CN108313261A

CN108313261A - Walking-instead dual-purpose aircraft and control method

Info

Publication number: CN108313261A
Application number: CN201810413181.9A
Authority: CN
Inventors: 陈子龙
Original assignee: Xihua University
Current assignee: Xihua University
Priority date: 2018-05-03
Filing date: 2018-05-03
Publication date: 2018-07-24

Abstract

The invention relates to a light-weight and compact-structure two-purpose aircraft instead of walking and a control method thereof; the aircraft comprises a support body, the support body consists of a first carbon fiber pipe, a second carbon fiber pipe, a first rotating ring and a second rotating ring, and the rotor motor is arranged at the outer end of the upper part of the first carbon fiber pipe; a driver stands on the bearing body arranged at the center of the first rotating ring, so that the safety is high; the first rotating ring and the second rotating ring can realize angular rotation between the two bracket units, so that the aircraft is better suitable for a flight environment; the aircraft can realize the unsettled low-speed driving and have the ability of strideing across certain high obstacle, strong adaptability, convenient to use, and the aircraft can realize vertical take off and land or coast the take off and land to different conditions, and better adaptation road conditions of traveling still can practice thrift the energy consumption when improving the security, improves the continuation of the journey mileage.

Description

One kind is ridden instead of walk formula double-used aircraft and control method

Technical field

The present invention relates to vehicle technology field, more particularly to one kind is ridden instead of walk formula double-used aircraft and control method.

Background technology

Current more rotary aircraft technologies have been applied in multiple fields, such as take photo by plane, detect, with quadrotor or The gradual maturation of the more rotary aircraft structures of six rotary wind types and control technology, the bearing capacity of more rotary aircrafts are also more next It is bigger, occurred by more rotary aircrafts be used for the manned technology as short distance traffic tool, but it is such improve it is past Toward only quadrotor or the rotor size of the more rotary aircrafts of six rotors is increased, power of motor improves, then in more rotors Formula aircraft center place driver's seat, cause the weight of aircraft larger, and can not effective protection driver safety Property, and general multi-rotor aerocraft is for flight in the low latitude of 100-1000m, flying speed generally 50-100km/h it Between, and if aircraft is for manned, in the spatial domain of 100m or more, flight is breakneck, and such height can not use Parachute, and flying height is higher, can not improve the intensity of driver's cabin to ensure the safety of driver.

Discrepancy actually at some special occasions, such as the doorway of the buildings such as major museum or large-scale library The use of existing traffic above-ground equipment is very inconvenient, often after provided with the pedestrians such as stair, elevator passageway, it is also necessary to Some obstructiveless channels are designed, and obstructiveless channel is also required to transport pedestrian by ancillary equipment；In other field In Jing Zhong, such as campus or in park, often there are some tour bus for transporting passenger, but tour bus can only walk the line completed Road cannot climb some stair or pavement, therefore there is also some inconvenience；

In face of the above problem, it is easier to associate and multi-rotor aerocraft is transported into passenger used in special place, and transporting When it is close as possible with ground and the mode of slower flight, i.e., hanging certain distance is kept to ensure certain obstacle performance, have simultaneously Have preferable safety faces ground aircraft；But the setting flying height of existing manned formula aircraft is higher, flying speed Comparatively fast so that aircraft overall weight is bigger than normal, and structure is not also compact, it is therefore desirable to be set specifically for the characteristics of hanging slower flight A kind of volume smaller is counted, the lighter manned vehicle of weight could effectively adapt to above-mentioned use environment, and existing rotary wind type flies Row device is usually VTOL, and it is close from the ground when, then need to consider better landing mode to save energy consumption, improve Course continuation mileage.

Invention content

In view of the above-mentioned problems, it is an object of the present invention to provide it is a kind of it is light-weight, compact-sized ride instead of walk formula double-used aircraft and Control method.

For achieving the above object, the technical solution adopted in the present invention is：One kind is ridden instead of walk formula double-used aircraft, described Aircraft include stake body, stake body includes more the first carbon fiber pipes of Z-shaped, the top bending of the first carbon fiber pipe and under Portion's bending is fillet turnover, and middle part is close to vertical vertical portion；

Two first carbon fiber pipes, which intersect, to be placed, and is formed the carrier unit of X-shape in a perpendicular, is intersected point In the lower part bending place of zigzag shape, the center line of stake body is set as by the vertical axis in crosspoint；

Along the axis direction of center line, two carrier units that are cross one another, being rotated along center line, two branch are set Crosspoint between frame unit is located at the lower part bending place of the first fibre pipe；

The crosspoint top of two carrier units, the inner side setting of the first carbon fiber pipe can make two carrier unit phases The first rotating ring mutually rotated；The outside setting of the top turning point of first carbon fiber pipe can make two carrier units mutual Second rotating ring of rotation；

Cross slide way is arranged in the upper surface of the Z-shaped upper horizontal part of first carbon fiber pipe, is set on cross slide way The electronic guide-roller type sliding block that can be slid along is set, rotor motor, the output axis connection rotor of rotor motor are installed on sliding block；

The hemispherical that the middle position setting of first rotating ring is horizontal positioned carries shell, carries the horizontal plane and the of shell Horizontal plane where the bottom edge of one rotating ring is concordant, and the lower outside bread for carrying shell wraps up in rubber pad, rubber pad and the first carbon fiber Tie up the lower part bending place interior side contacts of pipe；It carries in the inner cavity of shell and multiple hemispherical slot rollings is set, ball, ball are placed in slot rolling It is also contacted simultaneously with the lateral surface of hemispherical supporting body, supporting body is placed in the inner cavity of carrying shell, makes supporting body can be relative to Shell is carried along arbitrary directional rolling；The upper surface of the supporting body is concordant with the horizontal plane where the top margin of the first rotating ring；

The Z-shaped lower horizontal portion of first carbon fiber pipe is arranged consistent with the structure of aircraft hoisting rack collapsible Guide wheel assembly, guide wheel assembly include guide wheel, and the link assembly being connect with guide wheel, and link assembly can be in the work of electric telescopic rod With lower folding or stretching, extension, guide wheel is made to contact or leave ground with ground；

In the inner cavity of the first carbon fiber pipe or inside of supporting body is arranged solid-state or lithium-ions battery, accumulator with The power cord of rotor motor connects；

The top end setting environment of first carbon fiber pipe investigates component, and environment investigation component is swept including 360 ° of laser Retouch instrument, range sensor；Human body attitude monitoring assembly is set in the supporting body, and flight is arranged in corresponding position on the carrying shell Device attitude monitoring component, the human body attitude monitoring assembly include gyroscope, 3-axis acceleration sensor, weight sensor； The attitude of flight vehicle monitoring assembly includes gyroscope, 3-axis acceleration sensor, height sensor.

