CN108525316B - Autonomous flight system and method of controlling an autonomous flight system - Google Patents
Autonomous flight system and method of controlling an autonomous flight system Download PDFInfo
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- CN108525316B CN108525316B CN201810606941.8A CN201810606941A CN108525316B CN 108525316 B CN108525316 B CN 108525316B CN 201810606941 A CN201810606941 A CN 201810606941A CN 108525316 B CN108525316 B CN 108525316B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 34
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000001276 controlling effect Effects 0.000 claims description 15
- 230000007704 transition Effects 0.000 claims description 15
- 238000004804 winding Methods 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000009954 braiding Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 238000009941 weaving Methods 0.000 description 3
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- 238000012986 modification Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G21/00—Chutes; Helter-skelters
- A63G21/20—Slideways with movably suspended cars, or with cars moving on ropes, or the like
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G21/00—Chutes; Helter-skelters
- A63G21/22—Suspended slideways
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Abstract
The invention discloses an autonomous flight system, which comprises an aircraft, an air track and a sling system for connecting the aircraft and the air track; the flight control system is used for controlling the pilot to drive the aircraft automatically; the aerial track is provided with a power supply electrode for supplying power to the aircraft; the sling system comprises a power supply cable, and the sling system can slide along an air track along with the aircraft when the aircraft flies; the sling system is operable to adjust the length of the power cable between the sling system and the aircraft over a predetermined length by paying out and paying in the power cable. The autonomous flight system provided by the invention provides equipment which can ensure the safety of the user and enable the user experience to truly pilot the pleasure of the airplane for the user, and improves the entertainment experience of the user on the air flight equipment. The invention also provides a method for controlling the autonomous flight system, which has the beneficial effects.
Description
Technical Field
The present invention relates to the field of entertainment devices, and in particular to an autonomous flight system and a method of controlling an autonomous flight system.
Background
With the improvement of the living standard of people, more and more people like to try various more exciting and fresh entertainment projects. However, in order to ensure safety, the existing entertainment projects often have certain limitations, such as roller coasters, and although the high and low corners of the track are changeable, the entertainment projects can only slide on a preset track and are only driven by staff, and devices such as a dodgem can enable users to control driving autonomously, but have the stimulation caused by lack of aerial devices.
Disclosure of Invention
The invention aims to provide an autonomous flight system and a method for controlling the autonomous flight system, which solve the problem of the limitation of the existing entertainment equipment, improve the pleasure of a user in piloting an aircraft and ensure the safety of flight.
In order to solve the technical problems, the invention provides an autonomous flight system, which comprises an aircraft, an air track and a sling system for connecting the aircraft and the air track; the aircraft comprises a fuselage, ducts arranged on two sides of the fuselage, a rotor system arranged in each duct, a cockpit arranged on the fuselage, and a flight control system arranged in the cockpit and capable of enabling a pilot to control the aircraft autonomously; the aerial orbit is provided with a power supply electrode for supplying electric energy for the flight of the aircraft; the sling system comprises a power supply cable, wherein one end of the power supply cable is connected with the aircraft, and the other end of the power supply cable is electrically connected with a power supply electrode of the aerial track; the sling system is arranged on the air track and can slide along the air track along with the aircraft when the aircraft flies; the sling system is operable to adjust a length of the power cable between the sling system and the aircraft over a predetermined length by paying out and paying in the power cable.
The ground central control machine is in communication connection with the flight control systems of the aircrafts so that the ground central control machine can acquire the flight state information of the aircrafts in real time;
the flight control system also includes a voice device and a display device for interaction between the pilot and the ground central control.
The flight control system is further used for sending flight state information of the aircraft to the ground central control computer in real time, so that the ground central control computer can judge whether dangerous flight exists in the aircraft according to the flight state information.
Wherein, at least two groups of ducts are respectively arranged on two sides of the aircraft body, the rotation speed of the rotor wing system in each set of ducts is in a preset speed range, and the rotation speed can be independently controlled and regulated by the flight control system.
The aerial track is a track with an inverted T-shaped cross section, sliding rails are arranged on two sides of the aerial track, and the power supply electrode is positioned on the lower surface of the aerial track; the sling system comprises a pulley block capable of sliding on the aerial track sliding rail, a pantograph electrically connected with the power supply electrode, and a gear system for winding and unwinding the power supply cable.
