阅读说明：本技术 载人飞行器降落伞控制方法、控制器系统及载人飞行器 (Manned aircraft parachute control method, controller system and manned aircraft ) 是由 赵德力 谢鹏 周双久 于 2021-08-26 设计创作，主要内容包括：本申请是关于一种载人飞行器降落伞控制方法、控制器系统及载人飞行器。该载人飞行器降落伞控制方法包括：接收飞控系统的指令或传感器检测的姿态数据；根据所述飞控系统的指令为开伞指令或所述传感器检测的姿态数据为异常姿态数据,触发开伞信号；根据所述触发的开伞信号,控制载人飞行器的降落伞执行开伞动作。本申请提供的方案,能够实现自动控制降落伞操作,从而提升载人飞行器的降落伞开启成功率和降落安全。(The application relates to a manned aircraft parachute control method, a controller system and a manned aircraft. The manned aircraft parachute control method comprises the following steps: receiving instructions of a flight control system or attitude data detected by a sensor; triggering an parachute opening signal according to the fact that the command of the flight control system is a parachute opening command or the attitude data detected by the sensor is abnormal attitude data; and controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal. The scheme that this application provided can realize the automatic control parachute operation to promote manned aircraft's parachute opening success rate and landing safety.)

1. A manned aircraft parachute control method is characterized by comprising the following steps:

receiving instructions of a flight control system or attitude data detected by a sensor;

triggering an parachute opening signal according to the fact that the command of the flight control system is a parachute opening command or the attitude data detected by the sensor is abnormal attitude data;

and controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal.

2. The method of claim 1, wherein receiving instructions for an flight control system comprises:

receiving an instruction of the flight control system received by a CAN receiver, wherein the CAN receiver comprises at least two CAN transceivers which are communicated with the flight control system.

3. The method of claim 1, wherein receiving sensor-detected pose data comprises:

and receiving fuselage attitude, speed and acceleration data of the manned aircraft detected by an accelerometer and a gyroscope.

4. The method of claim 3, further comprising:

receiving flight altitude data of the manned aircraft detected by a barometer.

5. The method of claim 1, wherein triggering an umbrella opening signal based on the attitude data detected by the sensor being abnormal attitude data comprises:

and after the communication with the flight control system is lost, triggering an parachute opening signal according to the condition data detected by the sensor as abnormal condition data.

6. The method according to claim 1, wherein after controlling the parachute of the manned aircraft to perform the parachute opening action according to the triggered parachute opening signal, the method further comprises:

and receiving the parachute opening state data of the parachute fed back after the parachute opening actuator executes the parachute opening action.

7. The method of claim 6, further comprising:

and storing the attitude data and/or the umbrella opening state data through a Flash memory.

8. A controller system for a manned aircraft, comprising:

the receiving module is used for receiving instructions of the flight control system or attitude data detected by the sensor;

the processor module is used for triggering an parachute opening signal according to the fact that the command of the flight control system received by the receiving module is a parachute opening command or the posture data detected by the sensor is abnormal posture data;

and the parachute opening control module controls a parachute of the manned aircraft to execute parachute opening actions according to the parachute opening signal triggered by the processor module.

9. The controller system of claim 8, wherein the receiving module comprises:

the flight control communication module is used for receiving an instruction of the flight control system received by the CAN receiver, wherein the CAN receiver comprises at least two CAN transceivers, and the at least two CAN transceivers are communicated with the flight control system.

10. The controller system of claim 8, wherein the receiving module comprises:

the attitude module is used for receiving fuselage attitude, speed and acceleration data of the manned aircraft detected by the arranged accelerometer and gyroscope;

and the altitude module is used for receiving the flight altitude data of the manned aircraft detected by the arranged barometer.

11. The controller system according to any one of claims 8 to 10, further comprising:

and the parachute opening feedback module is used for feeding back the parachute opening state data of the parachute to the processor module according to the received execution action of the parachute opening actuator.

12. The controller system of claim 11, further comprising:

and the data storage module is used for storing the attitude data received by the receiving module and/or the umbrella opening state data fed back by the umbrella opening feedback module through a Flash memory.

13. The controller system according to any one of claims 8 to 10, further comprising:

and the power supply management module is used for supplying power to the controller system through an external power supply and the set dual-redundancy battery combination.

14. A manned vehicle, characterized in that:

comprising a flight control system and a controller system according to any of claims 8-13.

