Manned aircraft, off-line state automatic control system and method thereof and storage medium

Abstract

The invention relates to the technical field of manned aircrafts, in particular to a manned aircraft, an off-line state automatic control system and method thereof and a storage medium. The method comprises the following steps: acquiring battery power, motor temperature, flight time and residual voyage data of the aircraft in real time through an endurance monitoring module; when it is detected that the aircraft enters the off-line state, a preset off-line control strategy is started; a safe landing point or a return path is dynamically generated according to the endurance monitoring data, and the aircraft is controlled to execute automatic landing or return operation; and continuous power supply of the key system is guaranteed through the redundant power supply module. The method has the advantages that the safety is realized; the accident risk in an offline state is reduced by combining the endurance data and the terrain information; reliability: a redundant power supply design ensures continuous operation of a key system; the compatibility is that various aircraft structures such as multi-rotor and fixed-wing aircraft structures are supported.

Description

Technical Field

[0001] This application relates to the technical field of manned aircraft, and particularly to an offline automatic control method for a manned aircraft and an offline automatic control system for a manned aircraft. Background Art

[0002] In recent years, with the development of the global economy and the progress of technology, the low-altitude economy, as a new comprehensive economic format, has been rapidly rising. The low-altitude economy refers to an economic model that generally operates within the low-altitude airspace with a vertical height of less than 1000 meters and can be extended up to 3000 meters according to actual needs. It uses civil manned and unmanned aircraft as carriers, and is driven by multi-scenario low-altitude flight activities such as manned, cargo, and other operations, driving the integrated development of related fields. It has the characteristics of a wide radiation range, a long industrial chain, strong growth potential, and strong driving force. It has been widely used in fields such as scenic tours, urban security, medical rescue, emergency rescue, agricultural and forestry pest control, and power line inspection, and is becoming an important force driving economic growth.

[0003] Currently, many countries around the world are actively promoting the development of the low-altitude industry and striving to seize this new development opportunity. China also attaches great importance to the development of the low-altitude economy and has formed a leading advantage in some fields. For example, China is the world's largest producer of consumer drones, and DJI has become a leading enterprise in the consumer drone industry; a number of enterprises are stepping up the research and development of electric vertical takeoff and landing aircraft (eVTOL) and actively promoting their pilot applications in scenarios such as scenic spots; express delivery enterprises and terminal distribution enterprises represented by SF Express and Meituan have opened multiple drone delivery routes in Shenzhen, Shanghai and other places.

[0004] In the invention patent with the authorization publication number of CN108646780B, the applicant, Guangzhou EHang Intelligent Technology Co., Ltd., when solving the problem that the manned aircraft cannot fly normally after the communication between the manned aircraft and the ground control station is interrupted, adopted an automatic control method for the manned aircraft, and the solution is as follows: When the communication between the manned drone and the ground control station is interrupted, it starts to enter the offline flight state and adjusts the flight altitude to a predetermined safe flight altitude; Hover and fly in the air corresponding to the predetermined safe flight altitude and request to restore communication with the ground control station; If stable communication with the ground control station is not restored within a predetermined time range, autonomous return flight is started; If stable communication with the ground control station is successfully restored, the offline flight state is stopped and the ground control station resumes flight control of the manned drone; To a certain extent, the above technical solution can indeed solve some problems, but there will also be other potential safety hazards. When considering the hovering time of a manned aircraft, only the predetermined time range is taken into account, without considering some extreme situations of the manned aircraft. For example, if the endurance time of the manned aircraft is only 5 minutes at this time, while the system's predetermined time is 10 minutes, this will result in the aircraft continuing to hover according to the system's instructions even when the endurance is insufficient, which may cause the hovering aircraft to fall from the sky and ultimately endanger the passengers and crew. Summary of the Invention

[0005] To solve the technical problem of the current unsafe offline automatic control of manned aircraft, the present application provides a solution for an offline automatic control system of a manned aircraft based on endurance monitoring.

[0006] A method for a manned aircraft to land at low altitude includes the following four major steps: S1: Real-time collect data on the battery power, motor temperature, flight time, and remaining flight range of the aircraft through an endurance monitoring module; S2: When it is detected that the aircraft enters the offline state, start a preset offline control strategy; S3: Dynamically generate a safe landing point or a return path based on the endurance monitoring data, and control the aircraft to perform an automatic landing or return operation; S4: Ensure the continuous power supply of the critical system through a redundant power module.

[0007] The present invention combines real-time endurance monitoring with an offline control strategy to achieve safe landing or return of the aircraft in the offline state, specifically including: Endurance monitoring module: The battery management system (BMS) monitors the voltage, current, and health status in real time; The motor temperature sensor prevents failures caused by overheating; Dynamic path planning: Select the optimal landing point based on the remaining power and terrain data; Redundant power supply switching: The robotic arm automatically switches to the backup battery pack to ensure the operation of the critical system.

[0008] Execution system: The motor driver and the servo cooperate to control the flight attitude; The emergency parachute is triggered to open by a pressure sensor to reduce the risk of crashing.

