform to the eVTOL. At the same time, the takeoff and landing platform itself performs preparatory work, including: unfolding the takeoff and landing platform, turning on the light beacon for guidance, realizing information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, sending obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to land; S105. After receiving the geographical coordinates of the takeoff and landing platform, the eVTOL moves forward to this position and starts to prepare for landing when it reaches the designated position; S106. The eVTOL pilot lands according to the received obstacle information and obstacle avoidance path information, combined with multiple information such as radio altitude information and ground personnel command information; S107. After landing, the landing gear fixing system fixes the eVTOL on the platform to prevent shaking; The takeoff step includes: S201. When the eVTOL has a takeoff requirement, send a takeoff request to the low-altitude flight scheduling system; S202. The low-altitude flight scheduling system approves this takeoff application; S203. After receiving the takeoff instruction, the mobile takeoff and landing platform transports the eVTOL to the designated takeoff position.

[0018] S204. Pre-takeoff preparation: Realize information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, send obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to take off; S205. The landing gear fixing system releases the landing gear fixation, and the takeoff preparation is completed.

[0019] S206. After the preparation is completed, the eVTOL takes off.

[0020] The information interaction between the mobile takeoff and landing platform and the eVTOL is realized through the approach management system, and the obstacle information and obstacle avoidance path information are sent to the eVTOL to guide the eVTOL pilot to take off or land, all of which include: The distance and contour of surrounding objects collected by the lidar of the approach management system provide high-precision environmental point cloud data; the monitoring camera supplements the collection of visual information, including color, texture and signs; the information collected by the lidar and the monitoring camera is transmitted to the in-vehicle computer; The in-vehicle computer uses the Beidou positioning module to obtain the current longitude and latitude information of the platform, and generates building information within 500 meters around according to the downloaded map; After the in-vehicle computer receives the data collected by the lidar and the camera, it extracts corner point or feature point data from the camera, extracts the corresponding three-dimensional points from the lidar point cloud, matches the feature points in the camera image with the three-dimensional points in the lidar point cloud, realizes the joint calibration of the camera and the lidar, and thus generates environmental perception data of the surrounding environment; then through local coordinate system conversion and projection conversion, the converted data is superimposed on the map, and the specific position information of the obstacles can be displayed on the map, including longitude and latitude coordinates or local coordinates; the obstacle information will be stored in the map database for real-time navigation or subsequent analysis; and the real-time environmental obstacle information and the takeoff and landing platform position information are displayed on the Beidou map; The in-vehicle computer uses different-sized models according to different models of eVTOLs downloaded, and real-timely reproduces the eVTOL flight scenario according to the generated map, environmental obstacle information, and the current position of the eVTOL; generates a recommended obstacle avoidance path according to the generated map and environmental obstacle information, draws the flight trajectory of the eVTOL with a solid line, and draws the recommended obstacle avoidance path with a dashed line, and displays it through two views, a top-down simulation view and a horizontal simulation view, for providing the takeoff or landing path and obstacle avoidance suggestions for the eVTOL pilot to reference; The communication module is used for two-way communication between the ground and the eVTOL to ensure the timely transmission of instructions.

[0021] 1. The beneficial effects of the present invention are as follows: 1. Through the dispatching management system, the present invention opens up a flexible takeoff and landing application channel for eVTOLs, providing an important guarantee for the takeoff and landing of eVTOLs on the mobile takeoff and landing platform; 2. The present invention utilizes the mobile takeoff and landing platform to realize the takeoff and landing of eVTOLs at any suitable location in the eVTOL field, solves the problem of only being able to take off and land at fixed takeoff and landing points, and lays a foundation for the wide application of eVTOLs; 3. The present invention applies a variety of sensing systems and intelligent computing systems to provide technical support for the takeoff and landing of eVTOLs, reduces the takeoff and landing difficulty, and reduces human intervention. Description of the Drawings