The gear system comprises a straight gear, a transition guide wheel, a transmission gear and a driving motor; the power supply cable is partially wound on the wheel shaft of the spur gear, and the other part of the power supply cable bypasses the transition guide wheel and is connected with the aircraft; the wheel shaft of the transition guide wheel is also provided with a pressure sensor for determining the tension of the power supply cable to the aircraft by detecting the pressure of the power supply cable to the wheel shaft of the transition guide wheel; the driving motor 36 drives the spur gear to rotate through the transmission gear according to the pulling force, so as to realize the winding and unwinding of the power supply cable.
The power supply cable comprises a power transmission line, at least two steel cables, a steel wire weaving layer wrapping the power transmission line and the steel cables and an insulating jacket wrapping the outer portion of the steel wire weaving layer, wherein the steel wire weaving layer wraps the power transmission line and the inner space of the steel cables and is filled with the insulating layer.
The invention also provides a method for controlling an autonomous flight system, which is applied to the autonomous flight system, and comprises the following steps:
Acquiring current position information and current speed information of each aircraft on the air track in real time, wherein the aircraft is an aircraft which can be controlled and driven by a driver autonomously;
Determining estimated flight trajectories of each aircraft within a preset time period from the current moment according to the current position information and the current speed information;
judging whether the flight distance of any two aircrafts at any moment in the preset time period is smaller than a preset distance value or not according to the estimated flight track;
if so, the flight trajectories of the two aircrafts are adjusted, and any two aircrafts are prevented from collision.
If the flight distance of any two aircrafts at any moment in the preset time period is smaller than a preset distance value, the adjusting of the flight trajectories of the two aircrafts comprises:
If the flight distance of the two aircrafts in the preset time period is smaller than the first preset distance and larger than the second preset distance, a bypass alarm prompt is sent to a driver through a flight control system of the two aircrafts so as to bypass a collision point;
if the flight distance of two aircrafts in the preset time period is smaller than the second preset distance and larger than the third preset distance, sending an alarm prompt to a driver and providing a guiding flight path;
if the flight distance of the two aircrafts in the preset time period is smaller than a third preset distance, taking over the authority of driving the two aircrafts, and adjusting the flight track of the aircrafts according to the current speed information and the estimated flight route; the first preset distance is larger than the second preset distance, and the second preset distance is larger than the third preset distance.
Before the current position information and the current speed information of each aircraft on the air track are acquired in real time, the method further comprises the following steps:
Receiving an instruction sent by a pilot through a flight control system of the aircraft to give up autonomous driving;
transmitting a plurality of pre-planned flight trajectories through the flight control system;
Receiving a selected flight path instruction selected by the driver;
And controlling the aircraft to fly according to the selected flight track.
The autonomous aircraft system provided by the invention has the aircraft which can be controlled to fly by a pilot by the pilot, and is connected with the air track through the power supply cable, so that the pilot can freely control the aircraft to fly according to own will in a certain space, the flight safety of teacher personnel can be ensured, and meanwhile, the user can experience the pleasure of flying in the air. And secondly, the power supply cable is connected with the aerial track and the aircraft, is a flexible connecting part, is telescopic, and provides a large flying space for the aircraft as much as possible while avoiding accidental winding of the power supply cable. In addition, the air orbit and the power supply cable supply power for the normal flight of the aircraft, so that the problem that the difficulty in controlling the flight of the aircraft for a pilot is increased due to the fact that a storage battery with larger mass is arranged in the aircraft is avoided; and the rotor system in the aircraft is arranged in the duct, and parts such as a bare propeller and the like are not provided, so that the safety of surrounding personnel is ensured.
In summary, the autonomous flight system provided by the invention provides users with an entertainment system which can ensure the safety of the users, can enable the users to experience the fun of actually piloting the aircraft, and improves the entertainment experience of the users on the air flight equipment.
The invention also provides a method for controlling the autonomous flight system, which has the beneficial effects.
