Multi-sensor eVTOL omnibearing data acquisition, processing, transmission and control device based on high-performance development board

Abstract

The invention provides a multi-sensor eVTOL omnibearing data acquisition, processing, transmission and control device based on a high-performance development board. By integrating a plurality of sensor modules and camera modules, all-directional data acquisition is realized, and the application capability of eVTOL in a complex environment is greatly improved. Uniform synchronizing signals are generated and issued through the master control development board, it is ensured that all the sensors and the cameras synchronously collect and transmit data, and time sequence consistency and transmission accuracy of the data are ensured. In addition, a flight control module is combined with a task scheduling algorithm, so that the device can dynamically adjust a flight control signal according to the priority of a task. When a high-priority task and a low-priority task are parallel, important tasks can be responded preferentially, and flight stability and safety are ensured. The device also intelligently schedules the working state of each device through a data switch, simplifies a multi-sensor architecture, and ensures efficient and reliable environment perception and task execution.

Description

Technical Field

[0001] The present invention relates to the field of eVTOL data acquisition and control technology, and specifically to a multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board. This method integrates multiple sensors and cameras to achieve 360-degree all-round perception of the eVTOL in complex environments, providing accurate environmental data and video information, and significantly improving the data acquisition efficiency and flight control capabilities of the eVTOL in various missions. Background Art

[0002] With the rapid development of eVTOL technology, it is widely used in various fields such as logistics, agriculture, environmental monitoring, and military reconnaissance. The functions of eVTOL are constantly expanding, especially in terms of comprehensive data collection and intelligent flight control. However, existing eVTOL devices often face problems such as narrow data collection range, single sensors, and difficult data synchronization, which limit their application effectiveness in complex environments.

[0003] Traditional eVTOLs often rely on a single sensor or camera for data collection. While effective for certain specific missions, this approach struggles to meet the demands of diverse missions. This is particularly true for missions requiring comprehensive awareness of environmental changes. The lack of 360-degree data collection leads to incomplete perception information and inefficient mission execution. Furthermore, existing systems are inefficient in synchronizing data from multiple sensors and cameras, resulting in inconsistent data timing and impacting flight control and mission stability.

[0004] To meet this challenge, integrating multiple sensors and cameras to collect comprehensive, real-time data and achieve precise flight control within limited computing resources has become a key issue for eVTOL devices. While traditional flight control methods can achieve basic attitude control, they still struggle to provide efficient and stable control and data collection support in an environment with multiple parallel tasks and diverse sensor data streams.

[0005] Therefore, the present invention proposes a multi-sensor eVTOL all-round data acquisition, processing, transmission and control device based on a high-performance development board. Combining multiple sensors and cameras, through real-time data synchronization and task scheduling mechanism, it improves the eVTOL's all-round environmental perception capability, optimizes flight control and data acquisition processes, and is particularly suitable for complex and changeable application scenarios. It provides an efficient and stable eVTOL data acquisition and control solution. By improving the authenticity and safety of the immersive eVTOL driving experience and optimizing cost control capabilities, the device lays the foundation for large-scale implementation, thereby accelerating the transition of the low-altitude economy from the experimental stage to commercial application. Summary of the Invention

[0006] In response to the problems of inconsistent data transmission timing, excessive computing load, and insufficient device energy efficiency in existing eVTOL devices in multi-sensor integration, data synchronization, flight control, and task scheduling, the present invention provides a multi-sensor eVTOL all-round data acquisition, processing, transmission, and control device based on a high-performance development board. By combining multi-sensor collaborative work, real-time data synchronization, and flight control optimization, it significantly improves the performance of eVTOL in resource-constrained environments, ensuring the real-time nature of data acquisition, the stability of flight control, and the efficiency of the device.

[0007] Specifically, the technical solution of the present invention provides a multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board, the method comprising:

[0008] S1, pre-configuration, includes the following steps:

[0009] S1.1. During the device design phase, the performance of each sensor module (temperature and humidity sensor, light sensor, IMU module, LiDAR module, wind speed sensor, oxygen sensor, and sound sensor) must be evaluated to ensure that the data acquisition capabilities of all sensors meet the mission requirements and that the data acquisition frequency and transmission bandwidth meet the real-time requirements of the mission.