[0022] Figure 1 is a system block diagram of the present invention; Figure 2 is a flow chart of the landing management method of the present invention; Figure 3 This is a flow chart of the takeoff management method of the present invention. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0024] like Figure 1 As shown, an eVTOL take-off and landing management system based on a mobile take-off and landing platform includes a low-altitude flight dispatch system, a take-off and landing platform system, an approach management system, a radio altitude feedback system, an RTK differential positioning system, a Beidou positioning system, a guidance system, a landing gear fixing system, a recording system, a process feedback system, and an on-board computer; The low-altitude flight dispatch system is used to connect the eVTOL pilot with the general aviation dispatch management center, the ground personnel with the general aviation dispatch management center, to provide real-time feedback of the mobile take-off and landing platform position data to the general aviation dispatch center, to receive remote dispatch instructions from the dispatch center, and to achieve take-off and landing dispatch. The components are: 1) Scheduling server: provides core computing capabilities, runs scheduling algorithms and task allocation logic.

[0025] 2) Communication module: Contains data link and voice communication functions, used for two-way information transmission with the eVTOL driver and ground equipment.

[0026] 3) Mission management terminal: user interaction interface that displays flight mission status and real-time platform information.

[0027] The dispatch server evaluates the task priority in real time and assigns tasks based on route and resource status. Task updates are synchronized to all relevant devices in real time through the communication module.

[0028] The low-altitude flight dispatch system is based on Beidou data, supports emergency task insertion and path optimization, and can adjust the flight plan in conjunction with the approach management system. The specific process is as follows: 1. The platform uploads location data to the dispatching management center in real time through the Beidou navigation system; 2. The dispatch center issues dispatch instructions based on flight missions; 3. The system synchronizes the instructions to the platform operation terminal, and the ground personnel or automatic system performs the relevant operations.

[0029] The takeoff and landing platform system is used for the takeoff, landing and parking of eVTOL. The takeoff and landing platform is controlled by ground personnel on a vehicle-mounted computer, and its status can be displayed on the vehicle-mounted computer. The system includes an electric lifting device and an electric folding and telescoping device. The electric lifting device is used to adjust the height of the takeoff and landing platform, raising the platform during takeoff and landing to facilitate avoiding obstacles; lowering the platform during transportation for more convenient transportation. The electric folding and telescoping device is used to adjust the width of the platform, and can expand the platform when the eVTOL lands, which is beneficial for the eVTOL to land. The takeoff and landing platform system is also integrated with a vehicle-mounted computer, which is used to control the electric lifting device and the electric folding and telescoping device under the control of ground personnel, and to display the status of the electric lifting device and the electric folding and telescoping device.

[0030] The approach management system is used for the communication between the mobile takeoff and landing platform and the eVTOL, and conducts takeoff and landing guidance for the eVTOL pilot by ground personnel or the system automatically. The system includes a wireless communication module, a monitoring camera module, and a lidar module. The wireless communication module is used for communication between ground personnel or the system and the eVTOL pilot; the monitoring camera module and the lidar are used for detecting the surrounding environment of the takeoff and landing platform, generating obstacle information on the map, optimizing the takeoff and landing path through the collected surrounding information, and giving obstacle avoidance suggestions.

[0031] The radio altitude feedback system is used to send the current altitude information of the aircraft to the eVTOL when the eVTOL lands. The system includes a radio altitude detection module and a voice module. The radio altitude detection module is used to detect the altitude between the eVTOL and the takeoff and landing platform, and display the radio altitude on the vehicle-mounted computer and the eVTOL instrument panel; the voice module is used to convert the system prompt into voice information and broadcast it to the eVTOL pilot. Since the pilot uses visual landing and the mobile takeoff and landing platform is at a certain height from the ground, the pilot needs to focus on the surrounding environment and cannot pay attention to the instrument information in time. Therefore, it is necessary for ground personnel to use voice to feedback the eVTOL altitude to the pilot. The system includes two modes: manual feedback and automatic feedback. In the manual feedback mode, ground personnel use the wireless communication module to orally broadcast the current altitude to the eVTOL pilot; in the automatic feedback mode, the system broadcasts the current altitude information to the eVTOL through the voice module. The altitude information is divided into the following levels: -1 m, -0.5 m, -0.3 m, -0.1 m, 0 m, 0.1 m, 0.3 m, 0.5 m, 1 m, 2 m, 3 m, 5 m, 7 m, 10 m, 15 m, 20 m.

