Single-person low-altitude aircraft based on distributed power and intelligent attitude stabilizing system and control method

Abstract

The invention discloses a single-person low-altitude aircraft based on a distributed power and intelligent attitude stabilizing system and a control method, and relates to the technical field of aviation flight, the single-person low-altitude aircraft comprises a central bearing unit, a control unit and a control unit, the central bearing unit is constructed into a rigid backpack structure conforming to a human body back curve; a distributed propulsion system includes; the pair of main lift ducted fans are symmetrically and pivotally mounted on two sides of the central bearing unit, and ducted nozzles of the main lift ducted fans can be controlled to perform vector deflection; the multiple auxiliary stabilizing ducted fans are installed on the adjustable exoskeleton supports corresponding to the four limbs of the user respectively, the multiple fans disperse propulsive force to the back and the four limbs, a real-time adjusting algorithm is matched, the body balance problem in the flying process is effectively solved, and the user can keep the stable posture without continuously and finely adjusting the limbs. By means of the design, the two hands of an operator can be naturally liberated in the flying process, and the device can be used for executing task operations such as shooting and detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aviation flight technology, in particular to a single-person low-altitude aircraft based on distributed power and intelligent attitude stabilization system and a control method. BACKGROUND

[0002] As a low-altitude carrier for personal use, the single-person aircraft aims to provide vertical take-off and landing and low-altitude maneuvering capabilities for users. Currently, the technical solutions in this field mostly adopt centralized power layout, such as installing a single propeller on the back or installing a propulsion device on the feet.

[0003] Such designs face several significant problems in actual use: when a single propeller is installed on the back, the aircraft needs to maintain balance through complex body adjustments, which requires higher physical and technical skills of the operator; and the foot propulsion scheme makes the user unstable, posing a significant safety risk.

[0004] In addition, traditional propulsion systems generally have the problems of high noise and high energy consumption, which limit the actual application scenarios. The present application addresses the above technical pain points by innovative power distribution and intelligent control system, effectively solving the problems of poor flight stability, complex operation, and noise control. SUMMARY

[0005] To address the deficiencies of the prior art, the present application provides a single-person low-altitude aircraft based on distributed power and intelligent attitude stabilization system and a control method, which solves the technical problems raised in the background art.

[0006] To achieve the above purpose, the present application is implemented by the following technical solution: a single-person low-altitude aircraft based on distributed power and intelligent attitude stabilization system, comprising: a central load-bearing unit configured as a rigid backpack structure conforming to the back curve of the human body; a distributed propulsion system, comprising: a pair of main lift duct fans symmetrically pivoted on both sides of the central load-bearing unit, with their duct nozzles controllable for vector deflection; a plurality of auxiliary stabilization duct fans installed on adjustable exoskeleton supports corresponding to the user's limbs; an intelligent control system integrated in the central load-bearing unit, comprising a sensor group for sensing the environment and the state of the aircraft and a flight controller for processing sensor data and outputting control instructions; wherein the flight controller is configured to: based on the input of the sensor group and the high-level instructions of the operator, cooperatively control the thrust and vector deflection of the main lift duct fans and the differential thrust of the auxiliary stabilization duct fans to achieve active attitude stabilization.

[0007] Preferably, the sensor group comprises multiple of lidar, millimeter wave radar, visual camera, inertial measurement unit and GPS receiver, and the flight controller runs a fusion perception algorithm to construct a three-dimensional environment map and solve the attitude, position and velocity of the aircraft in real time.

[0008] Preferably, the four auxiliary stabilizing ducted fans are fixed on the exoskeleton parts corresponding to the user's left arm, right arm, left lower leg and right lower leg respectively through rigid supports.

[0009] Preferably, the central bearing unit further comprises a super high energy density battery pack arranged in the lower area of the backpack structure to make the center of gravity of the entire aircraft close to the user's trunk center.

[0010] Preferably, the central bearing unit and the adjustable exoskeleton support are mainly composed of carbon fiber composite material to form an integrated lightweight bearing structure.

[0011] Preferably, the method comprises the following steps: receiving an intention instruction from the operator, the intention instruction at least including one of forward, turn, ascend or descend; acquiring multi-source perception data from the sensor group; generating independent control instructions for each ducted fan in the distributed propulsion system based on the multi-source perception data and a preset flight algorithm, wherein the control instructions include thrust and vector deflection control of the main lift ducted fan and differential thrust control of the auxiliary stabilizing ducted fan; executing the control instructions to automatically maintain the stability of the flight attitude of the aircraft through the coordinated action of each fan while realizing the intention of the operator.