[0010] S1.2, the main control development board is connected to each sensor module and camera through a dedicated interface and data switch to ensure that different data sources can be selected according to task requirements during the data collection process;

[0011] S1.3, the device establishes a connection with the ground control station through the wireless communication module and ensures the security and stability of the communication protocol to ensure real-time data transmission.

[0012] S2, data collection and synchronization stage

[0013] The main control board sends a unified synchronization signal through the timing control module. All sensor modules and cameras receive the synchronization signal and begin data acquisition simultaneously. The main control board selects sensor and camera data streams through data switches and switches data sources in real time according to mission requirements. The main control board dynamically adjusts the data stream selection and switching order based on the current flight mission and sensor status. During flight, the main control board adjusts the data acquisition frequency, transmission bandwidth, and sensor activation status based on the real-time flight status and mission requirements to ensure real-time mission execution and data timing consistency.

[0014] S3, flight control and mission scheduling stage

[0015] The main control board adjusts the eVTOL's flight status, including speed, attitude, and target position, based on flight control signals transmitted from the ground control station. Using a task scheduling algorithm, the main control board rationally dispatches flight control signals based on mission priority and real-time flight data, ensuring that high-priority tasks (such as obstacle avoidance) are prioritized while lower-priority tasks (such as video acquisition) proceed smoothly. The main control board precisely adjusts flight attitude and position using a flight control algorithm (PID control algorithm) to ensure stable flight in complex environments. The flight control module adjusts flight missions based on real-time flight data and mission requirements to ensure mission completion and optimize flight time.

[0016] S4, data transmission and feedback stage

[0017] During data acquisition, the main control board transmits the collected data to the ground control station via a wireless communication module in real time, facilitating real-time monitoring and subsequent data analysis. During data transmission, each sensor and camera is synchronized via synchronization signals to ensure timely and consistent data transmission and prevent data loss or corruption. The main control board uses a feedback mechanism to adjust mission execution status in real time and adjust flight control based on feedback from the ground control station, ensuring closed-loop execution of the flight mission.

[0018] S5, resource management and optimization stage

[0019] The main control board dynamically adjusts the operating status of each sensor module and camera based on the eVTOL's battery level, flight mode, and mission requirements, reducing unnecessary sensor data collection to extend battery life. In low-power mode, the main control board uses an adaptive control algorithm to optimize data flow transmission paths, ensuring proper allocation of data priority and bandwidth to avoid device overload. A load balancing algorithm assesses bandwidth usage in real time for data transmission and intelligently selects priority data sources based on mission requirements, ensuring the smooth execution of high-priority tasks.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention integrates multiple sensor modules (temperature and humidity sensors, light sensors, IMU modules, LiDAR modules, wind speed sensors, oxygen sensors, and sound sensors) and multiple cameras to achieve 360-degree data collection. This innovation enables the eVTOL to fully perceive its surroundings and collect multi-dimensional data (such as environmental data and video data), greatly improving the eVTOL's application capabilities in complex environments. Compared with existing technologies that rely solely on data collection from a single sensor or camera, the present invention provides richer and more accurate environmental information.

[0022] (2) Generate and issue a unified synchronization signal through the main control development board to ensure that all sensors and cameras start data acquisition and synchronous data transmission at the same time. This invention effectively solves the problem of multi-sensor data synchronization difficulties in the prior art, ensures the temporal consistency of video data and environmental data, and thus ensures the accuracy and real-time performance of data transmission.

[0023] (3) The present invention combines a flight control module and a task scheduling algorithm to dynamically adjust flight control signals based on the priorities of different tasks and real-time flight data. In particular, when high-priority tasks (such as obstacle avoidance) and low-priority tasks (such as video acquisition) are running in parallel, it can prioritize important tasks and ensure flight stability. At the same time, when performing tasks, the device can optimize flight control in real time based on environmental changes, thereby improving the flight safety and mission execution efficiency of the eVTOL.

[0024] (4) This invention uses a main control development board to control the transmission paths of each sensor and camera, simplifying the architecture of the multi-sensor device and ensuring the coordinated operation of each device through intelligent scheduling. The device not only enables accurate environmental perception in complex environments, but also adjusts the operating status of sensors according to needs during task execution, ensuring the device's efficiency and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention.