[0032] The Beidou positioning system provides accurate position information for the mobile takeoff and landing platform and reports the platform position to the dispatching and management center in real time. The system can display the current position, historical trajectory and future planned route of the platform through the vehicle-mounted display terminal.

[0033] The components include: 1) Navigation receiving unit: Receives Beidou satellite signals and performs real-time position calculation.

[0034] 2) Inertial navigation module: Provides short-term position estimation ability in case of signal obstruction.

[0035] 3) Data sharing module: Uploads position information to the low-altitude flight scheduling system and the approach management system.

[0036] The Beidou navigation system combined with the inertial navigation module can still operate continuously in a signal-free environment, ensuring reliable navigation for the platform and the aircraft. The system provides position guarantee for each stage of mission execution.

[0037] The RTK differential positioning system is used to provide differential positioning for eVTOL to improve positioning accuracy. Based on differential technology, the system provides centimeter-level accurate position data to the aircraft through a ground base station to ensure precise docking of the platform and the aircraft. The components are as follows: 1) Differential signal receiver: Receives differential signal data provided by the Beidou navigation system.

[0038] 2) High-precision antenna array: Enhances signal reception ability to ensure positioning accuracy.

[0039] 3) Data fusion module: Fuses RTK positioning data and inertial navigation data to optimize positioning accuracy.

[0040] The system uses high-precision differential signals to perform data correction with the ground base station, and can provide centimeter-level positioning services in complex terrains. The precise position and relative motion state of the eVTOL are updated in real time through the platform display terminal.

[0041] The guidance system is used to provide lights for the eVTOL pilot to guide the pilot to land, including the composition of lights, visual beacons (patterns), etc. The system consists of a high-brightness LED lamp set, a variable-color beacon light, and a laser marking device, which can provide clear guidance signals during the day and at night to ensure accurate landing of the aircraft.

[0042] The components are as follows: 1) Light beacon: Provides a green approach light, a red warning light, and a blue berth confirmation light, with a scientific and reasonable layout.

[0043] 2) Light intensity adjustment module: Automatically adjusts the light intensity and blinking frequency.

[0044] 3) Control unit: Interacts with the approach management system to activate or deactivate the specified light mode.

[0045] 4) Pattern identification: Used to indicate the position of the takeoff and landing platform system; When the aircraft approaches, green lights guide the pilot to land along a preset path; red warning lights are used to mark dangerous areas; and blue berth lights are lit after the aircraft is safely berthed to confirm the completion of the operation.

[0046] For the landing gear fixing system, the landing gear needs to be fixed before takeoff or after landing to prevent the eVTOL from moving during transportation. It includes a locking device and a locking detection device, and the status can be displayed on the vehicle-mounted computer. The components are as follows: 1. Hydraulic fixing device: Adapt to different models of eVTOL landing gears.

[0047] 2. Mechanical locking module: Provide multi-point fixation to ensure the stability of the aircraft.

[0048] 3. Sensor feedback unit: Monitor the fixation status in real time and send confirmation information to the low-altitude flight scheduling system.

[0049] The system adopts double protection of hydraulic and mechanical locking, and the fixation process is fully automated. The sensor monitors the fixation status in real time and immediately alarms and prompts for maintenance when abnormal loosening is detected.

[0050] The recording system includes a precise clock (Beidou clock), video, voice, and flight parameters (ground measurement). This system includes a precise clock (Beidou synchronization), a video recording module, a voice recording module, and a flight parameter recording module for ground measurement, which can comprehensively record key data during the takeoff and landing processes and provide support for subsequent analysis. The components are: 1. Data acquisition module: Includes cameras, microphones, and sensors for recording key data during task execution.

[0051] 2. Storage unit: Has a large-capacity storage capacity to support long-term storage of task data.

[0052] 3. Report generation module: Automatically analyzes the collected data and generates an operation report.