[0012] Preferably, the step of "generating independent control instructions" specifically comprises: generating pitch and yaw control moments by adjusting the vector jet angle of the two main lift ducted fans; generating roll control moments and assisting in enhancing yaw and pitch control moments by differentially adjusting the thrust of the auxiliary stabilizing ducted fans located in the four limbs.

[0013] Preferably, it further comprises a fault-tolerant control step: continuously monitoring the working state of each ducted fan in the distributed propulsion system; when identifying that any of the auxiliary stabilizing ducted fans fails and loses thrust, redistributing the thrust of the remaining normal fans based on a preset redundancy control law to maintain the controllability and stability of the aircraft.

[0014] Preferably, it further comprises an automatic obstacle avoidance step: generating an obstacle map of the surrounding environment in real time based on the sensor data; when detecting that there is an obstacle on the current flight path, automatically planning a collision-free detour path and controlling the aircraft to fly along the detour path.

[0015] Preferably, the "receiving intention instruction from operator" is realized by a wireless handheld terminal or voice recognition interface, and the intention instruction is a directional instruction without specific posture or power parameters.

[0016] Advantages The application provides a single-person low-altitude aircraft based on a distributed power and intelligent attitude stabilization system and a control method. The application effectively improves the body balance problem in flight by dispersing the propulsion force to multiple fans on the back and limbs and cooperating with a real-time adjustment algorithm. The user can maintain a stable attitude without continuously making fine limb adjustments. This design allows the operator's hands to be naturally freed during flight, which can be used to perform tasks such as shooting and detection. The ducted fan driven by electricity has significantly lower noise than traditional jet power when running, and is more suitable for use in noise-sensitive areas such as residential areas. The control logic of the entire system simplifies the operation process, and the user can control the flight through intuitive directional instructions, reducing the learning threshold. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 A control principle diagram of the aircraft in a typical flight attitude.

[0018] Fig. 2 A general structure schematic diagram of the aircraft.

[0019] Fig. 3 An architecture block diagram of the power and control system. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0021] Please refer to Figs. 1-3The application provides a technical solution: a single-person low-altitude aircraft based on a distributed power and intelligent attitude stabilization system, comprising: a central bearing unit configured as a rigid backpack structure conforming to the human back curve; a distributed propulsion system, comprising: a pair of main lift duct fans symmetrically pivotally installed on both sides of the central bearing unit, the duct outlets of which can be controlled to be vector deflected; a plurality of auxiliary stabilization duct fans respectively installed on adjustable exoskeleton supports corresponding to the user's limbs; an intelligent control system integrated in the central bearing unit, comprising a sensor group for sensing the environment and the state of the aircraft and a flight controller for processing sensor data and outputting control instructions; wherein the flight controller is configured to: based on the input of the sensor group and the high-level instructions of the operator, cooperatively control the thrust and vector deflection of the main lift duct fans and the differential thrust of the auxiliary stabilization duct fans to achieve active attitude stabilization.

[0022] The embodiment is further provided with the sensor group comprising multiple types of laser radar, millimeter wave radar, visual camera, inertial measurement unit and GPS receiver, and the flight controller runs a fusion perception algorithm to construct a three-dimensional environment map and real-time solve the attitude, position and speed of the aircraft.

[0023] The embodiment is further provided with the number of auxiliary stabilization duct fans being four, and each being fixed on an exoskeleton part corresponding to the user's left arm, right arm, left lower leg and right lower leg through a rigid support.

[0024] The embodiment is further provided with the central bearing unit further comprising a super-high energy density battery pack arranged in the lower area of the backpack structure to make the center of gravity of the entire aircraft close to the user's trunk center.

[0025] The embodiment is further provided with the central bearing unit and the adjustable exoskeleton support being mainly composed of carbon fiber composite material to form an integrated lightweight bearing structure.