Preferably, the human body attitude monitoring assembly is communicated to connect with human body attitude control module；Human body attitude controls Module also with central processing unit communicate to connect, central processing unit also respectively with flight control modules, image processor, guide wheel assembly Communication connection, flight control modules are communicated to connect with attitude of flight vehicle monitoring assembly, rotor motor respectively；Described image processor It is communicated to connect respectively with laser scanner, range sensor.

Preferably, in the carrier unit, it is located at the upper level of first carbon fiber pipe of center line the same side More the second carbon fiber pipes placed vertically are set between part and the lower horizontal portion of another the first carbon fiber pipe；Second The both ends of carbon fiber pipe and one end of metallic pipe coupling bond together, and the other end of metallic pipe coupling is caught in the lateral surface of lantern ring In the location hole of raised head face setting, the lateral surface up or down portion that lantern ring is sleeved on the upper horizontal portions of the first carbon fiber pipe is horizontal On partial lateral surface；First rubber ring is set on the madial wall of location hole, is arranged on the madial wall of the first rubber ring to updip Oblique saw-toothed convex portion, connector are inserted in the portions of lateral side in location hole and are arranged the second rubber ring, the outside of the second rubber ring The saw-toothed convex portion tilted down is set on wall；Acclivitous saw-toothed convex portion and the saw-toothed convex portion tilted down Interlaced, two kinds of saw-toothed convex portions are mutually sliding along raised side when alloing close to each other between connector and location hole It moves and does not transmit axial force, it is convex to withstand on another zigzag for a saw-toothed convex portion when being located remotely from each other between connector and location hole In the serrated slot in the portion of rising and transmit axial force；

Coaxial metal struts are set in the inner cavity of second carbon fiber pipe, the both ends of metal struts respectively with a spiral shell One end connection of spring is revolved, the other end of helical spring is connect behind the inner cavity of connector with the location hole bottom surface of lantern ring, metal After compression bar is packed into the second carbon fiber pipe, helical spring is in most compressed state.

Preferably, the first rotating ring includes horizontal positioned circular outer toroid, nested circular in the inner cavity of outer toroid Interior annular, the vertical portion of outer end at left and right sides of outer toroid and two first carbon fiber pipes in a carrier unit is towards center The side of line is fixedly connected, and arc-shaped fluting, the side wall of interior annular front and rear sides is arranged in the side wall outer end of outer toroid front and rear sides The boss of outer end setting is pierced by arc-shaped fluting, and under the vertical portion of two first carbon fiber pipes in another carrier unit End face is fixedly connected to the side of center line；Arc guide groove is arranged in the top of outer toroid inner cavity below, the bottom end of arc guide groove Arc-shaped rack is set, horizontal positioned driving motor is set in the inner cavity of interior annular, gear is arranged in the shaft of driving motor, Gear stretches out the side wall of interior annular and is engaged with arc-shaped rack；The structure one of the structure of second rotating ring and the first rotating ring It causes, the connection type one of the connection type and the first rotating ring and two carrier units of the second rotating ring and two carrier units It causes.

It is ridden instead of walk according to any one of the above the control method of formula double-used aircraft, the control method includes pilot steering Step, automatic Pilot step；

The pilot steering step is：When aircraft is placed on the ground, the guide wheel of guide wheel assembly is contacted with ground, is driven After the upper supporting body in the person of sailing station, the weight sensor being arranged in supporting body sends driver's body weight parameters to human body attitude control module W, human body attitude control module calculates required lift according to W, and W and lift parameter are sent to central processing unit, centre It manages device and sends control instruction to flight control modules, flight control modules control rotor motor action, aircraft vertical is made to take off And leave ground；After aircraft leaves ground, the guide wheel in guide wheel assembly is packed up, and the height in attitude of flight vehicle monitoring assembly passes Sensor monitors the vertical range h between the bottom surface and ground of carrying shell always, and central processing unit 8 flies according to W and h real-time controls Control module makes h be maintained within the scope of 0.3-0.6m to change the rotating speed of rotor motor；

After aircraft takeoff, the posture for the attitude of flight vehicle monitoring assembly monitoring aircraft being arranged on carrying shell, and according to The posture of aircraft suitably corrects the rotating speed of each rotor motor, and carrying shell in flight course is made to remain horizontality；

When tilting when driver's body forward or backward or to both sides, the gyroscope, the 3-axis acceleration that are arranged on supporting body The angle [alpha] between axis and center line where sensor acquisition trunk, human body attitude control module are driven according to the judgement of α values The driving intention for the person of sailing sends command adapted thereto to central processing unit, and central processing unit 8 retransmits instruction and gives flight control modules tune Whole rotor motor makes aircraft move forward or back or be rotated to both sides；

The monitoring method of the human body attitude monitoring assembly and monitoring of the attitude transducer to human body in balance electric vehicle Method is consistent；The monitoring method of the attitude of flight vehicle monitoring assembly keeps more with the attitude transducer of quadrotor formula aircraft The balance method of rotary aircraft is consistent.

Preferably, the automatic Pilot step is：The position of aircraft that central processing unit is shown according to GPS positioning device And destination locations, flight path is cooked up, and flight path is sent to flight control modules, makes aircraft according to planning Route flies；The map stored in the GPS positioning device is consistent with the map that navigation equipment in ground traffic tools uses, Such as use automobile or bicycle use or walking navigation map；

Full-view camera, range sensor acquire aircraft ambient enviroment image and obstacle distance in real time in flight course Parameter, image processor convert aircraft ambient enviroment image and obstacle distance parameter to the three-dimensional mould in Virtual Space Type, and threedimensional model is sent to central processing unit, memory built in image processor or is also deposited in the Cloud Server of connection Standard three-dimensional model library is stored up, image processor is simultaneously also in each threedimensional model and standard three-dimensional model library in ambient enviroment Master pattern is compared, and the consistent threedimensional model of comparing result is then carried out name label, comparing result it is inconsistent three Dimension module is labeled as unidentified model；Manikin, ground traffic tools mould are included at least in the standard three-dimensional model library Type, road model；

Preferably, in the automatic Pilot step, when GPS positioning device carries out flight road using walking with navigation map Line gauge draw, then when in flight course image processor identify by flight path in there is stair or stepping type elevator model When, central controller judges the model, if the ladder in the model does not move within a certain period of time, judges the ladder For stair, aircraft calculates the gradient of stair at this time, is then flown obliquely upward with fixed gradient and across stair；If should Ladder in model moves within a certain period of time, then judges the ladder for stepping type elevator, central controller is according to three-dimensional at this time The moving track calculation of ladder goes out the speed of service of stepping type elevator in model, and aircraft is made to keep the fortune with stepping type elevator The adaptable speed of scanning frequency degree, then drops on the ladder of stepping type elevator, and close rotor motor, guide wheel and rank when landing Terraced surface contact；When aircraft is transported up to behind outlet by stepping type elevator, restarting rotor motor is flown.