Technical Field

The application relates to the technical field of aircrafts, in particular to a manned aircraft parachute control method, a controller system and a manned aircraft.

Background

Manned aircraft are generally provided with a complete machine parachute (hereinafter simply referred to as parachute) for achieving complete machine landing in emergency and when needed.

In the related technology, the parachute opening control mode is that a driver can only realize parachute opening by pulling a mechanical structure of a fuselage, but the manual control of the parachute of the aircraft requires that the driver has rich experience, and the parachute opening time is judged according to the experience; personnel without specialized training are generally difficult to operate; in addition, in an emergency, the driver may not be able to manually operate the vehicle.

Therefore, the parachute control method in the related art cannot achieve automatic control, and safety performance needs to be improved.

Disclosure of Invention

In order to solve or partially solve the problems in the related art, the application provides a manned aircraft parachute control method, a controller system and a manned aircraft, which can realize automatic control of parachute operation, thereby improving the parachute opening success rate and landing safety of the manned aircraft.

The application provides in a first aspect a manned aircraft parachute control method, including:

receiving instructions of a flight control system or attitude data detected by a sensor;

triggering an parachute opening signal according to the fact that the command of the flight control system is a parachute opening command or the attitude data detected by the sensor is abnormal attitude data;

and controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal.

In one embodiment, the receiving instructions of the flight control system includes:

receiving an instruction of the flight control system received by a CAN receiver, wherein the CAN receiver comprises at least two CAN transceivers which are communicated with the flight control system.

In one embodiment, the receiving attitude data detected by the sensor includes:

and receiving fuselage attitude, speed and acceleration data of the manned aircraft detected by an accelerometer and a gyroscope.

In one embodiment, the method further comprises:

receiving flight altitude data of the manned aircraft detected by a barometer.

In one embodiment, the triggering an umbrella opening signal according to the abnormal posture data detected by the sensor comprises:

and after the communication with the flight control system is lost, triggering an parachute opening signal according to the condition data detected by the sensor as abnormal condition data.

In one embodiment, after the controlling the parachute of the manned aircraft to perform the parachute opening action according to the triggered parachute opening signal, the method further comprises the following steps:

and receiving the parachute opening state data of the parachute fed back after the parachute opening actuator executes the parachute opening action.

In one embodiment, the method further comprises:

and storing the attitude data and/or the umbrella opening state data through a Flash memory.

A second aspect of the present application provides a controller system for a manned aircraft, comprising:

the receiving module is used for receiving instructions of the flight control system or attitude data detected by the sensor;

the processor module is used for triggering an parachute opening signal according to the fact that the command of the flight control system received by the receiving module is a parachute opening command or the posture data detected by the sensor is abnormal posture data;

and the parachute opening control module controls a parachute of the manned aircraft to execute parachute opening actions according to the parachute opening signal triggered by the processor module.

In one embodiment, the receiving module comprises:

the flight control communication module is used for receiving an instruction of the flight control system received by the CAN receiver, wherein the CAN receiver comprises at least two CAN transceivers, and the at least two CAN transceivers are communicated with the flight control system.

In one embodiment, the receiving module comprises:

the attitude module is used for receiving fuselage attitude, speed and acceleration data of the manned aircraft detected by the arranged accelerometer and gyroscope;

and the altitude module is used for receiving the flight altitude data of the manned aircraft detected by the arranged barometer.

In one embodiment, the controller system further comprises:

and the parachute opening feedback module is used for feeding back the parachute opening state data of the parachute to the processor module according to the received execution action of the parachute opening actuator.

In one embodiment, the controller system further comprises:

and the data storage module is used for storing the attitude data received by the receiving module and/or the umbrella opening state data fed back by the umbrella opening feedback module through a Flash memory.

In one embodiment, the controller system further comprises:

and the power supply management module is used for supplying power to the controller system through an external power supply and the set dual-redundancy battery combination.

A third aspect of the present application provides a manned vehicle comprising a flight control system and a controller system as described above.