[0053] The data recording content includes aircraft operation records, task completion status, ground-air communication content, and environmental perception information. The operation report can be directly uploaded to the cloud for subsequent task optimization analysis.

[0054] The feedback system provides feedback on the entire takeoff and landing process (including timing information (precise clock), aircraft altitude, speed, ground-air communication, video). This system includes: 1. Timing information feedback module: Records the time nodes of each link based on the precise clock; 2. Aircraft status feedback module: Records and displays dynamic data such as the altitude and speed of the aircraft; 3. Ground-air communication feedback module: Records and stores ground-air communication content in real time; 4. Video feedback module, which collects and stores the environmental videos around the platform in real time through multiple cameras.

[0055] As Figures 2 - 3 shown, an eVTOL takeoff and landing management method based on a mobile takeoff and landing platform includes the following steps: When the eVTOL determines the takeoff and landing requirements, the flight crew applies for the takeoff and landing requirements to the general aviation dispatching management center through the general aviation dispatching system. After approval, the general aviation dispatching management center issues a task instruction to the ground personnel of the mobile takeoff and landing platform, and the mobile takeoff and landing platform arrives at the designated location within the specified time. At the same time, the ground personnel send the real-time position data of the mobile takeoff and landing platform to the dispatching center and receive the remote dispatching instructions (voice or voice information synchronization) from the dispatching center to achieve takeoff and landing dispatching. When the mobile takeoff and landing platform reaches the designated position, it sends the position information to the eVTOL.

[0056] Through the radio altitude system, the current altitude of the aircraft is sent to the eVTOL in real time. Provide altitude information during the approach and landing phases of the eVTOL to facilitate better maneuvering decisions for the pilot.

[0057] Through the Beidou navigation system and the vehicle-mounted navigation system, provide the eVTOL with the real-time positioning and relative position information of the mobile takeoff and landing platform to facilitate the eVTOL to confirm the target orientation.

[0058] Through the RTK positioning system, provide differential positioning to the eVTOL to improve the positioning accuracy. The vehicle-mounted fixed reference station receives high-precision satellite signals and calculates its own precise position, and then transmits the differential data to the eVTOL in real time to achieve high-precision position sharing, which is convenient for the eVTOL to accurately identify the position of the mobile takeoff and landing platform at close range.

[0059] Approach management system for information interaction between a mobile takeoff and landing platform and an eVTOL, guiding the eVTOL pilot for takeoff and landing. The approach management system includes a communication module, a sensor module, and a personnel command system; the sensor module includes a Beidou positioning module, a lidar, and a high-definition camera. The Beidou positioning module obtains positioning information in real time, the lidar obtains surrounding environment information in real time, and the high-definition camera generates real-time video. The vehicle-mounted computer uses the Beidou positioning module to obtain the current latitude and longitude information of the platform and generates building information within 500 meters around according to the downloaded map; the lidar and the high-definition camera scan the surrounding environment to obtain obstacle information within 50 meters around. After the lidar obtains the environmental information, it will compare it with the physical objects in the video to correct the error, and display the real-time environmental obstacle information and the position information of the takeoff and landing platform on the Beidou map. The vehicle-mounted computer uses different-sized models according to different models of eVTOLs downloaded, and real-time reproduces the eVTOL flight scenario according to the generated map, environmental obstacle information, and the current position of the eVTOL; generates a recommended obstacle avoidance path according to the generated map and environmental obstacle information, draws the flight trajectory of the eVTOL with a solid line, and draws the recommended obstacle avoidance path with a dotted line, which can be displayed through two views: a top-down simulation view and a horizontal simulation view, for providing a landing path and obstacle avoidance suggestions for the eVTOL pilot to reference. The communication module is used for two-way communication between the ground and the eVTOL to ensure the timely transmission of instructions; the mobile tool vehicle is equipped with a command room for the commander and the pilot to communicate the takeoff and landing details.

