CN113562173B - Flight device and flight control method - Google Patents
Flight device and flight control method Download PDFInfo
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- 238000009434 installation Methods 0.000 claims abstract description 61
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a flight device and a flight control method, wherein the flight device comprises a wing system, a power system, a sensing system and a flight control system; the wing system is symmetrically provided with a plurality of mounting positions along the central axis of the wing system; the power system comprises a plurality of power modules, and the power modules are mounted on the wing system through mounting positions; the sensing system is used for sensing whether the power module is installed on the installation position; the flight control system is used for calling a corresponding flight control subsystem in the flight control system to perform flight control according to the power information acquired by the sensing system, and the power information comprises the installation position and the installation number of the power modules. The invention solves the problem that a user cannot freely adjust the combination form of the flight module and the flight control system according to task requirements, and improves the applicability of the unmanned flight device.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight device and a flight control method.
Background
With the continuous progress of the technology, the application field of the unmanned aerial vehicle device is more and more extensive, the unmanned aerial vehicle device relates to multiple fields such as military affairs, agriculture, industry and life, and particularly, the unmanned aerial vehicle device obtains remarkable results under application scenes such as frontier defense patrol, emergency rescue, industrial patrol, agriculture and forestry spraying, logistics distribution and the like, and has wide development prospect.
In the development process of the unmanned aerial vehicle, the modularization of the unmanned aerial vehicle becomes an important direction for the development of the field of the unmanned aerial vehicle for the convenience of transportation and maintenance of the unmanned aerial vehicle. Modularized unmanned aerial vehicle can carry out the modularization combination to the customer demand, nevertheless because different combination form need be equipped with different flight control system, the product is sold the back, and the user can't be unfavorable for improving unmanned aerial vehicle device's suitability to the combination form of task demand free adjustment flight module and flight control system.
Disclosure of Invention
Based on the technical problems, the invention provides a flight device and a flight control method, solves the problem that a user cannot freely adjust the combination form of a flight module and a flight control system according to task requirements, and improves the applicability of the unmanned flight device.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the flight device comprises a wing system, a power system, a sensing system and a flight control system; the wing system is symmetrically provided with a plurality of mounting positions along the central axis of the wing system; the power system comprises a plurality of power modules, and the power modules are mounted on the wing system through mounting positions; the sensing system is used for sensing whether the power module is installed on the installation position; the flight control system is used for calling a corresponding flight control subsystem in the flight control system to perform flight control according to the power information acquired by the sensing system, and the power information comprises the installation position and the installation number of the power modules;
the flight control system comprises a judging unit, a selecting unit and a plurality of flight control subsystems; the judging unit is used for receiving the power information acquired by the sensing system and the residual electric quantity information acquired by the power module and judging whether the flight condition is met or not by combining the power information and the residual electric quantity information; the selection unit is used for calling the flight control subsystem corresponding to the power information when the judgment unit judges that the flight condition is met;
the flight conditions comprise that the installation positions of the power modules are symmetrically distributed along the central axis of the wing system, the number of the power modules meets the minimum power requirement of flight, and the residual electric quantity of the power modules meets the flight requirement.
Furthermore, the perception system comprises a visual sensing module, and the visual sensing module is used for collecting visual image information of the installation position.
Further, the perception system comprises a sensor module, and the sensor module is used for collecting state change information of the installation position.
Furthermore, the sensor module is arranged in a preset range of the installation position and preset the installation position information in the flight control system, and the sensor module comprises a pressure sensor or a distance measuring sensor.
Further, the power module comprises a power supply unit and an electric quantity detection unit, and the electric quantity detection unit is used for detecting the residual electric quantity of the power supply unit.
Further, the flight control system further comprises an indicating unit, and the indicating unit is used for giving an alarm when the judging unit judges that the flight condition is not met.
Further, the power module comprises a power control unit and a flight power unit, and the power control unit controls the flight power unit based on the instruction of the flight control system; wherein the flight power unit comprises a vertical take-off and landing power unit and/or a cruise power unit.
A flight control method comprises the flight device, and specifically comprises the following steps:
the flight control system receives power information acquired by the sensing system and residual electric quantity information acquired by the power modules, wherein the power information comprises the installation positions and the installation quantity of the power modules;
the flight control system judges whether flight conditions are met or not by combining the power information and the residual electric quantity information;
and if the flight condition is met, the flight control system calls a flight control subsystem corresponding to the power information to control the flight.