The technical scheme provided by the application can comprise the following beneficial effects:

according to the parachute control method, the parachute opening signal can be triggered according to the fact that the command of the flight control system is the parachute opening command or the attitude data detected by the sensor is abnormal attitude data, and then the parachute of the manned aircraft is controlled to execute the parachute opening action according to the parachute opening signal. Therefore, the manned aircraft can automatically perform parachute opening actions according to the instructions of the flight control system or attitude data detected by the sensor as judgment basis for parachute opening without manual control, the parachute of the manned aircraft is automatically controlled to improve the parachute opening success rate, and the manned aircraft can safely land no matter whether a driver has abundant experience of manually operating the parachute or meets the situations that manual operation cannot be performed in emergency and the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic flow chart illustrating a method for controlling parachutes of a manned aircraft in accordance with an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating a method for controlling a parachute of a manned aircraft in accordance with another embodiment of the present application;

FIG. 3 is a schematic flow chart diagram illustrating a method for controlling a parachute of a manned aircraft in accordance with another embodiment of the present application;

FIG. 4 is a block diagram illustrating a schematic configuration of a controller system for a manned aircraft according to an embodiment of the present application;

FIG. 5 is a block diagram schematically illustrating a configuration of a controller system for a manned aircraft according to another embodiment of the present application;

fig. 6 is a block diagram schematically illustrating a structure of an electronic device according to an embodiment of the present application.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the related art, the parachute opening control mode of the parachute is that a driver can only open the parachute by pulling a mechanical structure of the parachute body, and the parachute cannot be automatically controlled to open. In view of the above problems, the embodiments of the present application provide a method for controlling a parachute of a manned aircraft, which can realize automatic control of the parachute operation, thereby improving the landing safety of the manned aircraft.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a parachute control method for a manned aircraft according to an embodiment of the present application. This embodiment is applied to a controller system of a manned aircraft.

Referring to fig. 1, the method includes:

step S101 is to receive an instruction of the flight control system or attitude data detected by a sensor.

The receiving of the instruction of the flight control system may include: receiving instructions of the flight control system received by a Controller Area Network (CAN) receiver, wherein the CAN receiver includes at least two CAN transceivers, and the at least two CAN transceivers are communicated with the flight control system.

Wherein receiving the gesture data detected by the sensor may include: fuselage attitude, velocity and acceleration data of the manned vehicle detected by the accelerometer and gyroscope are received. In addition, the flight altitude data of the manned aircraft detected by the barometer can be further received.

And S102, triggering an parachute opening signal according to the fact that the command of the flight control system is a parachute opening command or the posture data detected by the sensor is abnormal posture data.

According to the embodiment of the application, if the preset condition is met, the parachute opening signal is triggered. For example, the parachute opening signal is triggered when the command of the flight control system is a parachute opening command or the attitude data detected by the sensor is abnormal attitude data. In general, the parachute opening signal can be triggered according to the abnormal attitude data detected by the sensor after communication with the flight control system is lost.

And step S103, controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal.

Wherein, can control manned aircraft's parachute-opening actuator to carry out the parachute-opening action according to the parachute-opening signal that triggers.

According to the parachute control method, the parachute opening command can be the parachute opening command according to the command of the flight control system, or the attitude data detected by the sensor is the abnormal attitude data, the parachute opening signal is triggered, and then the parachute of the manned aircraft is controlled to execute the parachute opening action according to the parachute opening signal. Therefore, the manned aircraft can automatically perform parachute opening actions according to the instructions of the flight control system or attitude data detected by the sensor as judgment basis for parachute opening without manual control, the parachute of the manned aircraft is automatically controlled to improve the parachute opening success rate, and the manned aircraft can safely land no matter whether a driver has abundant experience of manually operating the parachute or meets the situations that manual operation cannot be performed in emergency and the like.

FIG. 2 is a schematic flow chart illustrating a method for controlling a parachute of a manned aircraft according to another embodiment of the present application. Fig. 2 describes the solution of the embodiment of the present application in more detail with respect to fig. 1. This embodiment is exemplified by a case where the controller system of the manned aircraft and the flight control system can normally communicate. This embodiment is applied to a controller system of a manned aircraft.

In the embodiment, the controller system and the flight control system of the manned aircraft CAN adopt a dual-redundancy communication design of a CAN interface, when the controller system receives an parachute opening instruction sent by the flight control system, the controller system immediately triggers a parachute opening signal, and a parachute opening actuator is controlled to execute parachute opening action according to the parachute opening signal. Furthermore, whether the parachute opening cabin door is successfully opened or not can be monitored in real time through feedback of the parachute opening actuator, and therefore closed-loop parachute opening control is completed.