The invention has the advantages that：Stake body by the first carbon fiber pipe, the second carbon fiber pipe, the first rotating ring, Second rotating ring form, rotor motor be mounted on the first carbon fiber pipe upper outer end, stake body it is compact-sized, it is light-weight； Driver stands are safe on the supporting body that the first rotating ring center is arranged；First rotating ring, the second rotating ring can realize two Angle rotation between a carrier unit, preferably adapts to flight environment of vehicle；Aircraft can realize it is hanging travel at a slow speed and with across The more ability of certain altitude obstacle, it is adaptable, it is easy to use.

Description of the drawings

Fig. 1 is aircraft front view；

Fig. 2 is aircraft vertical view；

Fig. 3 is A-A sectional views in Fig. 2；

Fig. 4 is B-B revolved sectional views in Fig. 2；

Fig. 5 is enlarged view I in Fig. 1；

Fig. 6 is supporting body structural schematic diagram；

Fig. 7 is flight control system circuit diagram；

Fig. 8 is that aircraft is crossed street schematic diagram in automatic Pilot step；

Fig. 9 is that aircraft crosses over stair schematic diagram in automatic Pilot step；

Figure 10 is that aircraft takes elevator schematic diagram in automatic Pilot step；

Figure 11 is safe range and investigative range schematic diagram in automatic Pilot step；

Figure 12 is safe range and investigative range schematic diagram when aircraft flies over arrow path in automatic Pilot step；

Figure 13 is flying vehicles control process flow diagram flow chart；

Figure 14 is to encounter stair or elevator controlling flow chart in automatic Pilot step；

Figure 15 is to cross road control flow chart in automatic Pilot step；

Figure 16 is that the crossroad flow chart with traffic lights is passed through in automatic Pilot step；

Figure 17 is that arrow path control flow chart is passed through in automatic Pilot step.

Specific implementation mode

The aircraft of riding instead of walk that a kind of course continuation mileage is high as shown in Fig. 1-Figure 17, the aircraft include stake body 1, branch Frame body 1 includes more the first carbon fiber pipes of Z-shaped 11, and the top bending and lower part bending of the first carbon fiber pipe 11 are that fillet turns Folding, middle part are close to vertical vertical portion；

Two first carbon fiber pipes 11, which intersect, to be placed, and is formed the carrier unit 12 of X-shape in a perpendicular, is intersected Point is set as the center line of stake body 1 by the vertical axis in crosspoint positioned at the lower part bending place of zigzag shape；

Along the axis direction of center line, setting two is cross one another, the carrier units 12 that can be rotated along center line, two Crosspoint between carrier unit 12 is located at the lower part bending place of the first fibre pipe 11；

The crosspoint top of two carrier units 12, the inner side setting of the first carbon fiber pipe 11 can make two holder lists The first rotating ring 2 that member 12 mutually rotates；The outside setting of the top turning point of first carbon fiber pipe 11 can make two branch The second rotating ring 3 that frame unit 12 mutually rotates；First rotating ring 2, the second rotating ring 3 for adjust two carrier units 12 it Between angle, and four first fibre pipes 11 are connected with each other, bear the load in horizontal plane；First rotating ring 2 includes level The circular outer toroid 21 of placement, nested circular interior annular 22, the outer toroid 21, interior annular in the inner cavity of outer toroid 21 22 respectively by bolt or are bolted into a complete annulus shape by two semicircular rings；

The vertical portion of the outer end and two first carbon fiber pipes 11 in a carrier unit 12 of 21 left and right sides of outer toroid Side towards center line is fixedly connected, the arc-shaped fluting of side wall outer end setting of 21 front and rear sides of outer toroid, before interior annular 22 The boss 23 of the side wall outer end setting of both sides is pierced by arc-shaped fluting afterwards, and with two first carbon in another carrier unit 12 Side of the vertical portion lower end towards center line of fibre pipe 11 is fixedly connected；Circular arc is arranged in the top of 21 inner cavity of outer toroid below Arc-shaped rack 24 is arranged in the bottom end of guide groove, arc guide groove, and horizontal positioned driving motor 25 is arranged in the inner cavity of interior annular 22, Gear 26 is arranged in the shaft of driving motor 25, gear 26 stretches out the side wall of interior annular 22 and engaged with arc-shaped rack 24；The The structure of two rotating rings 3 is consistent with the structure of the first rotating ring 2, the connection type of the second rotating ring 3 and two carrier units 12 It is consistent with the first rotating ring 2 and the connection type of two carrier units 12.

The upper surface of the Z-shaped upper horizontal part of first carbon fiber pipe 11 is arranged cross slide way, on cross slide way The electronic guide-roller type sliding block that can be slid along is set, rotor motor 5, the output axis connection rotor of rotor motor 5 are installed on sliding block 6；Can also be the electric telescopic rod that the upper end end set of the first carbon fiber pipe 11 can stretch in the horizontal plane, electric telescopic rod End rotor motor 5 is installed, to realize that rotor 6 can be expanded outwardly mobile or be moved to contract；

The cross slide way can be CCMW45A type motorized rails slider modules, can also be that SBR-80 type balls are led Rail slide unit module can also be the electrodynamic type guide rail slide block module of other models；

The hemispherical that the middle position setting of first rotating ring 2 is horizontal positioned carries shell 7, carries the horizontal plane of shell 7 It is concordant with the horizontal plane where the bottom edge of the first rotating ring 2, carry the bottom edge of the horizontal plane outer edge and the first rotating ring 2 of shell 7 By welding or snapping connection together；

The lower outside bread of carrying shell 7 wraps up in rubber pad 71, the lower part bending place of rubber pad 71 and the first carbon fiber pipe 11 Interior side contacts；It carries in the inner cavity of shell 7 and multiple hemispherical slot rollings is set, place ball 73 in slot rolling, ball 73 is simultaneously also with half The lateral surface of ball bearing body 74 contacts, and supporting body 74 is placed in the inner cavity of carrying shell 7, makes supporting body 74 can be relative to carrying Shell 7 is along arbitrary directional rolling；The upper surface of the supporting body 74 is concordant with the horizontal plane where the top margin of the first rotating ring 2；Institute Friction coefficient different rubber sheet gasket or plastic spacer can be placed by stating in slot rolling, change the rolling resistance of ball 73, be held with adjustment The rolling resistance size of carrier 74；

The folding consistent with the structure of aircraft hoisting rack is arranged in the Z-shaped lower horizontal portion of first carbon fiber pipe 11 Formula guide wheel assembly 9, guide wheel assembly 9 include guide wheel, and the link assembly being connect with guide wheel, and link assembly is that a plane four connects Linkage, one of connecting rod connecting rod are connect with a telescopic rod, so that guide wheel is packed up or is stretched under the action of telescopic rod, are made to lead Wheel contacts or leaves ground with ground；Regenerative braking device is arranged in the shaft of guide wheel, which includes being arranged The conducting wire of generator in guide wheel shaft, generator is connect with rectifier, and the output end of rectifier is connect with accumulator, when winged When row device is in sliding state and needs braking, then starts generator, resistance is generated by generator, and can be by the kinetic energy of aircraft It is converted into electric energy to be stored in accumulator, improves course continuation mileage.