Further, if the flight condition is not met, the flight control system sends alarm information.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, after a user adjusts the power structure of the unmanned aerial vehicle according to the flight mission, the flight control system is utilized to automatically adapt to the adjusted unmanned aerial vehicle, and the flight control is provided for the unmanned aerial vehicle through the flight control subsystem. The problem that a user cannot freely adjust the combination form of the flight module and the flight control system according to task requirements is solved, the application range of the unmanned flight device is widened, and the optimized assembly scheme of the user is facilitated to improve flight performance or reduce energy consumption.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. Wherein:
fig. 1 is a schematic structural diagram of a flight device.
Fig. 2 is a schematic view of a wing system configuration.
Fig. 3 is a schematic structural diagram of a power module.
FIG. 4 is a schematic view of a power plant compartment configuration.
Fig. 5 is a structural block diagram of the flight device.
FIG. 6 is a flow chart of a flight control method.
The airplane comprises a wing system 1, a power module 2, a central wing 3, a central equipment cabin 4, an outer wing 5, an undercarriage 6, a forward-pulling propeller 7, a forward-pulling motor 8, a vertical take-off and landing propeller 9, a vertical take-off and landing motor 10, a front supporting rod 11, a power equipment cabin 12, a rear supporting rod 13, a vertical tail wing 14, a horizontal tail wing 15, an equipment cabin 16, a power battery 17, a vertical take-off and landing motor speed regulator 18, a forward-pulling motor speed regulator 19, a power module power panel 20, a power module control panel 21, a butt-joint structure 22 and a connecting rod 23.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Fig. 1 to 5 are schematic structural views of a flight device according to some embodiments of the present application, and the flight device according to the present application will be described below with reference to fig. 1 to 5. It should be noted that fig. 1-5 are merely exemplary and are not intended to limit the specific shape and configuration of the heeling apparatus.
Referring to fig. 1 and 5, in some embodiments, the flight device includes a wing system 1, a power system, a sensing system, and a flight control system; the wing system 1 is symmetrically provided with a plurality of mounting positions along the central axis of the wing system 1; the power system comprises a plurality of power modules 2, and the power modules 2 are mounted on the wing system 1 through mounting positions; the sensing system is used for sensing whether the power module 2 is installed on the installation position; the flight control system is used for calling a corresponding flight control subsystem in the flight control system to perform flight control according to the power information acquired by the sensing system, and the power information comprises the installation position and the installation number of the power modules;
the flight control system comprises a judging unit, a selecting unit and a plurality of flight control subsystems; the judging unit is used for receiving the power information acquired by the sensing system and the residual electric quantity information acquired by the power module and judging whether the flight condition is met or not by combining the power information and the residual electric quantity information; the selection unit is used for calling the flight control subsystem corresponding to the power information when the judgment unit judges that the flight condition is met;
the flight conditions comprise that the installation positions of the power modules 2 are symmetrically distributed along the axis of the wing system, the number of the power modules 2 meets the minimum power requirement of flight, and the residual electric quantity of the power modules 2 meets the flight requirement.
In this embodiment, a user first selects a number of power modules 2 according to the mission and installs them on the wing system 1. The sensing system senses whether the power module 2 is installed on the installation position or not and feeds back a sensing result to the flight control system. The flight control system can acquire the installation positions and the number of the power modules 2 according to which installation positions are provided with the power modules 2, and accordingly, the corresponding flight control subsystems are selected for flight control.
The judging unit is in signal connection with the sensing system and used for receiving and processing the information collected by the sensing system. The pressure sensor is taken as an example to explain the sensing system, and the judging module is connected with the pressure sensor and used for judging the installation position and the number of the power modules 2 based on the output result of the pressure sensor and further judging whether the preset flight requirement is met according to the installation position and the number of the power modules 2. And when the judgment unit judges that the flight requirements are met, the selection unit selects the corresponding flight control subunit according to the judgment result.
Preferably, the power module comprises a power supply unit and an electric quantity detection unit, and the electric quantity detection unit is used for detecting the residual electric quantity of the power supply unit. Therefore, the residual electric quantity is obtained based on the electric quantity detection unit and fed back to the judgment unit.