[0026] Figure 1 This is a schematic diagram of the device module structure according to an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of data synchronization and transmission according to an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of the interaction between the flight control module and sensor data according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] See also Figures 1 to 3The present invention provides a multi-sensor eVTOL all-round data acquisition, processing, transmission and control device based on a high-performance development board, which is now further described in detail.

[0031] For the overall framework phase, see Figure 1 The overall framework stage shows the functional division of labor and mutual cooperation between the modules in the present invention, which specifically includes the following modules:

[0032] S1.1, Main Control Development Board: The main control board is the core control unit of this device, responsible for data processing, sending and receiving control commands, device management, and other tasks. This device uses a high-performance development board, the NVIDIA Jetson Xavier NX or a similarly efficient development board, which possesses powerful computing and data processing capabilities. The main control board is equipped with a powerful multi-core processor, such as the Jetson Xavier NX, which features a 6-core ARM Cortex-A72 CPU and a 384-core Volta GPU. It has strong parallel computing capabilities and can efficiently perform real-time video data processing and multi-sensor data integration. The main control board also includes 32GB of DDR4 memory, providing ample computing bandwidth and storage space to support complex data stream processing and efficient algorithm operations. It is also equipped with a 512GB SSD hard drive for storing large amounts of sensor data, images, and video data.

[0033] To ensure high-bandwidth data transmission, the main control board is equipped with multiple high-speed interfaces, including USB 3.0 for connecting multiple cameras (S0-S5) and other external devices. An HDMI interface supports connection to a display for data visualization and on-site debugging. An Ethernet interface is used for high-speed data exchange and control signal transmission with the ground control station, ensuring efficient communication.

[0034] In addition, the main control development board also integrates a wireless communication module, Wi-Fi6 or 4G / 5G module, which can transmit multi-source data to the ground control station in real time and stably, supporting remote monitoring and mission execution. The main control development board can efficiently process high-definition video streams and sensor data, and perform data fusion and analysis through parallel computing, ensuring high synchronization during the data acquisition process, and dynamically adjust and transmit data according to mission requirements. The powerful processing power and flexible expansion interface of the main control development board make the device highly adaptable and scalable when performing complex tasks;

[0035] S1.2, Image Sensor Module (S0-S5): The image sensor module includes at least six cameras (cameras S0 to S5) that are used to capture 360-degree video of the eVTOL. Each camera is connected to the main control board via a USB port to collect and transmit image data. These cameras are high-resolution, low-latency image sensors that can provide high-quality video data suitable for real-time monitoring and navigation of eVTOLs in various environments.

[0036] The camera modules are synchronized through synchronization signals to ensure that the data output of multiple image sensors is carried out in sequence, avoiding time asynchrony. Through the data synchronization protocol, the image sensor and other sensor modules can synchronously collect and transmit data under the same timing.

[0037] S1.3, Temperature and Humidity Sensor: This sensor monitors the temperature and humidity around the eVTOL in real time. By collecting temperature and humidity data, the device can sense environmental changes and support flight control, especially when performing missions in different climates, allowing adaptive adjustments based on this information.

[0038] S1.4, Light Sensor: This sensor detects ambient light intensity and accurately captures information about lighting changes. For eVTOL flight under varying lighting conditions, the light sensor provides real-time data to help adjust flight attitude or select the appropriate flight mode. Especially when performing environmental monitoring or video capture tasks, light sensor data can be used to adjust image acquisition settings to ensure video quality.

[0039] S1.5, Sound Sensors: Sound sensors are used to collect sound data from the environment, especially when performing specific tasks, such as monitoring the acoustic characteristics of an area or performing rescue missions. Sound sensors provide real-time sound data that helps analyze whether there are any unusual sounds in the environment, thereby supporting the eVTOL's flight path planning or obstacle avoidance strategies.

[0040] S1.6, IMU (Inertial Measurement Unit) Module: The IMU module is used to monitor the eVTOL's attitude and acceleration data in real time, including roll angle, pitch angle, yaw angle, and linear acceleration. The IMU module provides flight status data for the eVTOL and is an important component of the eVTOL's attitude control device. It can help the eVTOL adjust its flight stability and ensure stable operation in various flight environments.