[0060] Through the guiding system, light signals and visual signs are provided to the eVTOL pilot to guide the pilot to land. The signal lights include a position guiding signal light and an eVTOL parking range light. The position guiding signal light is used to prompt the pilot of the takeoff and landing point position, facilitating the pilot to identify the approach azimuth; the parking range light is used to prompt the pilot of the eVTOL parking position. The visual sign is used to prompt the pilot of the eVTOL parking direction.

[0061] Through the takeoff and landing platform system, it is used for the takeoff, landing and parking of the eVTOL. The platform is equipped with an electric propulsion system and navigation equipment, and can adjust the platform to an appropriate height. The platform device is of a foldable design and can adjust the platform size according to the floor area of the eVTOL, suitable for various aircraft.

[0062] Through the landing gear fixing system, it is used to fix the eVTOL landing gear before takeoff or after landing, preventing the eVTOL from moving and slipping during transportation, including a locking device and a locking detection device, and the locked state can be displayed on the vehicle-mounted computer.

[0063] An eVTOL takeoff and landing management method based on a mobile takeoff and landing platform includes a landing step and a takeoff step: The landing step is as Figure 2 shown: S101. When the eVTOL has a landing requirement, send a landing request to the low-altitude flight scheduling system; S102. The low-altitude flight scheduling system approves this landing application; S103. The low-altitude flight scheduling system commands the mobile takeoff and landing platform to drive to the designated position; S104. After the mobile takeoff and landing platform reaches the designated position, it sends the geographical coordinates of the takeoff and landing platform to the eVTOL. At the same time, the takeoff and landing platform itself performs preparatory work, including: deploying the takeoff and landing platform, turning on the light beacon for guidance, realizing information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, and sending obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to land; S105. After receiving the geographical coordinates of the landing platform, the eVTOL moves forward to this position and starts to prepare for landing when it reaches the designated position; S106. The eVTOL pilot lands according to the received obstacle information and obstacle avoidance path information, combined with multiple information such as radio altitude information and ground personnel command information; S107. After landing, the landing gear fixing system fixes the eVTOL on the platform to prevent shaking; The takeoff steps are as Figure 3 shown: S201. When the eVTOL has a takeoff requirement, send a takeoff request to the low-altitude flight scheduling system; S202. The low-altitude flight scheduling system approves this takeoff application; S203. After receiving the takeoff command, the mobile takeoff and landing platform transports the eVTOL to the designated takeoff position.

[0064] S204. Pre-takeoff preparation: Realize information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, and send obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to take off; S205. The landing gear fixing system releases the fixing of the landing gear, and the takeoff preparation is completed.

[0065] S206. After the preparation is completed, the eVTOL takes off.

[0066] The above is the preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the technology or knowledge in related fields. And the changes and alterations made by those skilled in the art without departing from the spirit and scope of the present invention shall all fall within the protection scope of the appended claims of the present invention.

Claims

1. An eVTOL takeoff and landing management system based on a mobile takeoff and landing platform, characterized in that: It includes a low-altitude flight scheduling system, a takeoff and landing platform system, an approach management system, a radio altitude feedback system, an RTK differential positioning system, a Beidou positioning system, a guidance system, a landing gear fixing system, a recording system, and a process feedback system; The low-altitude flight scheduling system is used for the docking between eVTOL pilots and the general aviation scheduling management center, the docking between ground personnel and the general aviation scheduling management center, real-time feedback of the position data of the mobile takeoff and landing platform to the general aviation scheduling center, receiving remote scheduling instructions from the scheduling center, and realizing takeoff and landing scheduling; The takeoff and landing platform system is used for the takeoff, landing, and parking of eVTOL. The takeoff and landing platform is controlled by ground personnel on the vehicle-mounted computer, and the status is displayed on the vehicle-mounted computer; The approach management system is used for the communication between the mobile takeoff and landing platform and eVTOL, and guiding the eVTOL pilot to take off and land by ground personnel or the system automatically; The radio altitude feedback system is used for sending the current altitude information of the aircraft to eVTOL when it lands; The Beidou positioning system provides accurate position information for the mobile takeoff and landing platform, reports the platform position to the scheduling management center in real time, and displays the current position, historical trajectory, and future planned route of the platform through the vehicle-mounted display terminal; The RTK differential positioning system is used for providing differential positioning to eVTOL to improve the positioning accuracy; The guidance system is used for providing lights to the eVTOL pilot to guide the pilot to land eVTOL; The landing gear fixing system is used for fixing the landing gear before takeoff or after landing to prevent eVTOL from moving during transportation; The recording system is used for comprehensively recording the key data in the takeoff and landing process; The process feedback system feeds back the entire takeoff and landing process; The vehicle-mounted computer is used for comprehensively managing and controlling the entire eVTOL takeoff and landing management system.