Drawings
For a clearer description of embodiments of the invention or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a part of an autonomous flight system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an aircraft according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of an aerial track according to an embodiment of the present invention;
FIG. 4 is a schematic view of the internal structure of a sling system according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of the mating connection of the overhead rail of FIG. 3 and the sling system of FIG. 4;
FIG. 6 is a schematic view of a power cable according to an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of a power cable according to an embodiment of the present invention;
FIG. 8 is a flow chart of a method for controlling an autonomous flight system according to an embodiment of the present invention;
Fig. 9 is a flowchart of a method for controlling an autonomous flight system according to another embodiment of the present invention.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic partial structure diagram of an autonomous flight system according to an embodiment of the present invention, and in a specific embodiment of the present invention, the autonomous flight system may include:
An aircraft 1, an aerial track 2, a sling system 3 connecting the aircraft 1 and the aerial track 2;
Specifically, referring to fig. 2, fig. 2 is a schematic structural diagram of an aircraft 1 according to an embodiment of the present invention, where the aircraft 1 includes:
Fuselage 11, ducts 12 provided on both sides of fuselage 11, rotor systems 13 provided in each duct 12, cockpit 14 provided on fuselage 11, and flight control system provided in cockpit 14 for pilot to autonomously control pilot aircraft 1.
The aircraft 1 provided in this embodiment is an aircraft 1 with a duct 12 type propeller, which can provide a larger flying lift force, and can better ensure the safety of surrounding personnel, so as to avoid the problem that surrounding people or objects accidentally touch the rotating rotor wing. In addition, a cockpit 14 is provided in the aircraft 1, a seat for a pilot to sit is provided in the cockpit 14, and a flight control system for controlling the flight of the aircraft 1 is provided in front of the seat. This is similar in construction to a conventional aircraft 1, and is an aircraft 1 that a pilot can autonomously pilot.
Further, in order to avoid the provision of an excessively heavy battery in the aircraft 1, in this embodiment a power supply electrode 21 is provided on the aerial track 2, which power supply electrode 21 electrically connects the power system of the aircraft 1 with an external power supply in order to supply the aircraft 1 with electrical energy for its flight.
Further, the sling system 3 in the present embodiment includes a power supply cable 31, and one end of the power supply cable 31 is connected to the aircraft 1, and the other end is connected to the power supply electrode 21 of the aerial track 2, that is, the power supply electrode 21 of the aerial track 2 and the aircraft 1 are electrically connected by the power supply cable 31.
The power supply cable 31 in the present embodiment is not merely used as a power conducting wire, but the power supply cable 31 is partially retracted inside the suspension cable system 3 and partially extended in the air to connect the suspension cable system 3 and the aircraft 1; because the sling system 3 is arranged on the aerial track 2 and can slide along the aerial track 2, when the aircraft 1 flies, the sling system 3 can be driven by the power supply cable 31 to slide along the aerial track 2 along with the aircraft 1, otherwise, the flight range of the aircraft 1 can be limited to a certain extent due to the limited length of the power supply cable 31, and dangerous driving of the aircraft 1 is avoided.
Further, the suspension cable system 3 in the present embodiment can adjust the length of the power supply cable 31 between the suspension cable system 3 and the aircraft 1 within a preset length range by winding and unwinding the power supply cable 31.
In order to provide the aircraft 1 with a larger flight space as much as possible, a flexible power supply cable 31 is used in the present embodiment. While there is another problem in that if the length of the portion of the power supply cable 31 between the suspension cable and the aircraft 1 is too large, although a large flying space can be provided for the aircraft 1, there is a problem in that entanglement occurs between the aircraft 1 and the power supply cable 31 and between the power supply cables 31.
Therefore, the cable system 3 can shrink and regulate the power supply cable 31, when the distance between the aircraft 1 and the cable system 3 is too small, the cable system 3 shrinks the power supply cable 31, so that the length of the power supply cable 31 between the cable system 3 and the aircraft 1 is reduced, and the cable system approximately presents a straight line state; conversely, when the distance between the aircraft 1 and the suspension cable system 3 is too large, the suspension cable system 3 may extend the power supply cable 31 such that the length of the power supply cable 31 between the aircraft 1 and the suspension cable system 3 increases.