It is arranged in the inner cavity of the first carbon fiber pipe 11 or inside of supporting body 74 or the inner cavity of the first rotating ring 2 solid State or lithium-ions battery, accumulator are connect with the power cord of rotor motor 5；First carbon fiber pipe 11, the second carbon fiber The lateral surface of pipe 4 can be connect with sticking flexible solar panel, solar panel with accumulator, to further increase continuation of the journey Mileage.

Preferably embodiment is：The top end setting environment of first carbon fiber pipe 11 investigates component, and environment is detectd It includes 360 ° of laser scanners 86, range sensor 87 to look into component；Human body attitude monitoring assembly, institute are set in the supporting body 74 State carrying shell 7 on corresponding position setting attitude of flight vehicle monitoring assembly, the human body attitude monitoring assembly include gyroscope 81, 3-axis acceleration sensor 82, weight sensor 84；The attitude of flight vehicle monitoring assembly includes gyroscope 81, the acceleration of three axis Spend sensor 82, height sensor 83；

The human body attitude monitoring assembly is communicated to connect with human body attitude control module 80；Human body attitude control module 80 Also with central processing unit 8 communicate to connect, central processing unit 8 also respectively with flight control modules 81, image processor 85, guide wheel group Part 9 communicates to connect, and flight control modules 81 are communicated to connect with attitude of flight vehicle monitoring assembly, rotor motor 5 respectively；Described image Processor 85 is communicated to connect with laser scanner 86, range sensor 87 respectively.

The gyroscope 81 can be ENC-03MB or ENC-03RC formulas single axis gyroscope or other models for double Wheeled balance car or carry-on gyroscope, the 3-axis acceleration sensor 82 can be that three axis of ADXL335 types accelerates Degree meter or three axis digital acceleration sensor of MMA8451 types can also be other models for dicycly balance car or flight Acceleration transducer on device；Currently used for monitoring human body attitude or the component for monitoring attitude of flight vehicle generally by gyroscope and three Axle acceleration sensor is integrated in a circuit module, such as can directly be used

MPU6050 acceleration modules, internal integration three-axis gyroscope and 3-axis acceleration sensor, the acceleration mould Block can use smartM-M451 chips directly to carry out human body attitude calculating as human body attitude control module 80, can also lead to The human body attitude control module 80 for crossing Du Pont's line and other models communicates to connect, such as using STM32 development boards or as human body Gesture stability module 80；The human body attitude control module 80 can also use the controller of existing two-wheel balancing trolley, example Such as a8 or a9 type two-wheel balance car general purpose controllers；It is more that big boundary DJI A2 or A2M may be used in the flight control modules 81 Rotary wind type flight controller, can also use thunder to interrogate PIXhawk flight controllers, and above two flight controller collects in inside At GPS module, there is GPS positioning function；

360 ° of laser scanners 86 can be that the RB-13K137 type laser scannings of company of Ao Song robots production are surveyed Away from radar, that is, the range radar Built-in Image processing chip and locating module while being also integrated with range sensor 87 and image Processor 85 can also realize surrounding, it can be achieved that aircraft synchronous superposition SLAM on the basis of map structuring Environmental scanning simultaneously carries out 3D reconstructions；Laser scanner 86 can also be 360 ° of laser scanners of SEN-14117 types, and the scanner is same Sample can realize ambient enviroment scanning and 3D Model Reconstructions, and can directly export 3D model datas；Can also be 3irobotics The B0602 type panorama laser scanners or other kinds of laser scanner of company's production；

Since the sweep radius of laser scanner 86 is usually smaller, when aircraft moves at a relatively high speed, laser scanner 86 are difficult to ensure aircraft security, therefore environment investigation component further includes range sensor 87, and range sensor 87 can be Leddar tech M16 solid-state laser radars, can also be SPXc8000G type laser radars, can also be it is other kinds of away from From sensor；

The image processor 85 can be qnx-x86 image recognition development boards, be integrated in the development board CPU, Port DDRII, I/0 etc., cooperation qnx-opencv softwares are, it can be achieved that figure identification function；Inter core i7 can also be used Processor coordinates matlab softwares or photoshop software realization image recognitions；

The environment investigation component can also use the DM460-W type three-dimensional cameras of Tu Yang companies, the camera embedding Enter picture processing chip, can directly export TGB figures, depth map, point cloud chart and the gray-scale map of object, and utilize TGB figures, depth The threedimensional model of figure, point cloud chart structure ambient enviroment, image recognition function is realized using gray-scale map；

The height sensor 83 may be used on existing more rotary aircrafts for measuring more rotary aircrafts The CJMCU-06 SPL06-001 types baroceptors or MS5611-01BA03 types baroceptor of flying height or other models Baroceptor, laser range sensor or ultrasonic distance-measuring sensor can also be used；

The weight sensor 84 can be that Ou Luda TDB-01 types weight transmitters or Air China L6E3-C3 type load-bearing pass The weight sensor of sensor or other models；

The central processing unit 8 can be 2820 type processors of inter core i7 or 5 1600 types of AMD Ryzen Processor or other kinds of processor, and coordinate the mainboard, data storage, memory of respective model, keep central processing unit 8 real A personal computer is constituted on border；When flight control modules 81 or human body attitude control module 80 transmit phase using CAN bus When related parameter, central processing unit 8 can also be 3691-00075 type CAN bus processors or the CAN bus processing of other models Device；At this moment the entire control system of aircraft constitutes CAN bus network, the connection of certain central processing unit 8 and other modules RS-485 buses or RS-232 buses or other kinds of bus can also be used；

In order to improve the whole Anti-pull-press performance of stake body 1, better embodiment is：In the carrier unit 12, In approximately the same plane, the upper horizontal portions and another first carbon of first carbon fiber pipe 11 of center line the same side More the second carbon fiber pipes 4 placed vertically are set between the lower horizontal portion of fibre pipe 11；The both ends of second carbon fiber pipe 4 One end with a metallic pipe coupling 41 bonds together respectively, and the other end of metallic pipe coupling 41 is caught in the lateral surface of lantern ring 42 In the location hole of raised head face setting, lantern ring 42 is sleeved on the lateral surface up or down portion of the upper horizontal portions of the first carbon fiber pipe 11 On the lateral surface of horizontal component；First rubber ring 45 is set on the madial wall of location hole, is set on the madial wall of the first rubber ring 45 Set acclivitous saw-toothed convex portion, connector 41 is inserted in the portions of lateral side in location hole and is arranged the second rubber ring 46, and second The saw-toothed convex portion tilted down is set on the lateral wall of rubber ring 46；Acclivitous saw-toothed convex portion with tilt down Saw-toothed convex portion it is interlaced, two kinds of saw-toothed convex portions can be with when making close to each other between connector 41 and location hole Axial force is mutually slided and does not transmit along raised side, saw-toothed convex portion when being located remotely from each other between connector 41 and location hole It withstands in the serrated slot of another saw-toothed convex portion and transmits axial force；

The metallic pipe coupling 41, lantern ring 42 are made by aluminium alloy or titanium alloy；

Coaxial metal struts 43 are set in the inner cavity of second carbon fiber pipe 4, the both ends of metal struts 43 respectively with One end connection of one helical spring 44, the other end of helical spring 44 pass through the location hole with lantern ring 42 behind the inner cavity of connector 41 Bottom surface connects, and after metal struts 43 are packed into the second carbon fiber pipe 4, helical spring 44 is in most compressed state；The metal pressure Bar 43 is made by spring steel or aluminum alloy materials.