Referring to fig. 2, the method includes:

in step S201, an instruction of the flight control system received by the CAN receiver is received.

A flight control system, namely a flight control system, is an important component of the manned aircraft, and can be used for ensuring the stability and maneuverability of the manned aircraft, enhancing the safety of flight and lightening the burden of a driver. The flight control system can automatically or semi-automatically control the manned aircraft, assist a driver to work, and can complete automatic driving, automatic control of an engine throttle and the like.

In the embodiment of the application, the controller system and the flight control system adopt a dual-redundancy communication design of a CAN interface. The CAN receiver of the controller system may include at least two, the at least two CAN transceivers being in communication with the flight control system. When any one path of communication is abnormal, the other path of communication still keeps normal communication, so that the parachute opening instruction and other information of the flight control system can be effectively received in real time. The CAN receiver of the controller system is connected with the flight control system through a CAN protocol and receives various instructions sent by the flight control system in real time, such as parachute opening instructions of a parachute.

And step S202, triggering an umbrella opening signal for an umbrella opening instruction according to the instruction of the flight control system.

According to the embodiment of the application, if the preset condition is met, the parachute opening signal is triggered. For example, the preset condition may be that the instruction is an open umbrella instruction. In the step, the command sent by the flight control system can be identified, and when the command is identified to be the parachute opening command of the parachute, the parachute opening signal is triggered according to the mapping relation between the preset command and the signal. It should be noted that different commands may map different action signals.

And step S203, controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal.

Parachutes are typically opened by a parachute opening actuator. In the manual control method, the parachute opening actuator is triggered to perform the parachute opening operation by manually opening the external wire rope. In the step, the parachute opening actuator of the manned aircraft can be controlled to execute the parachute opening action according to the triggered parachute opening signal.

And step S204, receiving parachute opening state data of the parachute fed back after the parachute opening actuator executes the parachute opening action.

After the parachute opening actuator executes the parachute opening action, the parachute opening state data of the parachute can be fed back. For example, feedback is given as to whether the parachute opened successfully after the parachute opening operation is performed.

And S205, storing the umbrella opening state data through a Flash memory.

The received umbrella opening state data can be stored in a setting memory such as a Flash memory. The Flash memory is one of memory devices, and is a Non-Volatile (Non-Volatile) memory, and data still cannot be lost after power failure, so that the state data analysis is convenient to perform afterwards. The controller system may store the umbrella-open state data in real time to a Flash memory with a set capacity, for example, 512 Mb. It is understood that data may be stored in other types of memories, and the embodiments of the present application are not limited in particular.

According to the embodiment of the application, the data are stored, so that the key state information of the parachute can be stored, the parachute opening time is recorded, and the follow-up data analysis is facilitated.

It should be noted that, in the embodiment of the present application, corresponding processing, for example, controlling and adjusting the actions of the parachute, may be further performed according to the feedback parachute opening state data of the parachute.

The parachute opening actuator can also feed back the parachute opening state information in real time, for example, when receiving feedback that the parachute is not opened successfully, the parachute opening actuator of the manned aircraft can be controlled to execute parachute opening actions by sending out parachute opening signals again. By the arrangement, the parachute opening state information of the parachute is fed back in real time, adjustment can be timely carried out according to the situation, and the landing safety is further improved.

It should be noted that, the embodiment of the present application may still maintain the manual control manner. For example, the parachute opening actuator is triggered to perform the parachute opening action by the manual opening of the wire rope by the driver's exterior.

According to the embodiment, on the basis of keeping the original manual control parachute opening method, the automatic control parachute opening method can be additionally arranged, the parachute opening signal is triggered for the parachute opening instruction according to the instruction of the flight control system, manual work and automatic control are combined, the opening success rate and the stability of the parachute of the whole machine are improved, and the landing safety of the manned aircraft is further improved.

FIG. 3 is a schematic flow chart diagram illustrating a method for controlling a parachute of a manned aircraft in accordance with another embodiment of the present application. Fig. 3 describes the solution of the embodiment of the present application in more detail with respect to fig. 1. This embodiment is exemplified by the case where the controller system of the manned aircraft loses communication with the flight control system.

When the manned aircraft encounters an abnormal condition, such as the controller system losing contact with the flight control system, the controller system can turn on the passive protection function. At this time, the controller system can judge whether the manned vehicle is in a normal flight state or not in real time according to the fusion information of the multiple sensors, and if the manned vehicle is not in the normal flight state, namely the manned vehicle is in an abnormal state, the controller system can make a decision to start parachute opening control.