Currently, conventional air entertainment equipment, such as ferris wheels, cableways and the like, is that a user sits on the equipment, and the equipment slides on a preset track, so that the user cannot control the equipment by himself. There is a limit to the entertainment experience of the user.
In addition, for an aircraft 1 like an airplane, since its flight is completely controlled by the pilot, the pilot is required to receive specialized training, so that most people who do not receive specialized training cannot experience the pleasure of piloting the aircraft 1.
Therefore, the autonomous flight system provided by the invention can automatically try to drive even for a driver who does not receive professional training, limits the flight range of the aircraft 1, and ensures the flight safety of the aircraft 1. The intelligent game device can be used as entertainment equipment in places such as amusement parks and the like, and can also be used as exercise equipment for beginners driving an airplane, so that the safety of the driver is ensured while the driver experiences a completely and real driving feeling.
Based on the above embodiment, in order to further secure the flight safety of the aircraft 1, in another specific embodiment of the present invention, it may further include:
Ground central control unit in communication with the flight control systems of the individual aircraft 1. The ground central control unit can acquire flight state information of the aircraft 1 in real time, such as information of the rotation speed of each rotor wing, the control state of a flight control system of the aircraft 1 by a pilot, and the flight position and the flight speed of the aircraft 1.
Furthermore, a voice device and a display device can be arranged on the flight control system, and the ground central control machine can send a guiding driving instruction to a driver through the cooperation of the voice device and the display device so as to help the driver to safely drive the aircraft 1; and when the driver encounters difficulty, the driver can also send a help request to the ground central control machine through the voice device or the display device. Of course, the information sent by the ground central control unit to the flight control system may be sent by a preset program, or may be sent by a ground manager through judgment of the state of the aircraft 1.
Further, in order to ensure that the aircraft 1 is in a safe flight state, the flight control system of the aircraft 1 may send the flight state information of the aircraft 1, including information on the flight position, the flight speed, etc. of the aircraft, to the ground air vehicle in real time. Specifically, a positioning device and a speed sensor connected with a flight control system can be arranged on the aircraft, position information and speed information of the aircraft 1 can be acquired in real time, and the position information and the speed information can be sent to the ground air conditioner in real time through the flight control system. The ground central control machine can determine whether the aircraft 1 flies within a safety range, whether the power supply cable 31 stretches too long, whether the speed of the aircraft 1 is too fast or even exceeds the safety driving degree according to the position information and the speed information, and timely find out abnormal flying conditions; the flight track of the aircraft can be simulated by combining the position information and the speed information, and dangerous flight states such as the possibility of collision and the like between the two aircrafts 1 are determined, so that countermeasures are timely taken to avoid accidents.
Based on any of the above embodiments, in another specific embodiment of the present invention, it may include:
At least two groups of ducts 12 are respectively arranged on two sides of the fuselage 11 of the aircraft 1, and the rotor rotation speed of the rotor system 13 in each group of ducts 12 is in a preset speed range and can be independently controlled and regulated by a flight control system.
It should be noted that, at least two sets of ducts 12 are disposed on two sides of the fuselage 11 of the aircraft 1, so that the aircraft 1 has at least four sets of ducts 12, and it is understood that each set of ducts 12 should be symmetrically disposed on two sides of the fuselage 11. When the rotation speeds of the rotor wings in the ducts 12 are different, the pitching and deflecting of the fuselage 11 in all directions can be realized, and the most realistic flying experience of the aircraft 1 is provided for the pilot. However, in order to avoid that the pilot is not skilled in piloting the aircraft 1, and when the pitch and yaw of the aircraft 1 are adjusted, the adjusting range is too large, so that a flight accident occurs, the rotation speed of each rotor wing can be controlled within a preset speed range, the pitch degree of the fuselage 11 is limited to a certain extent, and the flight speed of the aircraft 1 is limited, so that the flight safety of the aircraft 1 is ensured.