2. The eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, wherein: The low-altitude flight scheduling system includes: The scheduling server is used for providing core computing power, running scheduling algorithms and task allocation logics; The communication module includes data link and voice communication functions, and is used for two-way information transmission with eVTOL pilots and ground equipment; The task management terminal is used for the user interaction interface, displaying the flight task status and the real-time information of the platform.

3. The eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, characterized in that: The takeoff and landing platform system includes an electric lifting device and an electric folding and telescoping device; The electric lifting device is used for adjusting the height of the takeoff and landing platform, raising the platform during takeoff and landing to avoid obstacles, and lowering the platform during transportation for convenient transportation; The electric folding and telescoping device is used for adjusting the width of the platform, and unfolding the platform when eVTOL lands to facilitate the landing of eVTOL; Under the control of ground personnel, the control of the electric lifting device and the electric folding and telescoping device is realized through the vehicle-mounted computer, and the status display of the electric lifting device and the electric folding and telescoping device is realized.

4. The eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, characterized in that: The approach management system includes a wireless communication module, a monitoring camera module, and a lidar module; The wireless communication module is used for communication between ground personnel or the system and eVTOL pilots; The distance and outline of surrounding objects collected by the laser radar provide high-precision environmental point cloud data; the monitoring camera supplements the collection of visual information, including color, texture and signs; the information collected by the laser radar and the monitoring camera is transmitted to the on-board computer. After receiving the data collected by the radar and the camera, the on-board computer extracts the corner point or feature point data from the camera and the corresponding three-dimensional points from the laser radar point cloud, matches the feature points in the camera image with the three-dimensional points in the laser radar point cloud, realizes the joint calibration of the camera and the laser radar, and thus generates environmental perception data of the surrounding environment; then through local coordinate system conversion and projection conversion, the converted data is superimposed on the map, and the specific location information of the obstacle can be displayed on the map, including latitude and longitude coordinates or local coordinates; the obstacle information will be stored in the map database for real-time navigation or subsequent analysis; based on the collected obstacle information, the on-board computer generates the take-off and landing path in real time by using the dynamic window method and the D-star algorithm, dynamically adjusts the take-off and landing path according to the surrounding environment obstacle information, and outputs obstacle avoidance suggestions, which include adjusting the flight altitude and changing the flight direction.

5. The eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, characterized in that: The radio altitude feedback system includes a radio altitude detection module and a voice module; the radio altitude detection module is used to detect the height between the eVTOL and the take-off and landing platform, and display the radio altitude on the on-board computer and the eVTOL instrument panel; the voice module is used to convert system prompts into voice information and broadcast it to the eVTOL driver.

6. The eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, characterized in that: The guidance system comprises: Light beacons to provide green approach lights, red warning lights, and blue berth confirmation lights; Light adjustment module, used to automatically adjust light brightness and flashing frequency; A control unit, used to work with the approach management system to activate or deactivate a specified lighting mode; Graphic logo, used to indicate the location of the take-off and landing platform system; As the aircraft approaches, green lights guide the pilot to land along a preset path; red warning lights are used to mark dangerous areas; and blue parking lights light up after the aircraft is safely parked, confirming that the operation is complete.