Referring to fig. 3, the method includes:

step S301, receiving the attitude data detected by the sensor, and storing the attitude data through a Flash memory.

Wherein the controller system may receive attitude data detected by the sensor. The sensors may be, for example, accelerometers, gyroscopes, and the like. The accelerometer and the gyroscope may be independently arranged, or may be integrated in an IMU (Inertial measurement unit, also called an Inertial navigation sensor). The IMU may include three single-axis accelerometers that may detect accelerations in three mutually independent coordinate axis directions (X, Y, Z three directions) of the manned vehicle and three single-axis gyroscopes that may detect angular velocities of the manned vehicle. In addition, a barometer or the like may be included. The attitude data can be the attitude, speed and acceleration data of the fuselage, and can also comprise flight height data and the like.

Taking an accelerometer, a gyroscope and the like which are independently arranged as examples, the body attitude, the speed and the acceleration data of the manned aircraft detected by the accelerometer and the gyroscope can be received. The barometer sensor can obtain the flight height of the manned aircraft through barometric calculation.

Therefore, the controller system of the embodiment of the application comprises the sensors such as the accelerometer, the gyroscope, the barometer and the like, and can sense the attitude data such as the body attitude, the speed, the acceleration data, the flying height and the like of the current real-time manned aircraft, so that the real-time state monitoring function is realized.

In this step, the received gesture data may be stored in a setting memory, such as a Flash memory. The controller system can adopt a 512Mb Flash memory to store the attitude data into the Flash memory in real time, and the data can not be lost after power failure, thereby facilitating the analysis of state data afterwards. Thus, a state data storage function is realized.

And step S302, after the controller system loses communication with the flight control system, triggering an parachute opening signal according to the condition data detected by the sensor as abnormal condition data.

The controller system generally executes whether to trigger the parachute opening signal according to instructions of the flight control system. If the flight control system is abnormal, the controller system loses communication with the flight control system, or the flight control system loses communication with the controller system although the flight control system is normal, and at the moment, the controller system can be used as a basis for triggering an parachute opening signal according to the posture data detected by the sensor.

The controller system can judge whether the manned aircraft is in a normal flight state in real time according to the fusion information of the multiple sensors. That is to say, the controller system can sense attitude data such as the fuselage attitude, the speed, the acceleration data, the flying altitude and the like of the manned aircraft in real time at present according to sensors such as an accelerometer, a gyroscope, a barometer and the like, and if the attitude data is abnormal, for example, the fuselage attitude, the acceleration, the flying altitude and the like are abnormal, it can be judged that the manned aircraft is not in a normal flying state at the moment, the controller system can decide to start the parachute opening control and trigger the parachute opening signal.

And step S303, controlling a parachute of the manned aircraft to execute parachute opening action according to the triggered parachute opening signal.

Parachutes are typically opened by a parachute opening actuator. In the manual control method, the parachute opening actuator is triggered to perform the parachute opening operation by manually opening the external wire rope. In the step, the parachute opening actuator of the manned aircraft can be controlled to execute the parachute opening action according to the triggered parachute opening signal.

And step S304, receiving parachute opening state data of the parachute fed back after the parachute opening actuator executes the parachute opening action.

After the parachute opening actuator executes the parachute opening action, the parachute opening state data of the parachute can be fed back. For example, after the parachute opening action is performed, whether the parachute opening door is successfully opened or whether the parachute is successfully opened is fed back.

It should be noted that a sensor may also be disposed at the door of the parachute, and the sensor is used to monitor whether the door of the parachute is opened or not, or to monitor the real-time action of opening the parachute.

And S305, storing the umbrella opening state data through a Flash memory.

This step can be referred to the description in step S205, and is not described herein again.

It should be noted that, in the embodiment of the present application, corresponding processing, for example, controlling and adjusting the actions of the parachute, may be further performed according to the feedback parachute opening state data of the parachute.

The parachute opening actuator can also feed back the parachute opening state information in real time, for example, when receiving feedback that the parachute is not opened successfully, the parachute opening actuator of the manned aircraft can be controlled to execute parachute opening actions by sending out parachute opening signals again. By the arrangement, the parachute opening state information of the parachute is fed back in real time, adjustment can be timely carried out according to the situation, and the landing safety is further improved.