Wherein the power module 2 is removably mounted to the wing system 1. The power system of the unmanned aerial vehicle is in a modular structure, so that a customer can adjust the installation mode of the power module 2 according to a flight task, and the application range of the unmanned aerial vehicle is widened. And every power module 2 structure and constitution are the same completely, and inner structure and equipment can be general, also can be general between the independent power module 2, make unmanned aerial vehicle possess very strong interchangeability, when certain power module 2's inner structure/equipment, or whole power module 2 can't work, can replace with other power module 2 or its inside structure/equipment, and needn't change the complete machine, greatly reduced use cost
Preferably, the position information of each installation position can be preset in the flight control system, so that after the sensing system judges that the power module 2 is installed at the installation position, the flight control system can immediately obtain the position information of the power module 2 corresponding to the installation position.
With reference to fig. 2, in particular, for a wing system 1, it comprises a wing body, a central equipment bay 4 and a landing gear 6; the wing main body comprises a central wing 3, and two ends of the central wing 3 are butt-jointed and provided with outer wings 5; the central equipment cabin 4 is mounted in the middle of the central wing 3, a flight control system is arranged in the central equipment cabin 4, and the central equipment cabin 4 is electrically connected with at least one power module 2; the landing gear 6 is symmetrically disposed below the wing body.
Wherein, the central equipment cabin 4 is powered by the power module 2 for operation.
Preferably, the outer wing 5 and the central wing 3 are in a detachable structure, so that the outer wing 5 is in a modular structure, and a user can conveniently replace different outer wings 5 according to flight conditions to carry out flight tasks.
Preferably, the central equipment cabin 4 and the central wing 3 are of a detachable structure, so that the central equipment cabin 4 is of a modular structure, and users can conveniently replace the central equipment cabin 4 with different functions according to different flight tasks.
In some embodiments, the sensing system includes a visual sensing module for collecting visual image information of the installation site.
The vision sensing module acquires the vision image information of the installation position and transmits the vision image information to the flight control system for processing, and the flight control system judges whether the power module 2 is installed on the installation position or not through an image recognition algorithm.
Specifically, the visual sensing module is mounted on the wing system 1.
In some embodiments, the sensing system includes a sensor module for collecting status change information of the installation site.
The sensor module acquires the state change information of the installation position and transmits the state change information to the flight control system for processing, and the flight control system judges whether the power module 2 is installed on the installation position or not according to the change of the state information of the installation position.
Preferably, the sensor module is arranged in a preset range of the installation position and preset the installation position information in the flight control system, and the sensor module comprises a pressure sensor or a distance measuring sensor.
Wherein, to pressure sensor, pressure sensor installs in installation position department, and it judges whether power module 2 is installed to the installation position through the pressure change of installation position.
Wherein, to the range finding sensor, the range finding sensor can be installed on the installation position or wing system 1 department, and it judges whether power module 2 is installed to the installation position through judging whether there is the detection thing at the within range of predetermineeing.
Specifically, the distance measuring sensor may be a laser distance measuring sensor or an ultrasonic distance measuring sensor.
The installation position information of the sensor module is preset in the flight control system, so that the flight control system can distinguish specific sensors based on the installation position information, and the installation information of the power module 2 of which installation position is transmitted back by the sensors is judged.
In some embodiments, the power module includes a power control unit and a flight power unit, the power control unit controlling the flight power unit based on instructions of the flight control system; wherein the flight power unit comprises a vertical take-off and landing power unit and/or a cruise power unit.
Referring to fig. 3, the specific structure of the power module includes a power equipment compartment 12, a tail unit, a cruise power unit and a plurality of vertical take-off and landing power units; the front end of the power equipment cabin 12 is provided with a front stay bar 11, and the rear end of the power equipment cabin is provided with a rear stay bar 13; the tail unit is arranged at the end of the rear stay bar 13, and the displacement system comprises a vertical tail 14 and a horizontal tail 15 which are distributed in a cross shape; the cruise power unit is arranged at the end head of the front support rod 11 and comprises a front pull propeller 7, and the front pull propeller 7 is driven by a front pull motor 8; the vertical take-off and landing power units are arranged on the front support rod 11 and the rear support rod 13 at intervals, each vertical take-off and landing power unit comprises a vertical take-off and landing propeller 9, and the vertical take-off and landing propellers 9 are driven by a vertical take-off and landing motor 10; wherein the power equipment compartment 12 is used to provide driving force for the front pull motor 8 and the vertical take-off and landing motor 10.