Based on any of the above embodiments, as shown in fig. 3, fig. 4 and fig. 5, fig. 3 is a schematic view of a partial structure of an aerial track 2 provided by an embodiment of the present invention, fig. 4 is a schematic view of an internal structure of a sling system 3 provided by an embodiment of the present invention, and fig. 5 is a schematic view of a cross-sectional structure of a cooperative connection between the aerial track 2 in fig. 3 and the sling system 3 in fig. 4, in another embodiment of the present invention, the method may include:
The aerial track 2 is a track with an inverted T-shaped cross section, sliding rails 22 are arranged on two sides of the aerial track 2, and a power supply electrode 21 is arranged on the lower surface of the aerial track 2;
The sling system 3 comprises a pulley block which can slide on the sliding rail 22 of the aerial track 2, a pantograph which is electrically connected with the power supply electrode 21, and a gear system for winding and unwinding the power supply cable 31.
As shown in fig. 3, the upper and lower surfaces of the part of the air rail 2 extending laterally outwards are provided with slide rails 22. As shown in fig. 4 and 5, the sling system 3 has two sets of pulleys 32, one set of pulleys 32 being positioned on the upper surface of the left and right extension portion of the air rail 2 to slide, and the other set of pulleys 32 being positioned on the lower surface of the slide rail 22 to slide.
Further, a power supply electrode 21 is provided on the lower surface of the overhead track 2, and is electrically connected to one end of a power supply cable 31 of the suspension system 3 via a pantograph of the suspension system 3, so as to supply power to the aircraft 1.
Further, a gear system for winding and unwinding the length of the power supply cable 31 is also provided in the sling system 3.
In particular, in particular embodiments of the present invention, the gear system may include a spur gear 33, a transition pulley 34, a transfer gear 35, and a drive motor 36.
Wherein, the power supply cable 31 is partly wound on the wheel shaft of the spur gear 33, and the other part is connected with the aircraft 1 by bypassing the wheel shaft of the transition guide wheel 34; the wheel shaft of the transition guide wheel 34 is also provided with a pressure sensor for determining the tension of the power supply cable 31 on the aircraft 1 by detecting the pressure of the power supply cable 31 on the transition guide wheel 34;
the driving motor 36 drives the spur gear 33 to rotate through the transmission gear 35 according to the pulling force, so as to realize the winding and unwinding of the power supply cable 31.
Specifically, as shown in fig. 4, the spur gear 33 includes a gear disposed at an end portion and an axle for winding the power supply cable 31, the gear of the spur gear 33 is connected to the driving motor 36 through the transmission gear 35, and when the driving motor 36 drives the transmission gear 35 to rotate, the spur gear 33 can be driven to rotate, so as to adjust whether the power supply cable 31 is wound on the axle of the spur gear 33 or is stretched in the air.
In addition, the transition guide pulley 34 in fig. 4 has two transition guide pulleys, and plays a certain role in buffering the power supply cable 31 from being retracted and released from the gear shaft. One of the two transition pulleys 34 is a fixed pulley and the other is a sliding pulley, and a pressure sensor may be provided on the axle of the fixed pulley for sensing the pressure of the power cable 31 against the fixed pulley.
When the tension of the aircraft 1 to the power supply cable 31 is increased, the distance between the aircraft 1 and the sling system 3 needs to be increased, and when the pressure detected by the pressure sensor is greater than a certain pressure value, the driving motor 36 can drive the spur gear 33 to rotate, so that the length of the power supply cable 31 between the aircraft 1 and the sling system 3 is prolonged; when the distance between the aircraft 1 and the sling system 3 is smaller than the length of the power supply cable 31 extending in the air, the pressure of the power supply cable 31 against the fixed guide wheel will also be relatively small, and the drive motor 36 can drive the spur gear 33 to have more power supply cables 31.
It should be noted that, it is understood that the pulling force of the aircraft 1 on the power supply cable 31 may be decomposed into a horizontal component and a vertical component, and the vertical component does not affect the sliding of the sling system 3 on the aerial track 2. As shown in fig. 6, fig. 6 is a schematic diagram of a horizontal force applied to a power supply cable 31 according to an embodiment of the present invention, in which a component force F of an aircraft 1 on the power supply cable 31 in the horizontal direction can be subdivided into two component forces, one component force F1 in a direction perpendicular to an aerial track 2, and the other component force F2 in a direction parallel or tangential to the aerial track 2. When the force of the aircraft 1 to the power supply cable 31 has an F2 component, the power supply cable 31 can drive the sling system 3 to move towards the direction of F2 because the sling system 3 can slide along the aerial track 2, so that the F2 is finally zero, that is, the vertical plane of the aircraft 1 and the sling system 3 is always perpendicular to the aerial track 2, or fluctuates within a small range from the vertical plane. While the aerial power supply cable 31 may be caused to elongate when F1 increases and the aerial power supply cable 31 may be caused to contract when F1 decreases even to zero.