It should be noted that, the embodiment of the present application may still maintain the manual control manner. For example, the parachute opening actuator is triggered to perform the parachute opening action by the manual opening of the wire rope by the driver's exterior. Through the arrangement, on the basis of keeping the original manual control method, the automatic control method is additionally arranged, so that manual work and automatic control are combined, the opening success rate and the stability of the parachute of the whole parachute are improved, and the safety of the aircraft is further improved.

According to the parachute opening method and device, the posture data of the manned aircraft can be monitored in real time through the sensor, the passive protection function can be started when the automatic control function of the flight control system fails, the emergency response is started, the posture data detected by the sensor are abnormal posture data, the parachute opening signal is triggered, the manned aircraft can be guaranteed to be capable of automatically opening the parachute under the abnormal condition, and the safety of the aircraft is further improved.

In conclusion, the embodiment of the application can provide various parachute control modes for the manned aircraft. The first mode can be that the flight control system sends an umbrella opening instruction to the controller system, and the controller system controls and executes the umbrella opening action; the second mode can be that when the flight control system is abnormal, the controller system judges that the attitude of the airplane is abnormal and controls to execute the parachute opening action; the third mode can be that the outside of the driver manually opens the steel cable to trigger the parachute opening actuator to perform the parachute opening action. The first two modes are automatic control modes, the third mode is a manual control mode, and therefore the multi-redundancy umbrella opening mode is also achieved. Compared with the prior art that the parachute opening can be controlled manually by a professional driver, the scheme provided by the embodiment of the application provides a set of controller system which can realize real-time state monitoring, state data storage, automatic monitoring parachute opening and multi-redundancy parachute opening modes, and can fuse the body posture of the manned aircraft with the multi-sensor monitoring to respond to the parachute opening action of emergency in real time, so that the parachute opening accuracy and success rate are greatly improved. For example, for a light electric manned aircraft, the scheme provided by the embodiment of the application can be used for conveying passengers from the point A to the point B without the manipulation of a professional pilot. For another example, for an electric manned vehicle using multi-axis rotors, due to the characteristics of the multiple rotors, the response time of the out-of-control abnormality is extremely short, and the parachute opening response cannot be timely performed by people, so that even for professional drivers, the parachute opening mode by means of pure manual control obviously does not meet the new development requirement. However, by using the scheme provided by the embodiment of the application, the parachute opening instruction of the flight control system can be responded in real time, the attitude of the airframe is monitored in real time by adopting multi-sensor data fusion, the parachute opening action can be performed in a very short time when the flight control system is abnormal, and the parachute is safely and reliably realized.

Corresponding to the embodiment of the application function implementation method, the application also provides a controller system of the manned aircraft, the manned aircraft and a corresponding embodiment.

Fig. 4 is a block diagram schematically illustrating a configuration of a controller system of a manned aircraft according to an embodiment of the present application.

Referring to fig. 4, a manned aircraft controller system 40 includes: a receiving module 41, a processor module 42 and an umbrella opening control module 43.

And a receiving module 41, configured to receive an instruction of the flight control system or attitude data detected by the sensor. Wherein the sensors may include accelerometers, gyroscopes, barometers, and the like. Attitude data may include fuselage attitude, velocity, acceleration, and altitude data of the manned vehicle, among others.

The processor module 42 is configured to trigger an parachute opening signal according to that the command of the flight control system received by the receiving module 41 is a parachute opening command or the posture data detected by the sensor is abnormal posture data.

And the parachute opening control module 43 controls the parachute of the manned aircraft to execute the parachute opening action according to the parachute opening signal triggered by the processor module 42. The parachute opening control module 43 can control the parachute opening actuator of the manned aircraft to execute the parachute opening action according to the triggered parachute opening signal.

According to the embodiment, the controller system can trigger the parachute opening signal according to the command of the flight control system as the parachute opening command or the attitude data detected by the sensor as the abnormal attitude data, and then control the parachute of the manned aircraft to execute the parachute opening action according to the parachute opening signal. Therefore, the manned aircraft can automatically perform parachute opening actions according to the instructions of the flight control system or attitude data detected by the sensor without manual control, and whether a driver has abundant experience of manually operating the parachute or the situation that manual operation cannot be performed in emergency or the like is met, the manned aircraft can safely achieve parachute opening.