When aircraft takeoff, the lift that the rotation of rotor motor 5 generates is cancelled out each other with aircraft gravity, at this moment the second carbon Fibre pipe 4 bears pulling force effect, makes to be located remotely from each other between connector 41 and location hole, two zigzag protrusions are mutually withstood on together simultaneously Pulling force is transmitted, the helical spring 44 at 43 both ends of metal struts is in pico- open configuration at this time, does not transmit pulling force；

When aircraft lands, guide wheel assembly contacts the impact generated with ground can be from the first carbon fiber pipe 11 to upload It passs, close to each other between connector 41 and location hole at this time, two zigzag protrusions are mutually slided along raised side without transmitting power, Since the helical spring 44 at 43 both ends of metal struts has been in most compressed state, rigid connection, therefore impact force can be regarded as It is communicated up through helical spring 44, metal struts 43, metal struts 43 are in pressured state；

It is passed by the second carbon fiber pipe 4 when being located remotely from each other transmission pulling force between two first carbon fiber pipes 11 of the same side Pulling force is passed, the high ability of the tensile strength of carbon fiber pipe is given full play to；Positioned at the same side two first carbon fiber pipes 11 it Between transmission pressure close to each other when by metal struts 43 transmit pressure, give full play to the good feature of metal rod compression capability, together When avoid the second carbon fiber pipe 4 be pressurized, effectively increase its service life.

Since the purpose of this aircraft is ridden instead of walk with flying, flight altitude control range is about liftoff 0.3-1.2m Between, it can both allow the enjoyment of driver's familiarization flight in this way, while also there is certain obstacle climbing ability, and can effectively improve winged Row safety, and in order to improve cruising ability, while making aircraft that there is better adaptability, it is also provided with guide wheel assembly, by It is very low in this aircraft terrain clearance, and provided with the guide wheel assembly that can be used for sliding, therefore aircraft is in practical flight process In will appear vertical lift or slide the mode of lifting, it is therefore desirable to special control method is designed for its feature, it is described Control method includes pilot steering step, automatic Pilot step；

The pilot steering step is：When aircraft is parked on the ground, the guide wheel of guide wheel assembly 9 is contacted with ground, After the upper supporting body of driver stands 74, the weight sensor 84 that is arranged in supporting body 74 is sent to human body attitude control module 80 to be driven Member body weight parameters W, human body attitude control module 80 calculates required lift according to W, and W and lift parameter are sent to centre Device 8 is managed, central processing unit 8 sends control instruction to flight control modules 81, and it is dynamic that flight control modules 81 control rotor motor 5 Make, so that aircraft vertical is taken off and leave ground；After aircraft leaves ground, the guide wheel in guide wheel assembly 9 is packed up, aircraft appearance Height sensor 83 in state monitoring assembly monitors the vertical range h between the bottom surface and ground of carrying shell 7, central processing always Device 8 makes h be maintained at the model of 0.3-0.6m according to W and h real-time controls flight control modules 81 to change the rotating speed of rotor motor 5 Within enclosing；

After aircraft takeoff, the posture for the attitude of flight vehicle monitoring assembly monitoring aircraft being arranged on carrying shell 7, and according to The posture of aircraft suitably corrects the rotating speed of each rotor motor 5, and carrying shell 7 in flight course is made to remain horizontality；

When tilting when driver's body forward or backward or to both sides, the gyroscope 81, three axis that are arranged on supporting body 74 add The angle [alpha] between axis and center line where the acquisition trunk of velocity sensor 82, human body attitude control module 80 is according to α Value judges the driving intention of driver, sends command adapted thereto to central processing unit 8, central processing unit 8 retransmits instruction to flight Control module 81, which adjusts rotor motor 5, makes aircraft move forward or back or be rotated to both sides；

The monitoring method of the human body attitude monitoring assembly and monitoring of the attitude transducer to human body in balance electric vehicle Method is consistent；The monitoring method of the attitude of flight vehicle monitoring assembly keeps more with the attitude transducer of quadrotor formula aircraft The balance method of rotary aircraft is consistent；

When the foot of driver continuously jams on supporting body 74, weight sensor 84 sends corresponding signal to central processing unit 8, table Show and need to land at this time, then central processing unit 8 sends falling signal to flight control modules 81, controls the rotating speed of rotor motor 5 And direction of rotation, while guide wheel assembly expansion is controlled, so that aircraft vertical is landed or is slided landing, when aircraft slides landing When, it drops to the brake apparatus being arranged on guide wheel behind ground and starts to brake, until aircraft stopping is slided；Central controller 8 can Judge to take vertical landing to jam on the number of supporting body 74 according to driver or slide landing.

The automatic Pilot step is：The position of aircraft and mesh that central processing unit 8 is shown according to GPS positioning device Position, cook up flight path, and flight path is sent to flight control modules 81, make aircraft according to programme path Flight；The map stored in the GPS positioning device is consistent with the map that navigation equipment in ground traffic tools uses, such as Use automobile or bicycle use or walking navigation map；

Full-view camera 86, range sensor 87 acquire aircraft ambient enviroment image and barrier in real time in flight course Distance parameter, image processor 85 convert aircraft ambient enviroment image and obstacle distance parameter to three in Virtual Space Dimension module, and threedimensional model is sent to central processing unit 8, the Cloud Server of memory or connection built in image processor 85 In also store standard three-dimensional model library, image processor 85 is simultaneously also to each threedimensional model and standard three-dimensional mould in ambient enviroment Master pattern in type library is compared, and the consistent threedimensional model of comparing result is then carried out name label, comparing result is not Consistent threedimensional model is labeled as unidentified model；Manikin is included at least in the standard three-dimensional model library, ground is handed over Logical tool model, road model, stair model, stepping type elevator model；The ground traffic tools model, which includes at least, to be multiplied With vehicle model, commercial vehicle model, bicycle model；The road model includes at least the model of highway, crossroad model, mistake Street overline bridge model, level crossing model；

When the full-view camera 86 is laser scanner, following methods may be used and carry out threedimensional model structure：It will The profile of scanning carries out atural object separation and noise reduction process, extracts object, removes measurement noise and shelter, divides using plane Feature point, line, surface are identified and extracted to object with Hough transform, object facade whole matching is carried out and corrects, then to original Beginning measurement data carries out resampling and multi-site splicing registration, obtains revised, complete object facade information, passes through The structure triangulation network establishes 3 d surface model, and threedimensional model is established finally by texture mapping；Certain full-view camera 86 also may be used To directly select the existing product in market, realizes and directly export threedimensional model parameter.