It can be seen that the sling system 3 in this embodiment can shorten the length of the power supply cable 31 located in the air as much as possible on the basis of providing the maximum flying space for the aircraft 1, thereby greatly reducing the possibility of winding the power supply cable 31 and improving the safety of autonomous flying of the aircraft 1.
Based on any of the above embodiments, as shown in fig. 7, fig. 7 is a schematic cross-sectional view of a power supply cable 31 according to an embodiment of the present invention, and in another specific embodiment of the present invention, the method may include:
The power supply cable 31 includes a power transmission line 311, at least two steel cables 312, a wire braid 313 wrapping the power transmission line 311 and the steel cables 312, and an insulation jacket 314 wrapping the outside of the wire braid 313, wherein the wire braid 313 wraps the power transmission line 311 and the steel cables 312 and an insulation layer is filled in an inner space thereof.
The power transmission lines 311 are generally provided with two steel cables 312, and the number of the steel cables 312 can be determined according to practical situations, so long as the steel cables can bear the tensile force to meet the flight requirement, that is, the steel cables can bear the maximum tensile force of the aircraft 1 to the power supply cable 31. In order to prevent the accidental electric shock of the power supply cable 31, a steel wire braiding layer 313 can be arranged outside the power transmission line 311 and the steel cable 312, which is equivalent to an electrostatic shielding layer and can enhance the bearing capacity of the whole power supply cable to the tensile force; and further an insulating jacket 314 is provided outside the wire braid 313 to further prevent leakage.
In addition, in order to ensure normal power supply of the power line 311, an insulating layer 315 is filled between the power line 311 and the steel cable 312 inside the wire braid 313.
The invention also provides a method for controlling the autonomous flight system, which is applied to the autonomous flight system provided by any embodiment, as shown in fig. 8, and specifically comprises the following steps:
Step S11: and acquiring the current position information and the current speed information of each aircraft on the air track in real time.
In particular, the current location information may be sent to a ground-based central control in real time by a positioning system in the aircraft via a flight controller.
Step S12: and determining estimated flight trajectories of all the aircrafts in a preset time period from the current moment according to the current position information and the current speed information.
The model can be established in advance, and the estimated flight trajectory of the aircraft can be automatically simulated after the current position information and the current speed information are obtained.
Optionally, if the control state of the flight control system, the acceleration of the aircraft and other information of the pilot can be considered to estimate more accurate estimated flight, so as to further ensure flight safety.
Step S13: and judging whether the flight distance of any two aircrafts at any moment in a preset time period is smaller than a preset distance value according to the estimated flight track, if so, entering a step S14, and if not, entering a step S11.
If the distance between the two aircrafts is too small within the preset time period, the danger of collision exists between the two aircrafts, otherwise, if the distance is large, the aircrafts can safely fly.
Step S14: and the flight tracks of the two aircrafts are adjusted, so that any two aircrafts are prevented from collision.
Because the aircraft in the autonomous flight system provided in any of the above embodiments of the present invention is autonomously piloted and maintains a degree of connection to the air rail by means of flexible power supply cables, the flight conditions are more dependent on the pilot than in current conventional air amusement rides, but accidents may be caused if the pilot is operating improperly.
In the embodiment, the flight state of the aircrafts is monitored in real time, so that safe flight among all aircrafts is ensured. Of course, the central control machine in the invention not only monitors whether the two aircrafts which are closer to each other are safe or not, but also can judge whether the aircrafts are faulty or not by combining the control state of the flight control system by the pilot and the flight track of the aircrafts, for example, the pilot operates the flight control system to control the aircrafts to decelerate, but the aircrafts do not decelerate and fly, which means that the aircrafts are in a faulty flight state, so that the fault can be found in time, and corresponding measures can be taken to ensure the safety of the pilot.