Wherein, the fin unit is used for improving unmanned aerial vehicle device flight stability, and vertical fin 14 and horizontal fin 15 that are the cross and distribute have improved unmanned aerial vehicle's horizontal and longitudinal stability to can realize unmanned aerial vehicle's every single move manipulation.
Specifically, horizontal rear wing 15 can deflect from top to bottom, and the effect is to improve unmanned aerial vehicle's longitudinal stability to provide the required yawing moment of unmanned aerial vehicle pitching motion.
The cruise power unit is used for providing power for the unmanned aerial vehicle to advance in the cruising flight phase.
The vertical take-off and landing power unit is used for providing power for vertical take-off and landing, forward flying, backward flying and hovering of the unmanned aerial vehicle.
Preferably, the number of the vertical take-off and landing power units is preferably even, so as to be symmetrically distributed at two ends of the power equipment compartment 12, so that the unmanned aerial vehicle can be more easily in a balanced state, and the flight control is facilitated.
Preferably, referring to fig. 4, the power equipment compartment 12 is provided with connecting rods 23 at front and rear ends thereof, and the connecting rods 23 are detachably connected with the front stay 11 and the rear stay 13, so that the front stay 11 and the rear stay 13 are in a modular structure and can be conveniently replaced.
Make unmanned aerial vehicle in this application have fixed wing unmanned aerial vehicle duration of navigating concurrently through above-mentioned power pack and VTOL power pack that cruises, characteristics and rotor unmanned aerial vehicle VTOL that speed is high, distance are far away, the VTOL mode has strengthened this unmanned aerial vehicle's environmental suitability greatly.
Preferably, the empennage unit, the cruise power unit and the vertical take-off and landing power units are in a detachable structure with the support rods, so that the empennage unit, the cruise power unit and the vertical take-off and landing power units are in a modular structure, and convenience is brought to a user to repair and maintain the empennage unit, the cruise power unit and the vertical take-off and landing power units.
Referring to fig. 4, the power supply unit is integrated within the powerplant bay 12. For the power equipment cabin 12, the power equipment cabin comprises an equipment cabin body 16, a power battery 17, a power control unit and a speed regulating unit; the equipment bay 16 is provided with a plurality of battery bays and docking structures 22 for connection to the installation sites; the power battery 17 is arranged in the battery cabin; the power control unit is in signal connection with the flight control system and comprises a power module power panel 20 and a power module control panel 21; the speed regulating unit is arranged in the equipment cabin 16 and is in signal connection with the power module control board 21, and the speed regulating unit comprises a pull-forward motor speed regulator 19 and a vertical take-off and landing motor speed regulator 18.
Wherein, power battery 17 provides power output for all consumer of unmanned aerial vehicle device. And each power module 2 is provided with a power battery 17, compared with the mode of overall machine centralized power supply in the prior art, the power consumption caused by a longer line is reduced, the distributed design of the power batteries 17 is favorable for reducing the power consumption, and simultaneously is favorable for more accurately obtaining the current and the voltage of the motor, thereby improving the control precision of each power system.
And the distributed power supply structure also has higher reliability, and after one power module 2 fails, the rest power modules 2 can still work normally.
Wherein, the speed regulator 18 of the vertical take-off and landing motor controls the rotating speed of the vertical take-off and landing motor 10, and the speed regulator 19 of the pull-forward motor controls the rotating speed of the pull-forward motor 8; the power module power panel 20 is used for carrying out power management on the power utilization equipment of the power module 2 and external power utilization equipment and monitoring the current and voltage of the motor of the power module 2; the power module control board 21 receives instructions from the flight control system, controls the motor and the motor speed regulator of the power system, monitors the current and the voltage of the power battery 17, and further obtains electric quantity information. Therefore, the power supply unit and the electric quantity detection unit are integrated on the power module control board.
In some embodiments, the flight control system further comprises an indication unit for issuing an alarm when the judgment unit judges that the flight condition is not satisfied.
When the preset flight requirement is not met through judgment, the indicating unit sends alarm information to prompt a user that the current installation mode cannot meet the flight requirement.
Specifically, the alarm mode includes, but is not limited to, at least one of an acoustic alarm mode and an optical alarm mode.