[0026] The embodiment is further provided with the following steps: receiving an intention instruction from the operator, the intention instruction at least including one of forward, turn, ascend or descend; acquiring multi-source perception data from the sensor group; based on the multi-source perception data and a preset flight algorithm, generating independent control instructions for each duct fan in the distributed propulsion system, wherein the control instructions include thrust and vector deflection control of the main lift duct fan and differential thrust control of the auxiliary stabilization duct fan; executing the control instructions to make the aircraft realize the operator's intention while automatically maintaining the stability of the flight attitude through the cooperative action of each fan.

[0027] The embodiment is further configured to generate independent control instructions by adjusting the vector jet angle of the two main lift duct fans to generate pitch and yaw control moments, and by differentially adjusting the thrust of the auxiliary stabilizing duct fans located on the limbs to generate roll control moments and assist in enhancing the yaw and pitch control moments.

[0028] The embodiment is further configured to include a fault-tolerant control step of continuously monitoring the working state of each duct fan in the distributed propulsion system, and when a failure of any of the auxiliary stabilizing duct fans is identified, reallocating the thrust of the remaining normal fans based on a pre-set redundancy control law to maintain controllability and stability of the aircraft.

[0029] The embodiment is further configured to include an automatic obstacle avoidance step of generating a real-time obstacle map of the surrounding environment based on the sensor data, and when an obstacle is detected on the current flight path, automatically planning a collision-free detour path and controlling the aircraft to fly along the detour path.

[0030] The embodiment is further configured to receive the intention instructions from the operator through a wireless handheld terminal or a voice recognition interface, and the intention instructions are directional instructions without specific attitude or power parameters.

[0031] The detailed connection means is a technology known in the art, and the working principle and process are described below. The specific work is as follows.

[0032] Embodiment: The core of the aircraft is the overall layout of "central load-bearing backpack + four-limb distributed duct fans", which realizes stable and reliable single-person flight in cooperation with an advanced intelligent flight control system. In terms of mechanical structure, the central load-bearing unit is made of carbon fiber composite material and is integrally formed into a rigid skeleton that conforms to the human back curve. The lower part integrates an 800V / 20kWh high-energy-density battery pack as the system gravity center. Two main lift duct fans with a diameter of 280mm are symmetrically installed on both sides of the backpack through a universal joint mechanism, driven by 50kW permanent magnet synchronous motors, and the jet nozzle is equipped with movable guide vanes to realize ±25 degree vector deflection. Four auxiliary stabilizing duct fans with a diameter of 120mm are installed on adjustable carbon fiber-titanium alloy exoskeleton supports, two of which are located at the forearm position and two at the lower leg tibia position, each driven by a 15kW brushless motor. The sensor system integrates a 16-line laser radar, a 4D imaging millimeter wave radar, a stereo vision camera, a nine-axis IMU, and a differential GPS module to realize environment perception and state estimation through multi-source data fusion.

[0033] The implementation of the control system is based on a flight control computer with a heterogeneous computing architecture, which runs upper-layer task management and intelligent algorithms based on ROS2 using a multi-core ARM processor, and an FPGA is responsible for the lower-layer real-time control. When the operator inputs the flight intention through the wireless handheld controller, the system performs sensor data fusion at a frequency of 100Hz, fuses IMU and GPS data to calculate the real-time attitude through a complementary filter, and constructs a three-dimensional environment map using laser radar, millimeter wave radar and vision data. The active attitude stabilization algorithm adopts a combination of PID and fuzzy control, when the attitude deviation is detected, the required compensation moment is accurately distributed to the six actuators through the control distribution matrix: the pitch control is realized through the differential thrust and vector deflection of the main lift fan, the roll control is mainly realized through the differential thrust of the four limb stabilizing fans, and the yaw control is completed by relying on the anti-symmetric vector deflection of the main lift fan in cooperation with the four limb fans. In terms of safety redundancy, the system continuously monitors the working state of each fan, and when any stabilizing fan fails, the fault-tolerant control algorithm will immediately redistribute the thrust combination of the remaining fans, for example, when the right front arm fan fails, the balance is maintained by increasing the right calf fan thrust, adjusting the left fan differential, and cooperating with the main fan vector deflection. The obstacle avoidance function processes the environment map in real time, generates a fly-around path based on the A* algorithm when an obstacle is detected, and converts the path tracking instructions into coordinated control of each fan.