In addition, because the power supply cables in the autonomous flight system according to the embodiment of the invention are flexible and telescopic, the problem that the power supply cables are wound due to too close position between two aircrafts may occur, and the winding of the power supply cables can be avoided to a certain extent by monitoring the flight condition of each aircraft in the embodiment.
Alternatively, in another specific embodiment of the present invention, the step S13 and the step S14 may specifically include:
if the flight distance of the two aircrafts in the preset time period is smaller than the first preset distance and larger than the second preset distance, a bypass alarm prompt is sent to a driver through a flight control system of the two aircrafts so as to bypass the collision point.
In this case, when the estimated flight path distance between the two aircrafts is short, the two aircrafts are prevented from suddenly changing the flight direction or the flight speed, which results in the problem that the two aircrafts are in danger of collision.
And if the flight distance of the two aircrafts in the preset time period is smaller than the second preset distance and larger than the third preset distance, sending an alarm prompt to a driver and providing a guiding flight path.
The ground central control machine can quickly make corresponding flight strategies according to the flight conditions of the two aircrafts, so that a driver can safely bypass possible collision points only by directing the flight according to the ground central control machine.
If the flight distance of the two aircrafts in the preset time period is smaller than the third preset distance, taking over the authority of driving the two aircrafts, and adjusting the flight track of the aircrafts according to the current speed information and the estimated flight route.
At this time, two aircrafts are proved to collide with each other with a very high probability, and the ground central control unit can directly take over the aircrafts at the moment and does not allow the driver to control the operation by himself so as to avoid accidents. After taking over the aircraft, the ground central control unit can quickly make countermeasures, such as scram, shrinkage of a power supply cable, course change and the like, according to the current flight condition of the aircraft.
Optionally, in another specific embodiment of the present invention, as shown in fig. 9, the method may further include:
Step S21: an instruction to forego autonomous piloting is received from a pilot via a flight control system of the aircraft.
Step S22: a plurality of pre-planned flight trajectories are sent through a flight control system.
Step S23: and receiving a selected flight path instruction selected by a driver.
Step S24: and controlling the aircraft to fly according to the selected flight track.
It should be noted that, with the autonomous flight system provided by the present invention, not all passengers like to self-drive, and when the driver does not want to self-drive the aircraft for various reasons, for example, sudden physical discomfort, the driver wants to reach the destination as soon as possible, the driver can send instructions to the ground central control via the flight control system. The ground center control provides the driver with a variety of alternative paths, such as a path to a destination point quickly, a path for scenic sightseeing, a path for motivational stimulation, and so forth. After the driver selects the route, the driver can fly according to the preset route. Of course, the monitoring operations of steps S11 to S14 of the above embodiments still need to be performed on the aircraft during the flight so as not to occur unexpectedly, but when the aircraft is found to be close to other aircraft, the flight trajectory of the aircraft is directly adjusted without issuing an alarm.
In the embodiment, various conditions possibly encountered by the aircraft in the flight process are fully considered, corresponding strategies are formulated for the conditions, and various flight experiences of the pilot are met according to the requirements of the pilot on the basis of ensuring the safety of the pilot.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other.