Barrier is encountered in front of the aircraft, and when the height of barrier is less than 0.4m, then aircraft is with across barrier Mode fly, the range of h is maintained between 0.3-1.2m at this time, and the obstacle height in front of aircraft is greater than or equal to When 0.4m, then aircraft is flown in a manner of cut-through object.

In the automatic Pilot step, when GPS positioning device carries out flight path planning using walking with navigation map, Stair are likely to occur in the route of planning to need to climb, it is therefore desirable to stair are identified when aircraft flight,

If Fig. 9-is shown in Fig. 10, when in flight course image processor 85 identify by flight path in three-dimensional When stair or stepping type elevator model occurs in model, central controller 8 judges the model, if the ladder in the model exists It is not moved in certain time, then judges the ladder for stair, aircraft calculates the gradient of stair at this time, then with fixed oblique Degree flight and across stair obliquely upward；If the ladder in the model moves within a certain period of time, the ladder is judged to mark time Formula elevator, at this time central controller 8 go out the speed of service of stepping type elevator according to the moving track calculation of ladder in threedimensional model, And aircraft is made to keep the speed adaptable with the speed of service of stepping type elevator, then drop to the ladder of stepping type elevator On, rotor motor 5 is closed, guide wheel is contacted with stepped surfaces when landing；When aircraft is transported up to outlet by stepping type elevator Afterwards, restarting rotor motor 5 is flown.

Better embodiment is, as shown in Figure 8, in the automatic Pilot step, when being needed in flight path When the case where jaywalking, i.e., image processor 85 identifies the horse that there are transverse gears in front of flight path in threedimensional model Road, then central processing unit 8 extract the speed of multiple barriers travelled in the road of threedimensional model, and according to multiple barriers with The distance between aircraft calculates time T01, T02 ... of the advance route that multiple barriers drive in front of aircraft T0n, to judge whether aircraft needs to stop and wait for；

If T01, T02 ... T0n are all higher than aircraft and cross street required time T00 at this time, aircraft is kept Original speed is crossed street, and otherwise aircraft enters wait state, and calculating aircraft needs the time waited for from now on The computational methods of T1, T1 are the timing from now on of central processing unit 8, calculate T01, T02 ... T0n in real time and are carried out with T00 Comparison, elapsed time when T0n is all higher than T00 until T01, T02 ...；

When T1 is greater than or equal to some level threshold value, then central processing unit 8 controls aircraft and travels to right near road Vertical landing afterwards, and close rotor motor 5 and wait until T01, T02 ... T0n is all higher than T00, and aircraft rises in a vertical manner Fly and crosses street；When T1 be less than or equal to some level threshold value, then central processing unit 8 control aircraft pre-decelerating and with The mode of sliding is landed, and guide wheel is contacted with ground when landing, is then shut off rotor motor 5, aircraft is made to slide under the action of inertia Row a distance, after barrier crosses flight path, aircraft is in a manner of sliding and take off or the mode of taking off vertically is taken off and worn It goes across the road.

As shown in fig. 13 that, when aircraft is by crossroad, even if both sides can encounter if not carrying out vehicle aircraft The case where waiting for red light, therefore preferably implementation steps are：In the automatic Pilot step, central processing unit 8 finds out planning road Needed in line across the crossing with traffic lights, and receive traffic route control system transmission needs across crossing at it is red Green light signals and signal duration；

Traffic route control system is generally controlled by traffic control department, and the traffic light signal at each crossing can pass through cloud in the system Server is wirelessly or 4G aspects are transferred to the external wireless signal transceiver of central processing unit 8, in this way can be more preferable Realization aircraft automatic Pilot when be mutually adapted with highway communication；

Aircraft passes through the method for crossroad as follows：

A. when aircraft is flown to away from crossroad certain distance, judge whether traffic lights are green light, if then entering step Otherwise b enters step c；

B. central processing unit judges that the enough aircraft of green light signals duration are passed through with original speed, then enters step Otherwise d enters step e；

C. central processing unit 80 extracts red signal duration T 2, and by its be stored in Cloud Server or hard disk Time threshold TT1 is compared, if T2 ＞ TT1, enter step i, otherwise enter step j；

D. the multiple barriers occurred in road drive to time T01, T02 ... of the advance route in front of aircraft T0n is all higher than the time T0 that aircraft passes through crossing to use, then enters step f, otherwise enter step e；

E. aircraft slides minimum range S1 needed for landing with roadside distance S more than aircraft at this time, then enters step g, Otherwise h is entered step；

F. aircraft keeps former speed or takes off vertically or slide to take off moving on and passing through crossing；

G. aircraft is landed in a manner of sliding and is parked in roadside, if aircraft has remained static, is remained stationary as, Subsequently into step m；

H. aircraft hovers and vertical landing at a certain distance from from roadside, if aircraft has remained static, It remains stationary as, subsequently into step m；

I. flight control modules 81 adjust the rotating speed of rotor motor 5, and aircraft is made to reduce height and reduction of speed, while guide wheel group Guide wheel expansion in part 9 is contacted with ground, is then shut off rotor motor 5, controlling the brake gear of guide wheel makes its braking, aircraft It is no more than S0 from the total distance for being decelerated to landing parking, S0 is less than S, subsequently into step m；

If j. TT2 ＜ T2≤TT1 enter step k, otherwise enter step 1；

K. flight control modules 81 adjust the rotating speed of rotor motor 5, and aircraft is made to reduce height and reduction of speed, while guide wheel group Guide wheel expansion in part 9 is contacted with ground, is then shut off rotor motor 5, so that aircraft is in sliding state, and aircraft is made to exist The time slided in S0 distances is more than T2；Subsequently into step m；

1. flight control modules 81 adjust the rotating speed of rotor motor 5, so that aircraft is reduced flying speed, ensure that aircraft is sailed The time for crossing S0 is more than T2；Subsequently into step m；

M. traffic lights become green light, are then back to step b.

Aircraft is by using multiple judgment steps when crossroad, so that hovering landing etc. may be implemented in aircraft It waits for, coast stop waiting, slide the modes such as waiting to pass through, the case where preferably adapting to pass through crossroad under different situations, It is effectively saved energy consumption, improves the course continuation mileage of aircraft.