FIG. 5 is a block diagram illustrating a controller system for a manned aircraft according to another embodiment of the present application.

Referring to fig. 5 and 4, a manned aircraft controller system 50 includes: the system comprises a receiving module 41, a processor module 42, an umbrella opening control module 43, an umbrella opening feedback module 45, a data storage module 46 and a power management module 47.

The receiving module 41 may include a flight control communication module 411, a posture module 412, and an altitude module 413. The processor module 42 may be a CPU (central processing unit).

The functions of the receiving module 41, the processor module 42 and the umbrella opening control module 43 can be referred to the description in fig. 4.

And the flight control communication module 411 is configured to receive an instruction of the flight control system received by the set CAN receiver, where the CAN receiver includes at least two CAN transceivers, and the at least two CAN transceivers communicate with the flight control system. The flight control communication module 411 can implement dual redundant flight control communication, and when any one path of communication is abnormal, the other path of communication still maintains normal communication, so that an parachute opening instruction and other information of the flight control system can be effectively received in real time.

And the attitude module 412 is used for receiving the fuselage attitude, the speed and the acceleration data of the manned aircraft detected by the arranged accelerometer and the gyroscope. The attitude module 412 may include sensors such as an accelerometer and a gyroscope, and according to the fusion information of these sensors, attitude data such as the current real-time fuselage attitude, speed, acceleration data of the manned aircraft can be obtained, so as to effectively monitor the abnormal condition of the manned aircraft.

And the altitude module 413 is used for receiving the flight altitude data of the manned aircraft detected by the arranged barometer. The altitude module 413 may detect the current air pressure through the barometer and calculate the current flying altitude according to the air pressure.

The parachute opening control module 43 can control the parachute opening actuator of the manned aircraft to execute the parachute opening action through the set parachute opening control circuit. The parachute opening control module 43 may actively control parachute opening.

And the parachute opening feedback module 45 is used for feeding back parachute opening state data of the parachute to the processor module 42 according to the received execution action of the parachute opening actuator. The parachute opening feedback module 45 can feed back the parachute opening state data of the whole machine parachute to the controller system in real time.

And the data storage module 46 is used for storing the attitude data received by the receiving module 41 and/or the umbrella opening state data fed back by the umbrella opening feedback module 45 through a Flash memory. The data storage module 46 can realize light data storage, store key data information, perform data analysis, and effectively reflect the time from the occurrence of an abnormal condition to the successful parachute opening. The data storage module 46 may employ a Flash memory of a set capacity, for example.

And the power management module 47 is used for supplying power to the controller system through an external power supply and the set dual-redundancy battery combination. The power management module 47 may include a charging circuit, two sets of lithium batteries, a power supply circuit, a low power consumption sleep circuit, and the like. Wherein, two sets of lithium batteries can charge through charging circuit, and two sets of lithium batteries can select one or use together, are connected with supply circuit, supply power for supply circuit after charging. The power supply circuit can also directly supply power through an external power supply. The external power supply can charge the lithium battery through the power interface and the charging circuit, and can also be directly connected with the power supply circuit to directly supply power for the power supply circuit or supply power for the power supply circuit when the lithium battery fails. Therefore, the power management module 47 can realize the combination of external power access and dual-redundancy batteries, which is equivalent to the redundancy effect of a three-way power supply system, so that even if any one power supply fails, other power supplies can still work normally, thereby greatly ensuring the normal work of the controller system. The power management module 47 is used for realizing the power management of the manned aircraft, and even if the whole power system of the manned aircraft suddenly fails, the controller system can still work normally.

Embodiments of the present application also provide a manned vehicle including a flight control system and a controller system as described above in fig. 4 or 5.

The specific manner in which each module of the apparatus performs operations has been described in the embodiments related to the method, and will not be described herein again.

Fig. 6 is a block diagram schematically illustrating a structure of an electronic device according to an embodiment of the present application. The electronic device may be a controller device of a manned aircraft.

Referring to fig. 6, an embodiment of the present application further provides an electronic device 1000, where the electronic device 1000 includes a memory 1010 and a processor 1020.

The Processor 1020 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 1010 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are needed by the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, among others. In some embodiments, memory 1010 may include a readable and/or writable removable storage device such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-dense optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

The memory 1010 has stored thereon executable code that, when processed by the processor 1020, may cause the processor 1020 to perform some or all of the methods described above.

Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.

Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the above-described method according to the present application.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.