[0041] S1.7, LiDAR (laser radar) module: The LiDAR module uses laser scanning technology to measure distance information of the surrounding environment and generate high-precision 3D maps. The LiDAR module plays a vital role in environmental perception and obstacle detection. It can help eVTOLs perform precise obstacle avoidance in complex environments, especially in low-light or complex environments. The LiDAR module provides more accurate distance information than traditional sensors.

[0042] S1.8, Wind Speed ​​Sensor: A wind speed sensor monitors air velocity and wind direction in real time. During flight, the wind speed sensor provides real-time wind speed information to the flight control system, enabling the eVTOL to adjust flight parameters based on wind speed changes and optimize flight stability. This data helps ensure flight safety and accuracy, especially during long or high-altitude flights.

[0043] For a diagram of data synchronization and transmission, please refer to Figure 2 , showing the synchronization signal control and data transmission process between multiple sensor modules and camera modules. This diagram describes how the main control board uses synchronization signals to ensure coordination between the various sensors and camera modules, as well as the dynamic selection of data transmission paths to ensure consistent timing and efficient transmission performance of multi-source data collected in real time. Further details are provided below:

[0044] S2.1. During the implementation of the present invention, the main control development board generates a unified synchronization signal, which is transmitted to each sensor and camera module via a dedicated interface. The synchronization signal is a clock signal or a trigger signal. The clock signal drives each device to collect data at a fixed period, while the trigger signal triggers the collection process according to the real-time task requirements. The main control development board generates these synchronization signals through a built-in timing control module. The timing control module uses hardware components such as timers or timers to generate accurate timing signals.

[0045] S2.2: In the case of clock signals, the main control board uses a precise clock synchronization device to output synchronization signals at regular intervals. Upon receiving this signal, all sensors and cameras immediately begin data acquisition and transmission. To ensure signal timeliness, the main control board selects a high-precision clock source to keep timing errors within a small range, ensuring accurate data synchronization between different sensors and cameras.

[0046] S2.3, when triggered, the main control board generates synchronization signals on demand through its internal trigger module, based on the current device mission or flight status. When the device needs to acquire data from a specific sensor, the main control board notifies that sensor via a trigger signal at that specific moment to begin operation, while other sensors pause data transmission to avoid redundant data. This on-demand triggering mechanism makes the data acquisition process more flexible and efficient.

[0047] S2.4, the synchronization signal is not only used to start data acquisition, but the main control development board also regulates the data transmission order of sensors and cameras through the synchronization signal. In order to ensure the timing consistency during the data acquisition process, the main control development board dynamically routes the data output of all sensors and cameras through the data switch. The data switch selects the sensor or camera that currently needs to transmit data in real time according to the triggering of the synchronization signal, and connects its data path to the main control development board. The data switch can not only switch the data transmission path between multiple sensors and cameras, but also prioritize the data path according to the real-time acquisition requirements. When the device needs to process high-priority tasks, the data switch will give priority to the path of important sensors to ensure the real-time data transmission;

[0048] S2.5, through precise synchronization signal generation, timing control, and flexible data path selection, this invention ensures efficient synchronous acquisition and transmission of multi-source data. This improves the eVTOL's environmental perception capabilities and provides high-quality real-time data streams for subsequent data analysis and processing, thereby supporting efficient flight control and environmental monitoring;

[0049] For a diagram of the interaction between the flight control module and sensor data, please refer to Figure 3 , demonstrating how the flight control module in this device interacts with sensor data and adjusts the eVTOL's flight state based on the data collected by the sensors and the flight control signals from the ground control station. Specifically, it includes the following steps:

[0050] S3.1: The device collects real-time environmental information and flight status data through various sensor modules. After processing by the main control board, this data is transmitted to the ground control station. The main control board also receives control information from the ground control station and performs necessary processing based on these control signals, ultimately adjusting the eVTOL's flight status.