As shown in Figure 11-Figure 12, in automatic Pilot step, acquisition flies in real time for full-view camera 86, range sensor 87 Row device ambient enviroment image and obstacle distance parameter, obtain centered on center line, and radius is all within the scope of the circle of R1 The threedimensional model of object, centered on center line, the distance using center to rotor centers, will be away from aircraft as horizon radius R0 The length at center is that the radius of the circle of 1.5 times of R0 is defined as radius of safety；When the angle of two carrier units 12 is 90 °, ring The radius of investigation R1 of border detecting group is 3.0 times of R0, and radius of safety is 1.5 times of R0：

When showing safety half of the passable peak width D of aircraft road ahead less than or equal to 2 times in threedimensional model Diameter R0, and obstacle height is all higher than equal to 0.3m on both sides of the road in road, i.e. aircraft can not fly in a manner of around both sides barrier When row, central processing unit 80 controls center line rotation of two carrier units 12 around stake body 1, makes two branch according to the size of D Frame unit 12 is reduced relative to the angle of aircraft direction of advance, while the transversely past flight of guide rail of four electronic guide-roller type sliding blocks Device center position guide rail inner end is moved, and four rotors is made to become left and right apart from short, the rectangle of longitudinal separation length relative to center line Lattice structure；Correspondingly, radius of safety R0 is formed by circular safety range and becomes an oval safe range at this time, it is oval The long axis of shape is arranged along aircraft direction of advance；Radius of investigation R1, which is formed by round radius of investigation, becomes an ellipse detection Range, oval long axis are arranged along aircraft direction of advance；

Aircraft down is by road ahead, when front road width is more than some threshold value, then two carrier units 12 Center line around stake body 1 rotates, and the angle of two carrier units 12 is made to be restored to 90 °, while four electronic guide-roller type sliding blocks Transversely guide rail is moved to original position far from aircraft center position, and aircraft restores former speed traveling；

It is revolved relative to the angle of aircraft direction of advance if the width D of aircraft front channel is less than two carrier units 12 The minor axis length of minimum ellipse shape safe range is formed by when going to minimum safe angle β, then aircraft abandons the route simultaneously Again programme path is flown in a manner of detouring.

In the automatic Pilot step, when two carrier units 12 are rotated to relative to the angle of aircraft direction of advance When minimum safe angle β, distance of two rotors in left and right along two nearest rotor edges of circle center line connecting reaches safe distance L0, The major semiaxis of oval investigative range is 3.5 times of R0, and semi-minor axis is 2 times of R0；The major semiaxis of oval safe range is 2 times of R0, Semi-minor axis is 1.2 times of R0.

In structure design, adjustable angle, while rotor motor are designed as between two carrier units 12 of aircraft Be mounted on guide rail, can along guide rail slide to change the position of rotor motor so that aircraft when passing through slype, The position of rotor motor and rotor can change, and the transverse width of aircraft can also reduce, and improve the passability of aircraft Safety when can and pass through arrow path, and by when investigative range and safe range all become ellipse, be particularly suited for Traveling in gallery and detection, improve aircraft passes through performance.

Claims

The formula double-used aircraft 1. one kind is ridden instead of walk, it is characterised in that：The aircraft includes stake body (1), and stake body (1) includes More the first carbon fiber pipes of Z-shaped (11), the top bending and lower part bending of the first carbon fiber pipe (11) are fillet turnover, in Portion is close to vertical vertical portion；

Two first carbon fiber pipes (11), which are intersected, places, and forms the carrier unit (12) of X-shape in a perpendicular, intersects Point is set as the center line of stake body (1) by the vertical axis in crosspoint positioned at the lower part bending place of zigzag shape；Along center line Axis direction, setting two is cross one another, the carrier units (12) that can be rotated along center line, two carrier units (12) it Between crosspoint be located at the lower part bending place of the first fibre pipe (11)；

The crosspoint top of two carrier units (12), the inner side setting of the first carbon fiber pipe (11) can make two holder lists The first rotating ring (2) that first (12) mutually rotate；The outside setting of the top turning point of first carbon fiber pipe (11) can make The second rotating ring (3) that two carrier units (12) mutually rotate；

Cross slide way is arranged in the upper surface of the Z-shaped upper horizontal part of first carbon fiber pipe (11), is set on cross slide way The electronic guide-roller type sliding block that can be slid along is set, rotor motor (5), the output axis connection rotation of rotor motor (5) are installed on sliding block The wing (6)；

The hemispherical that the middle position setting of first rotating ring (2) is horizontal positioned carries shell (7), the level of carrying shell (7) Face is concordant with the horizontal plane where the bottom edge of the first rotating ring (2), and the lower outside bread of carrying shell (7) wraps up in rubber pad (71), The lower part bending place interior side contacts of rubber pad (71) and the first carbon fiber pipe (11)；Multiple half are arranged in the inner cavity of carrying shell (7) Spherical slot rolling, places ball (73) in slot rolling, ball (73) while also contact with the lateral surface of hemispherical supporting body (74), carrying Body (74) is placed in the inner cavity of carrying shell (7), makes supporting body (74) can be relative to carrying shell (7) along arbitrary directional rolling；Institute The upper surface for stating supporting body (74) is concordant with the horizontal plane where the top margin of the first rotating ring (2)；

The Z-shaped lower horizontal portion of first carbon fiber pipe (11) is arranged consistent with the structure of aircraft hoisting rack collapsible Guide wheel assembly (9), guide wheel assembly (9) includes guide wheel, and the link assembly being connect with guide wheel, and link assembly can be in electric expansion It folds or stretches under the action of bar, guide wheel is made to contact or leave ground with ground；

Solid-state or lithium-ions battery, electric power storage is arranged in the inner cavity of first carbon fiber pipe (11) or the inside of supporting body (74) Pond is connect with the power cord of rotor motor (5).

The top end setting environment of first carbon fiber pipe (11) investigates component, and environment investigation component is swept including 360 ° of laser Retouch instrument (86), range sensor (87)；Human body attitude monitoring assembly is set in the supporting body (74), on the carrying shell (7) Attitude of flight vehicle monitoring assembly is arranged in corresponding position, and the human body attitude monitoring assembly includes gyroscope (81), the acceleration of three axis Spend sensor (82), weight sensor (84)；The attitude of flight vehicle monitoring assembly includes gyroscope (81), 3-axis acceleration Sensor (82), height sensor (83).
The formula double-used aircraft 2. one kind according to claim 1 is ridden instead of walk, it is characterised in that：The human body attitude monitoring group Part is communicated to connect with human body attitude control module (80)；Human body attitude control module (80) also with central processing unit (8) communication link It connecing, central processing unit (8) is also communicated to connect with flight control modules (81), image processor (85), guide wheel assembly (9) respectively, Flight control modules (81) are communicated to connect with attitude of flight vehicle monitoring assembly, rotor motor (5) respectively；Described image processor (85) it is communicated to connect respectively with laser scanner (86), range sensor (87).
The formula double-used aircraft 3. one kind according to claim 1 is ridden instead of walk, it is characterised in that：The carrier unit (12) In, it is located at the upper horizontal portions and another first carbon fiber pipe of first carbon fiber pipe (11) of center line the same side (11) more the second carbon fiber pipes (4) placed vertically are set between lower horizontal portion；The both ends of second carbon fiber pipe (4) It bonds together with one end of metallic pipe coupling (41), the lateral surface that the other end of metallic pipe coupling (41) is caught in lantern ring (42) is convex In the location hole of end face setting, lantern ring (42) is sleeved on the lateral surface up or down of the upper horizontal portions of the first carbon fiber pipe (11) On the lateral surface of portion's horizontal component；First rubber ring (45), the inside of the first rubber ring (45) are set on the madial wall of location hole Acclivitous saw-toothed convex portion is set on wall, and connector (41) is inserted in the portions of lateral side in location hole and is arranged the second rubber ring (46), the saw-toothed convex portion tilted down is set on the lateral wall of the second rubber ring (46)；Acclivitous zigzag protrusion Portion and the saw-toothed convex portion tilted down are interlaced, two kinds of saws when keeping connector (41) close to each other between location hole Axial force can mutually be slided along raised side and not transmitted in detent projection portion, when connector (41) is located remotely from each other between location hole One saw-toothed convex portion withstands in the serrated slot of another saw-toothed convex portion and transmits axial force；