Specifically, different alarming modes can be adopted for different situations which do not meet the flight condition, so that the user can clearly determine the reason for alarming and make corresponding adjustment.
Referring to fig. 6, the present application further discloses a flight control method, including the above-mentioned flight device, specifically including:
s601, the flight control system receives power information acquired by the sensing system and residual electric quantity information acquired by the power modules, wherein the power information comprises the installation positions and the installation quantity of the power modules 2;
s602, the flight control system judges whether flight conditions are met or not by combining the power information and the residual electric quantity information;
and S603, if the flight condition is met, the flight control system calls a flight control subsystem corresponding to the power information to control the flight.
Specifically, the flight conditions include that the installation positions of the power modules 2 are symmetrically distributed along the axis of the wing system, the number of the power modules 2 meets the minimum power requirement of the flight, and the residual capacity of the power modules 2 meets the flight requirement.
Preferably, if the flight condition is not satisfied, the flight control system sends alarm information.
Specifically, the flight conditions include that the installation positions of the power modules 2 are symmetrically distributed along the center line of the wing system 1, the number of the power modules 2 meets the minimum power requirement of the flight, and the residual capacity of the power modules 2 meets the flight requirement.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only used for clearly illustrating the verification process of the invention and are not used for limiting the patent protection scope of the invention, which is defined by the claims, and all the equivalent structural changes made by using the contents of the description and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. Flying device, characterized in that includes:
the wing system (1), the wing system (1) is provided with a plurality of installation positions symmetrically along the central axis of the wing system (1);
the power system comprises a plurality of power modules (2), and the power modules (2) are mounted on the wing system (1) through the mounting positions;
the sensing system is used for sensing whether the power module (2) is installed on the installation position or not;
the flight control system is used for calling a corresponding flight control subsystem in the flight control system to perform flight control according to power information acquired by the sensing system, and the power information comprises the installation position and the installation number of the power modules;
wherein, flight control system includes:
a plurality of flight control subsystems;
the judging unit is used for receiving the power information acquired by the sensing system and the residual electric quantity information acquired by the power module (2) and judging whether flight conditions are met or not by combining the power information and the residual electric quantity information; the flight conditions comprise that the installation positions of the power modules (2) are symmetrically distributed along the axis of the wing system (1), the number of the power modules (2) meets the minimum power requirement of flight, and the residual capacity of the power modules (2) meets the flight requirement;
and the selection unit is used for calling the flight control subsystem corresponding to the power information when the judgment unit judges that the flight condition is met.
2. The heeling apparatus of claim 1, wherein:
the perception system comprises a visual sensing module, and the visual sensing module is used for acquiring visual image information of the installation position.
3. The heeling apparatus of claim 1, wherein:
the sensing system comprises a sensor module, and the sensor module is used for acquiring the state change information of the installation position.
4. A flying device as claimed in claim 3, wherein:
the sensor module is arranged in the preset range of the installation position and preset the installation position information in the flight control system, and the sensor module comprises a pressure sensor or a distance measuring sensor.
5. The heeling apparatus of claim 1, wherein:
the power module (2) comprises a power supply unit and an electric quantity detection unit, and the electric quantity detection unit is used for detecting the residual electric quantity of the power supply unit.
6. The heeling apparatus of claim 1, wherein:
the flight control system further comprises an indicating unit, and the indicating unit is used for giving an alarm when the judging unit judges that the flight condition is not met.
7. The heeling apparatus of claim 1, wherein:
the power module (2) comprises a power control unit and a flight power unit, and the power control unit controls the flight power unit based on the instruction of the flight control system;
wherein the flight power unit comprises a vertical take-off and landing power unit and/or a cruise power unit.
8. Flight control method, comprising a flying device according to any one of claims 1 to 7, characterized in that:
the flight control system receives power information acquired by the sensing system and residual electric quantity information acquired by the power modules (2), wherein the power information comprises the installation positions and the installation quantity of the power modules (2);
the flight control system judges whether flight conditions are met or not by combining the power information and the residual electric quantity information;
and if the flight condition is met, the flight control system calls a flight control subsystem corresponding to the power information to control flight.
9. The flight control method according to claim 8, wherein:
and if the flight condition is not met, the flight control system sends alarm information.
Priority Applications (1)
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