[0051] S3.2, the sensor modules (temperature and humidity sensor, light sensor, IMU module, LiDAR module, wind speed sensor, oxygen sensor, sound sensor) are connected to the main control development board through the communication interface (I2C, SPI or CAN) to collect environmental data and flight status information in real time. The main control development board selectively transmits the data of each sensor through the data switch to ensure that the data related to the current flight mission is transmitted first. The data transmission path is dynamically managed by the data switch to ensure the smooth transmission of real-time data. The flight control module adjusts the flight status of the eVTOL in real time based on the received sensor data. The main control development board uses the PID control algorithm to adjust the flight attitude (such as roll, pitch, yaw) and flight direction (such as forward, backward, rise, and fall) by calculating the data from sensors such as the IMU module (such as acceleration, angular velocity) and the LiDAR module (such as distance measurement). The PID algorithm uses the proportional, integral and differential control mechanisms to accurately adjust the flight control parameters according to real-time data to ensure that the eVTOL can perform flight missions stably;

[0052] S3.3, the main control development board can receive flight control signals from the ground control station. Through wireless communication modules (such as Wi-Fi, 4G / 5G modules), the ground control station can send flight instructions (such as takeoff, landing, hovering, etc.), attitude adjustment parameters (such as roll angle, pitch angle, yaw angle) and flight target information (such as flight path, obstacle avoidance target, etc.). The main control development board dynamically adjusts the working status of the flight control module based on these flight instructions and real-time data to ensure that the eVTOL can accurately perform flight missions. In order to further optimize the performance of the device, the data switch module plays a key role. When the task changes, the main control development board will adjust the priority and transmission path of the data stream according to the real-time task requirements. For example, when performing obstacle avoidance, the main control development board will give priority to transmitting data from the IMU and LiDAR modules to ensure that the flight attitude can be adjusted in time; and when monitoring the environment, the data transmission path of the temperature, humidity and light sensors will be activated first to collect environmental data. The device will flexibly select the appropriate sensor path based on the priority of the task and the status of the sensor to avoid data conflicts and bandwidth bottlenecks;

[0053] S3.4, flight status data (such as flight position, speed, attitude, etc.) is transmitted back to the ground control station in real time through the data transmission module. Based on these real-time feedback data, the ground control station can adjust the flight mission and remotely schedule and optimize the device through control signals. This closed-loop control ensures the efficient execution of the flight mission and can cope with different mission requirements in complex environments. Through real-time sensor data acquisition, efficient data flow control, precise adjustment of flight control algorithms and priority scheduling, the device can ensure the stable flight of eVTOL in multiple tasks and environments, and can flexibly respond to different flight missions and goals.

Claims

1. A multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board, characterized by: The device includes: a main control development board, which is equipped with a high-performance multi-core processor, 32GB DDR4 memory, a 512GB SSD hard drive, a USB interface, an HDMI interface, an Ethernet interface and a wireless communication module, and can support video data processing and the integration and transmission of multi-sensor data; multiple cameras, including at least 6 cameras (cameras S0 to S5), for all-round video acquisition, and the multiple cameras are connected to the main control development board via a USB interface; multiple sensor modules, including temperature and humidity sensors, light sensors, IMU modules, LiDAR modules, wind speed sensors, oxygen sensors and at least 6 sound sensors, for real-time acquisition of environmental data and flight status information, and the sensors are connected to the main control development board via a USB interface. The sensor module is connected to the main control development board through a dedicated interface; the FPGA chip is used to accelerate data processing and transmission tasks, provide efficient parallel computing capabilities, and optimize the device's response speed and processing performance; the data switch is used to control the acquisition and data transmission path of each camera and sensor. The main control development board selects the data source through the data switch to ensure the synchronization of data transmission timing; the synchronization signal is generated and issued by the main control development board to ensure that each sensor and camera starts data acquisition and synchronous transmission at the same time; the wireless communication module transmits the collected multi-source data to the ground control station in real time through wireless communication protocols such as Wi-Fi, 4G / 5G; the power module provides stable power support for the device to ensure the normal operation of all equipment.

2. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The main control development board has the following functions: S1, the main control development board can support multiple communication protocols, including USB, I2C, SPI, CAN, Ethernet, Wi-Fi, 4G / 5G, to ensure data transmission and communication with different types of sensors, cameras and ground control stations; S2, the main control development board has powerful video processing capabilities and can support video compression algorithms (H.264, H.265), effectively reducing the transmission bandwidth requirements of large-volume video data while ensuring the clarity and real-time nature of video quality; The S3 main control board has a built-in efficient data processing module that supports the real-time collection, storage, and analysis of massive amounts of data. This ensures that the device can handle large amounts of data streams from multiple sensors and cameras, ensuring that the eVTOL can continuously perform multi-task data processing and analysis in complex environments. S4, the main control development board has a dedicated interface for expanding other control devices such as the flight control module and data processing module to support system function expansion. This interface configuration is flexible and can be customized according to actual needs, ensuring compatibility and scalability; S5, the main control development board adopts a high-performance multi-core processor, equipped with sufficient memory and storage resources, which can realize real-time processing of complex data streams and support multi-task parallel processing to meet the multiple needs of eVTOL flight control, environmental perception and mission execution.

3. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The method comprises: S1: The main control development board sets a unified synchronization signal between multiple sensor modules and cameras. All sensor modules and cameras receive the synchronization signal and, according to the synchronization signal instructions, sequentially enable one camera or sensor to start data acquisition and data transmission, while other devices stop data transmission. That is, the synchronization signals of multiple sensor modules and cameras are connected, and the synchronization signal sent by the main control development board is used to synchronize the timing of data output to ensure that all sensors and cameras start working at the same timestamp. S2, the main control development board controls the data transmission path between each sensor module and camera and the main control development board through the data switch, ensuring that the main control development board can receive the data sent by the sensor or camera triggered by the current synchronization signal, and during the data transmission process, ensure the data timing consistency between the devices to avoid data inconsistency due to different timing, thereby ensuring the reliability and accuracy of data transmission.

4. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The device also includes a data processing module for receiving data from each sensor module and camera, pre-processing the data, and transmitting the processed data to the main control development board for subsequent analysis and transmission.

5. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The data switch is controlled by the main control development board to ensure that the data transmission paths of each sensor and camera can be switched in real time as needed, and the order of data transmission path selection is dynamically adjusted by the main control development board according to the sensor type and acquisition requirements.

6. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The synchronization signal adopts a clock signal or a trigger signal, which is generated by the main control development board on a regular basis or on demand and sent to each sensor module and camera to ensure that they start data acquisition at a unified time point. The synchronization signal is generated by the main control development board through a timing control module and transmitted to each sensor and camera through a dedicated interface; the generation cycle of the synchronization signal is dynamically adjusted according to the task requirements, and the main control development board automatically controls the timing of the synchronization signal according to the real-time flight status and acquisition task to ensure that the data acquisition of each sensor and camera is carried out within a unified time range, ensuring a high degree of consistency in the data timing.

7. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 1 is characterized in that: The flight control module receives flight control signals from the ground control station through the wireless communication module. The flight control signals include flight instructions, attitude adjustment parameters, and flight target information. The main control development board adjusts the flight status of the eVTOL in real time according to the flight control signals. The specific steps include: S1, the main control development board receives flight control signals transmitted by the ground control station through the wireless communication module. The flight control signals include flight instructions (such as takeoff, landing, hovering, acceleration, deceleration, etc.), attitude adjustment parameters (such as roll angle, pitch angle, yaw angle) and flight target information (such as designated location, flight route, obstacle avoidance target, etc.); S2: The main control board uses the flight control algorithm to calculate and adjust the eVTOL's flight state in real time based on the received flight control signals, including adjusting the eVTOL's speed, direction, and attitude. Specifically, the flight control module uses sensor modules (IMU module, barometer, GPS module) to obtain the eVTOL's current flight state in real time, compares it with the target flight state, and calculates the required control signals. S3, the main control board adjusts the eVTOL's flight control device based on the calculation results, using the PID control algorithm (proportional-integral-derivative control algorithm) to precisely control the flight state, ensuring that the eVTOL's attitude adjustments (such as roll, pitch, and yaw) and position adjustments (such as forward, backward, ascent, and descent) are accurate and stable; S4: The main control board uses a task scheduling algorithm to properly dispatch flight control signals of different priorities based on task priorities and real-time feedback data. For example, when a high-priority task (such as obstacle avoidance or attitude adjustment) coexists with a low-priority task (such as video capture), the flight control module can prioritize the high-priority task to ensure flight stability. S5: During the flight control process, the main control development board transmits real-time flight data (including flight position, attitude angle, speed, etc.) back to the ground control station through the data feedback channel to ensure the closed-loop operation of the flight control signal. The ground control station can adjust subsequent flight missions based on the real-time feedback data.

8. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 5 is characterized in that: The data switch is controlled by the main control development board to ensure that the data transmission paths of each sensor and camera can be switched in real time as needed, and the order of data transmission path selection is dynamically adjusted by the main control development board according to the sensor type and acquisition requirements. The method includes: S1: The main control board generates signal instructions through the built-in timing control module to control the working state of the data switch. The main control board selects the appropriate sensors and cameras for data transmission in real time based on the current eVTOL flight mode and mission requirements (such as environmental monitoring, attitude control, video acquisition, etc.); S2, the data switch switches the connection path between the sensor and camera according to the signal instruction to ensure data transmission from the selected sensor or camera, and transmits the collected data to the main control development board through a dedicated data path. Whenever the task requirements change, the main control development board dynamically adjusts the data flow based on real-time requirements and sensor status to ensure optimal resource allocation during the data collection process; In S3, the main control board uses a load balancing algorithm to evaluate the data flow of each sensor and camera, and dynamically allocates data transmission paths based on the current data load and bandwidth usage. For example, when collecting high-resolution video data, the main control board will prioritize the video stream transmission path while reducing the burden on other sensor data to avoid bandwidth bottlenecks. In low-power mode, the main control board may shut down some unnecessary sensor modules or select a lower-frequency data collection method. In S4, the data transmission path selection is also dynamically adjusted based on different acquisition requirements and task priorities. For example, when the task switches to obstacle avoidance, the paths of the IMU module and LiDAR module will be activated first to support real-time flight attitude and distance perception; in environmental monitoring tasks, the paths of the temperature and humidity sensor and the light sensor will be activated first. S5, when multiple data transmission paths exist at the same time, the main control development board uses a priority scheduling algorithm to ensure that the most important data stream is transmitted first, avoiding data conflicts and packet loss, and reasonably scheduling between multiple data sources to ensure the real-time and accuracy of the task.

9. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 6 is characterized in that: The method comprises: S1, the main control development board sends a synchronization signal, which triggers each sensor and camera to collect and transmit data in sequence to ensure consistent data collection time; the synchronization signal is generated regularly or on demand by the timing control module of the main control development board, and the triggering timing is dynamically adjusted according to the sensor type and task priority; S2, the main control development board controls the data flow through the data switch and ensures that the data transmission path of the sensor and camera triggered by the synchronization signal is correct to achieve multi-source data acquisition with time synchronization; the triggering of the synchronization signal is dynamically adjusted according to the real-time task and device status. The main control development board intelligently adjusts the period and frequency of the synchronization signal according to the data flow and task priority to ensure the real-time performance of each device and the stability of data transmission.

10. The multi-sensor eVTOL omnidirectional data acquisition, processing, transmission and control device based on a high-performance development board according to claim 7, characterized in that: The flight control module receives flight control signals from the ground control station through the wireless communication module. The flight control signals include flight instructions, attitude adjustment parameters, and flight target information. The main control development board adjusts the flight status of the eVTOL in real time according to the flight control signals. The specific steps include: S1, the main control development board receives the flight control signal transmitted by the ground control station and parses the received flight instructions; S2: The main control board analyzes the priority of the flight control signals and sorts them according to the mission type and current flight status. For example, when receiving flight path adjustment and attitude adjustment commands simultaneously, the main control board will schedule them according to the flight mission priority, giving priority to the control signals that have a greater impact on flight safety. S3, the main control development board uses flight control algorithms and sensor feedback data to perform task scheduling and control the flight device to adjust the eVTOL's flight attitude and target position; S4, the main control board uses task scheduling and priority control algorithms to allocate computing resources among multiple tasks, ensuring that high-priority tasks can respond promptly without affecting the execution stability of low-priority tasks. For example, when performing obstacle avoidance tasks, the flight control module will prioritize adjusting the flight trajectory while ensuring the continuity of other non-critical tasks (such as video transmission); S5, during the flight, the main control development board provides real-time feedback on the flight status (including flight speed, direction, attitude angle, etc.), and transmits the feedback data to the ground control station through the wireless communication module to ensure closed-loop control of the flight mission.

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