Coaxial metal struts (43), the both ends difference of metal struts (43) are set in the inner cavity of second carbon fiber pipe (4) Connect with one end of a helical spring (44), the other end of helical spring (44) pass through behind the inner cavity of connector (41) with lantern ring (42) location hole bottom surface connection, after metal struts (43) are packed into the second carbon fiber pipe (4), helical spring (44) is in maximum and presses Contracting state.
The formula double-used aircraft 4. one kind according to claim 1 is ridden instead of walk, it is characterised in that：First rotating ring (2) includes water The circular outer toroid (21) of placing flat, nested circular interior annular (22), outer toroid (21) are left in the inner cavity of outer toroid (21) Side of the vertical portion towards center line of the outer end of right both sides and two first carbon fiber pipes (11) in a carrier unit (12) Face is fixedly connected, and arc-shaped fluting, the side of interior annular (22) front and rear sides is arranged in the side wall outer end of outer toroid (21) front and rear sides The boss (23) of wall outer end setting is pierced by arc-shaped fluting, and with two first carbon fiber pipes in another carrier unit (12) (11) side of the vertical portion lower end towards center line is fixedly connected；The top of outer toroid (21) inner cavity or following setting circular arc are led Arc-shaped rack (24) is arranged in the bottom end of slot, arc guide groove, and horizontal positioned driving motor is arranged in the inner cavity of interior annular (22) (25), be arranged gear (26) in the shaft of driving motor (25), gear (26) stretch out the side wall of interior annular (22) and with it is arc-shaped Rack (24) engages；The structure of second rotating ring (3) is consistent with the structure of the first rotating ring (2), the second rotating ring (3) and two The connection type of carrier unit (12) is consistent with the connection type of the first rotating ring (2) and two carrier units (12).
The control method of formula double-used aircraft 5. any one according to claim 1 to claim 4 is ridden instead of walk, feature It is：The control method includes pilot steering step, automatic Pilot step；

The pilot steering step is：When aircraft is placed on the ground, the guide wheel of guide wheel assembly (9) is contacted with ground, is driven After the upper supporting body (74) in the person of sailing station, the weight sensor (84) being arranged in supporting body (74) is sent out to human body attitude control module (80) Driver body weight parameters W is sent, human body attitude control module (80) calculates required lift according to W, and W and lift parameter are sent To central processing unit 8, central processing unit 8 sends control instruction, flight control modules (81) control to flight control modules (81) Rotor motor (5) acts, and so that aircraft vertical is taken off and leaves ground；After aircraft leaves ground, leading in guide wheel assembly (9) Wheel is packed up, and the height sensor (83) in attitude of flight vehicle monitoring assembly is monitored always between the bottom surface and ground of carrying shell (7) Vertical range h, central processing unit 8 is according to W and h real-time controls flight control modules (81), to change turning for rotor motor (5) Speed makes h be maintained within the scope of 0.3-0.6m；

After aircraft takeoff, the posture for the attitude of flight vehicle monitoring assembly monitoring aircraft being arranged on shell (7) is carried, and according to winged The posture of row device suitably corrects the rotating speed of each rotor motor (5), and carrying shell (7) in flight course is made to remain horizontality；

When tilting when driver's body forward or backward or to both sides, the gyroscope (81), three axis that are arranged on supporting body (74) add The angle [alpha] between axis and center line where velocity sensor (82) acquisition trunk, human body attitude control module (80) The driving intention of driver is judged according to α values, sends command adapted thereto and central processing unit (8), central processing unit (8) is given to retransmit finger Enable makes aircraft move forward or back or be rotated to both sides to flight control modules (81) adjustment rotor motor (5)；

The monitoring method of the human body attitude monitoring assembly is with attitude transducer in balance electric vehicle to the monitoring method of human body Unanimously；The monitoring method of the attitude of flight vehicle monitoring assembly keeps more rotors with the attitude transducer of quadrotor formula aircraft The balance method of formula aircraft is consistent.
6. a kind of control method of formula double-used aircraft of riding instead of walk according to claim 5, it is characterised in that：Described is automatic Driving procedures are：The position of aircraft and destination locations that central processing unit (8) is shown according to GPS positioning device, are cooked up Flight path, and flight path is sent to flight control modules (81), so that aircraft is flown according to programme path；Described The map stored in GPS positioning device is consistent with the map that navigation equipment in ground traffic tools uses, such as uses automobile Or bicycle use or walking navigation map；

Full-view camera (86), range sensor (87) acquire aircraft ambient enviroment image and barrier in real time in flight course Distance parameter, image processor (85) convert in Virtual Space aircraft ambient enviroment image and obstacle distance parameter to Threedimensional model, and threedimensional model is sent to central processing unit (8), the cloud of memory or connection built in image processor (85) Also store standard three-dimensional model library in server, image processor (85) while also to each threedimensional model and mark in ambient enviroment Master pattern in quasi-three-dimensional model library is compared, and the consistent threedimensional model of comparing result is then carried out name label, right The threedimensional model more inconsistent than result is labeled as unidentified model；Human mould is included at least in the standard three-dimensional model library Type, ground traffic tools model, road model.
7. a kind of control method of formula double-used aircraft of riding instead of walk according to claim 6, it is characterised in that：Described is automatic In driving procedures, when GPS positioning device carries out flight path planning using walking with navigation map, then when image in flight course Processor (85) identify by flight path in there are stair or stepping type elevator model when, central controller (8) is to this Model judged, if the ladder in the model does not move within a certain period of time, judges the ladder for stair, at this time aircraft The gradient of stair is calculated, is then flown obliquely upward with fixed gradient and across stair；If the ladder in the model is one It fixes time interior movement, then judges the ladder for stepping type elevator, central controller (8) is according to the fortune of ladder in threedimensional model at this time Dynamic rail mark calculates the speed of service of stepping type elevator, and the speed of service of aircraft holding and stepping type elevator is made to be adapted Then speed drops on the ladder of stepping type elevator, and close rotor motor (5), and guide wheel is contacted with stepped surfaces when landing； When aircraft is transported up to behind outlet by stepping type elevator, restarting rotor motor (5) is flown.