[0009] Advantageous effects: 1. Safety: Combine endurance data with terrain information to reduce the accident risk in the offline state; 2. Reliability: The redundant power supply design ensures the continuous operation of the critical system; 3. Compatibility: Support various aircraft structures such as multi-rotor and fixed-wing. Description of the Drawings

[0010] Figure 1 It is a flowchart of the automatic control method for the manned aircraft in the offline state in the present invention: Figure 2 It is a block diagram of the structure of the automatic control system for the manned aircraft in the offline state in the present invention. Detailed Embodiment

[0011] The offline automatic control method for a manned aircraft includes the following steps: S1: The battery power, motor temperature, flight time, and remaining flight range data of the aircraft are collected in real time through the endurance monitoring module; S2: When it is detected that the aircraft enters the offline state, a preset offline control strategy is started; S3: A safe landing point or a return path is dynamically generated according to the endurance monitoring data, and the aircraft is controlled to perform an automatic landing or return operation; S4: The continuous power supply of the critical system is ensured through the redundant power module.

[0012] Preferably, taking a multi-rotor manned aircraft as an example: It includes the following steps: 1. Endurance monitoring: The BMS collects battery data once per second, and an alarm is triggered when the motor temperature exceeds the threshold (such as 80°C); 2. Offline determination: The GPS signal is lost and the ground station communication is interrupted for more than 10 seconds; 3. Control execution: If the remaining power < 20%, start the landing procedure; If the landing point is inaccessible, switch to the preset return path.

[0013] The endurance monitoring module used in the offline automatic control method for a manned aircraft includes: The battery management system (BMS), which is used to monitor the battery voltage, current, and health status; The motor temperature sensor, which is used to collect the motor operating temperature in real time; The flight time counter, which is used to record the continuous flight duration.

[0014] Specifically, the offline control strategy includes: Priority determination mechanism: Select landing or return according to the remaining power and the straight-line distance to the nearest landing point; Dynamic path planning: Adjust the landing path in combination with terrain data and real-time meteorological information.

[0015] Specifically, the redundant power module includes: The backup battery pack, which automatically switches the power supply through the robotic arm; An emergency landing device that uses spring energy storage or flywheel energy storage technology to ensure emergency landing.

[0016] Specifically, an offline automatic control system for a manned aircraft includes: An endurance monitoring unit for collecting data on the battery, motor, and flight status. An offline control strategy generation unit that generates control instructions based on a preset algorithm. An execution unit, including a motor driver, a servo, and a landing device, for performing landing or return operations.

[0017] Further, the offline control strategy generation unit includes: A communication status detection module for determining whether the aircraft is in an offline state. A safe landing point database that stores the geographical coordinates and environmental parameters of preset landing points.

[0018] Further, the execution unit further includes: A robotic arm device for switching the backup battery pack. An emergency parachute release mechanism that triggers the automatic opening of the parachute through a pressure sensor.

[0019] Specifically, a computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in the above claims.

[0020] Further, an offline automatic control system for a low-altitude manned aircraft further includes: Furthermore, it is equipped with a redundant power supply and an emergency landing device.

[0021] Specifically, the emergency landing device is a parachute.

[0022] Preferably, the aircraft has a multi-rotor structure, is equipped with at least 8 sets of motors and a distributed battery pack, and supports vertical takeoff and landing and hovering.

[0023] The above system also includes other components well-known to those skilled in the art, such as a communication bus and a communication interface. Their settings and functions are known in the art and will not be elaborated here.

[0024] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, any equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. An offline automatic control method for a manned aircraft, characterized in that, It includes the following steps: The battery power, motor temperature, flight time, and remaining flight range data of the aircraft are collected in real time through the endurance monitoring module; When it is detected that the aircraft enters the offline state, a preset offline control strategy is activated; Based on the endurance monitoring data, a safe landing point or a return flight path is dynamically generated, and the aircraft is controlled to perform an automatic landing or a return flight operation; The continuous power supply of the critical systems is ensured through the redundant power module.

2. The offline automatic control method for a manned aircraft according to claim 1, wherein The endurance monitoring module includes: A battery management system for monitoring the battery voltage, current, and health status; A motor temperature sensor for collecting the motor operating temperature in real time; A flight time counter for recording the continuous flight duration.

3. The offline automatic control method for a manned aircraft according to claim 1, wherein The offline control strategy includes: A priority determination mechanism: select landing or return based on the remaining power and the straight-line distance to the nearest landing point; Dynamic path planning: adjust the landing path by combining terrain data and real-time meteorological information.

4. The offline automatic control method for a manned aircraft according to claim 1, wherein The redundant power module includes: A backup battery pack that automatically switches the power supply through a robotic arm; An emergency landing device that uses spring energy storage or flywheel energy storage technology to ensure an emergency landing.

5. An off-line automatic control system for a manned aircraft, characterized in that, It includes: An endurance monitoring unit for collecting battery, motor, and flight status data; An offline control strategy generation unit that generates control instructions based on a preset algorithm; An execution unit, including a motor driver, a servo, and a landing device, for performing a landing or a return flight operation.

6. An off-line automatic control system for a manned aircraft, characterized in that, The offline control strategy generation unit includes: A communication status detection module for determining whether the aircraft is in an offline state; A safe landing point database that stores the geographical coordinates and environmental parameters of the preset landing points.

7. An offline automatic control system for a manned aircraft, characterized in that, The execution unit further includes: A robotic arm device for switching the backup battery pack; An emergency parachute release mechanism that triggers the automatic opening of the parachute through a pressure sensor.

8. A computer-readable storage medium, characterized in that, It stores a computer program, and when the program is executed by a processor, it implements the method described in any one of claims 1-4.

9. The offline automatic control system according to any one of claims 5-7, characterized in that, It further includes: Equipped with a redundant power supply and an emergency landing device.

10. An aircraft according to claim 9, characterized in that, The aircraft has a multi-rotor structure, is equipped with at least 4 groups of motors and a distributed battery pack, and supports vertical takeoff and landing and hovering.

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