[0034] This embodiment realizes intelligent conversion from simple operator instructions to complex flight attitude through deep cooperation of hardware architecture and software algorithm, enabling untrained users to safely and stably fly at low altitudes, while ensuring system reliability through distributed power layout and multiple safety redundancies. While achieving "intuitive" operation, the entire system provides stability and safety beyond traditional single-person aircraft solutions, providing a feasible technical path for the practicalization of personal low-altitude aircraft.

[0035] It should be noted that, in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

Claims

1. A single-person low-altitude aircraft based on a distributed power and intelligent attitude stabilization system, characterized in that, Comprising: a central load-bearing unit configured as a rigid backpack structure to fit the human back curve; a distributed propulsion system comprising: a pair of main lift ducted fans symmetrically pivotally mounted on both sides of the central load-bearing unit, whose ducted nozzles can be controlled to vectorially deflect; a plurality of auxiliary stabilizing ducted fans respectively mounted on adjustable exoskeleton supports corresponding to the user's limbs; an intelligent control system integrated in the central load-bearing unit, comprising a sensor group for sensing the environment and its own state, and a flight controller for processing sensor data and outputting control instructions; wherein the flight controller is configured to cooperatively control the thrust and vector deflection of the main lift ducted fans and the differential thrust of the auxiliary stabilizing ducted fans based on the input of the sensor group and the high-level instructions of the operator, to achieve active attitude stabilization.

2. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system according to claim 1, characterized in that, The sensor group includes multiple types of sensors such as laser radar, millimeter wave radar, visual camera, inertial measurement unit and GPS receiver, and the flight controller runs a fusion perception algorithm to construct a three-dimensional environment map and real-time solve the attitude, position and speed of the aircraft itself.

3. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system according to claim 1, characterized in that, The number of auxiliary stabilizing ducted fans is four, and they are fixed on the exoskeleton parts corresponding to the user's left arm, right arm, left lower leg and right lower leg through rigid supports.

4. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system according to claim 1, characterized in that, The central load-bearing unit also includes a super-high energy density battery pack arranged in the lower area of the backpack structure to make the center of gravity of the entire aircraft close to the user's torso center.

5. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system according to claim 1, characterized in that, The central load-bearing unit and the adjustable exoskeleton support are mainly composed of carbon fiber composite materials, forming a lightweight integrated load-bearing structure.

6. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system and the control method according to claim 1, characterized in that, Comprising the following steps: Receiving intention instructions from the operator, which at least include one of forward, turn, ascend or descend; Obtaining multi-source perception data from the sensor group; Based on the multi-source perception data and the preset flight algorithm, independent control instructions for each ducted fan in the distributed propulsion system are generated, including thrust and vector deflection control for the main lift ducted fans, and differential thrust control for the auxiliary stabilizing ducted fans; Executing the control instructions makes the aircraft realize the operator's intention while automatically maintaining the stability of the flight attitude through the cooperative action of each fan.

7. The single-person low-altitude aircraft based on the distributed power and intelligent attitude stabilization system and the control method according to claim 6, characterized in that, The step of "generating independent control instructions" specifically includes: Generating pitch and yaw control moments by adjusting the vector nozzle angles of the two main lift ducted fans; Generating roll control moments by differentially adjusting the thrust of the auxiliary stabilizing ducted fans on the limbs, and assisting to enhance the yaw and pitch control moments. 8.The single-person low-altitude aircraft and control method based on a distributed power and intelligent attitude stabilization system according to claim 6, characterized in that, Also including a fault-tolerant control step: Continuously monitoring the working state of each ducted fan in the distributed propulsion system; When any of the auxiliary stabilizing ducted fans is identified to have failed and lost thrust, based on the preset redundancy control law, the thrust of the remaining normal fans is redistributed to maintain the controllability and stability of the aircraft. 9.The single-person low-altitude aircraft and control method based on a distributed power and intelligent attitude stabilization system according to claim 6, characterized in that, Also including an automatic obstacle avoidance step: Generating a barrier map of the surrounding environment in real time based on the sensor data; When detecting that there is an obstacle on the current flight path, an automatic collision-free detour path is planned and the aircraft is controlled to fly along the detour path.

10. The single-person low-altitude vehicle based on the distributed power and intelligent attitude stabilization system and the control method according to claim 6, characterized in that, The "receiving an intention instruction from an operator" is realized through a wireless handheld terminal or a voice recognition interface, and the intention instruction is a directional instruction without specific attitude or power parameters.

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