7. An eVTOL takeoff and landing management system based on a mobile takeoff and landing platform according to claim 1, characterized in that: The process feedback system comprises: The timing information feedback module records the time nodes of each link based on a precise clock; The eVTOL aircraft status feedback module records and displays the dynamic data of the aircraft's altitude and speed; The ground-to-air communication feedback module records and stores the ground-to-air communication content in real time; The video feedback module collects and stores the environment video around the platform in real time through multiple cameras.

8. An eVTOL takeoff and landing management method based on a mobile takeoff and landing platform, based on the system according to any one of claims 1 to 7, characterized in that: Including landing steps and take-off steps: The landing step comprises: S101. When the eVTOL needs to land, it sends a landing request to the low-altitude flight dispatch system; S102. The low-altitude flight dispatch system approves the landing application; S103. The low-altitude flight dispatch system directs the mobile take-off and landing platform to travel to the designated location; S104. After the mobile takeoff and landing platform reaches the designated position, it sends the geographical coordinates of the takeoff and landing platform to the eVTOL. At the same time, the takeoff and landing platform itself conducts preparatory work, including: unfolding the takeoff and landing platform, turning on the light beacon for guidance, realizing information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, sending obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to land; S105. After receiving the geographical coordinate position of the takeoff and landing platform, the eVTOL moves forward to this position and starts to prepare for landing when it reaches the designated position; S106. The eVTOL pilot lands according to the received obstacle information and obstacle avoidance path information, combined with multiple information such as radio altitude information and ground personnel command information; S107. After landing, the landing gear fixing system fixes the eVTOL on the platform to prevent shaking; The takeoff steps include: S201. When the eVTOL has a takeoff requirement, it sends a takeoff request to the low-altitude flight scheduling system; S202. The low-altitude flight scheduling system approves this takeoff application; S203. After receiving the takeoff instruction, the mobile takeoff and landing platform transports the eVTOL to the designated takeoff position; S204. Preparations before takeoff: Realize information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, and send obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to take off; S205. The landing gear fixing system releases the fixing of the landing gear, and the takeoff preparation is completed; S206. After the preparations are completed, the eVTOL takes off.

9. The eVTOL takeoff and landing management method based on a mobile takeoff and landing platform according to claim 8, characterized in that: The realization of information interaction between the mobile takeoff and landing platform and the eVTOL through the approach management system, and sending obstacle information and obstacle avoidance path information to the eVTOL to guide the eVTOL pilot to take off or land includes: The distance and contour of surrounding objects collected by the lidar of the approach management system provide high-precision environmental point cloud data; the monitoring camera supplements the collection of visual information, including color, texture and signs; the information collected by the lidar and the monitoring camera is transmitted to the vehicle-mounted computer; The vehicle-mounted computer uses the Beidou positioning module to obtain the current longitude and latitude information of the platform, and generates building information within 500 meters around according to the downloaded map; After the vehicle-mounted computer receives the data collected by the lidar and the camera, it extracts corner point or feature point data from the camera, extracts the corresponding three-dimensional points from the lidar point cloud, matches the feature points in the camera image with the three-dimensional points in the lidar point cloud, realizes the joint calibration of the camera and the lidar, and thus generates environmental perception data of the surrounding environment; then through local coordinate system conversion and projection conversion, the converted data is superimposed on the map, and the specific position information of the obstacle can be displayed on the map, including longitude and latitude coordinates or local coordinates; the obstacle information will be stored in the map database for real-time navigation or subsequent analysis; and the real-time environmental obstacle information and the position information of the takeoff and landing platform are displayed on the Beidou map; The on-vehicle computer uses models of different sizes according to the downloaded eVTOL models of different types, and reproduces the eVTOL flight scenario in real time based on the generated map, environmental obstacle information, and the current position of the eVTOL; generates a recommended obstacle avoidance path based on the generated map and environmental obstacle information, draws the flight trajectory of the eVTOL with a solid line, and draws the recommended obstacle avoidance path with a dashed line, which is displayed through two views, namely the top-down simulation view and the horizontal simulation view, to provide the takeoff or landing path and obstacle avoidance suggestions for the reference of the eVTOL pilot; The communication module is used for two-way communication between the ground and the eVTOL to ensure the timely transmission of instructions.

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