The autonomous flight system and a method of controlling the autonomous flight system provided by the present invention are described above in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. An autonomous flight system comprising an aircraft, an air track, a sling system connecting the aircraft and the air track;
The aircraft comprises a fuselage, ducts arranged on two sides of the fuselage, a rotor system arranged in each duct, a cockpit arranged on the fuselage, and a flight control system arranged in the cockpit and capable of enabling a pilot to control the aircraft autonomously;
The aerial orbit is provided with a power supply electrode for supplying electric energy for the flight of the aircraft;
the sling system comprises a power supply cable, wherein one end of the power supply cable is connected with the aircraft, and the other end of the power supply cable is electrically connected with a power supply electrode of the aerial track; the sling system is arranged on the aerial track, and when the aircraft flies, the power supply cable drives the sling system to slide along the aerial track along with the aircraft; the sling system can adjust the length of the power supply cable between the sling system and the aircraft within a preset length range by winding and unwinding the power supply cable;
At least two groups of ducts are respectively arranged on two sides of the aircraft body, and the rotation speed of a rotor wing of the rotor wing system in each group of ducts is in a preset speed range and can be independently controlled and regulated by the flight control system;
the aerial track is a track with an inverted T-shaped cross section, sliding rails are arranged on two sides of the aerial track, and the power supply electrode is positioned on the lower surface of the aerial track;
The sling system comprises a pulley block capable of sliding on the aerial track sliding rail, a pantograph electrically connected with the power supply electrode and a gear system for winding and unwinding the power supply cable;
the gear system comprises a spur gear, a transition guide wheel, a transmission gear and a driving motor;
The power supply cable is partially wound on the wheel shaft of the spur gear, and the other part of the power supply cable bypasses the transition guide wheel and is connected with the aircraft; the wheel shaft of the transition guide wheel is also provided with a pressure sensor for determining the tension of the power supply cable to the aircraft by detecting the pressure of the power supply cable to the wheel shaft of the transition guide wheel; the driving motor drives the spur gear to rotate through the transmission gear according to the tension so as to realize the winding and unwinding of the power supply cable;
The power supply cable comprises a power transmission line, at least two steel cables and a steel wire braiding layer wrapping the power transmission line and the steel cables.
2. The autonomous flight system of claim 1, further comprising a ground central control communicatively coupled to the flight control systems of each of the aircraft such that the ground central control obtains the flight status information of the aircraft in real time;
the flight control system also includes a voice device and a display device for interaction between the pilot and the ground central control.
3. The autonomous flight system of claim 2, wherein the flight control system is further configured to send flight status information of the aircraft to the ground based on the flight status information in real time, such that the ground based on the flight status information determines whether there is a dangerous flight for the aircraft.
4. An autonomous flight system according to any of claims 1 to 3, wherein the power supply cable further comprises an insulating jacket wrapped outside the wire braid, wherein the wire braid is filled with an insulating layer wrapping the inner space of the power transmission line and the steel cable.
5. A method of controlling an autonomous flight system as claimed in any of the preceding claims 1 to 4, comprising:
Acquiring current position information and current speed information of each aircraft on the air track in real time, wherein the aircraft is an aircraft which can be controlled and driven by a driver autonomously;
Determining estimated flight trajectories of each aircraft within a preset time period from the current moment according to the current position information and the current speed information;
judging whether the flight distance of any two aircrafts at any moment in the preset time period is smaller than a preset distance value or not according to the estimated flight track;
if so, the flight trajectories of the two aircrafts are adjusted, and any two aircrafts are prevented from collision.
6. The method of claim 5, wherein adjusting the flight trajectory of any two of the aircraft if the flight distance of any two of the aircraft at any time during the predetermined time period is less than a predetermined distance value comprises:
If the flight distance of the two aircrafts in the preset time period is smaller than the first preset distance and larger than the second preset distance, a bypass alarm prompt is sent to a driver through a flight control system of the two aircrafts so as to bypass a collision point;
if the flight distance of two aircrafts in the preset time period is smaller than the second preset distance and larger than the third preset distance, sending an alarm prompt to a driver and providing a guiding flight path;
If the flight distance of the two aircrafts in the preset time period is smaller than a third preset distance, taking over the authority of driving the two aircrafts, and adjusting the flight track of the aircrafts according to the current speed information and the estimated flight route;
The first preset distance is larger than the second preset distance, and the second preset distance is larger than the third preset distance.
7. The method of claim 5, further comprising, prior to acquiring in real time current position information and current speed information for each of the aircraft on the air track:
Receiving an instruction sent by a pilot through a flight control system of the aircraft to give up autonomous driving;
transmitting a plurality of pre-planned flight trajectories through the flight control system;
Receiving a selected flight path instruction selected by the driver;
And controlling the aircraft to fly according to the selected flight track.
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| CN109700439B (en) * | 2019-02-19 | 2023-11-21 | 酷黑科技（北京）有限公司 | Data processing method and device and aircraft |
| CN110507998A (en) * | 2019-09-26 | 2019-11-29 | 燕山大学 | It is a kind of can autonomous control simulated flight amusement equipment |
| CN114627720A (en) * | 2021-11-18 | 2022-06-14 | 米建军 | Manned aircraft training device and using method |
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