CN110466297A - A kind of hovercar and hovercar control method - Google Patents
A kind of hovercar and hovercar control method Download PDFInfo
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- CN110466297A CN110466297A CN201811253367.9A CN201811253367A CN110466297A CN 110466297 A CN110466297 A CN 110466297A CN 201811253367 A CN201811253367 A CN 201811253367A CN 110466297 A CN110466297 A CN 110466297A
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- hovercar
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- ducted fan
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000712 assembly Effects 0.000 claims abstract description 45
- 238000000429 assembly Methods 0.000 claims abstract description 45
- 238000012546 transfer Methods 0.000 abstract description 4
- 238000007667 floating Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
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- 208000031872 Body Remains Diseases 0.000 description 1
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- 230000004888 barrier function Effects 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- 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
- B64D29/00—Power-plant nacelles, fairings, or cowlings
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of hovercar and hovercar control methods, comprising: automobile body, rotor assemblies, cruise component, sensor module, landing component and control assembly；The component that cruises includes: wing and fan propeller；Rotor assemblies include: multiple groups ducted fan；The top of automobile body is arranged in wing, and fan propeller is arranged at the position for corresponding to longitudinal central axis line at the top of automobile body；The bottom of automobile body is arranged in landing component；Multiple groups ducted fan is symmetrical and the surrounding of automobile body is arranged in；Control assembly is used for the driving status monitored according to sensor module, control rotor assemblies, cruise component, landing component operation.The present invention realizes the VTOL function of hovercar by the vertical lift that ducted fan provides, and the purpose that cruise and cruising ability are improved in flight course is realized by the component that cruises, using the cooperation of rotor assemblies and cruise component, the land sky transfer capability of hovercar is realized.
Description
Technical field
The present invention relates to hovercar field, in particular to a kind of hovercar and hovercar control method.
Background technique
Since at the beginning of last century, just there are the trial for allowing automobile to fly in foreign countries, and the development of hovercar never stops
Only.A trend of the hovercar as future transportation can alleviate the status of current traffic congestion, improve communications and transportation effect
Rate.
Currently, existing hovercar generallys use two kinds of design schemes, comprising: the first, machine is set up on hovercar
The wing is taken off by accelerating to promote on takeoff runway.Second, multiple groups rotor is set up on hovercar, passes through multiple groups
Rotor works at the same time realization and takes off vertically and fly.
Therefore, for the first current scheme, airfoil flight automobile needs to rely on airfield runway and carries out landing, can not be free
Realize that land sky is converted, in second scheme, rotary wind type hovercar cruise efficiency is low, and cruising ability is poor.
Summary of the invention
In view of this, the present invention is directed to propose a kind of hovercar and hovercar control method, to solve the prior art
Middle hovercar can not freely realize the conversion of land sky, the problem that cruise efficiency is low, cruising ability is poor.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of hovercar, the hovercar include:
Automobile body, rotor assemblies, cruise component, sensor module, landing component and control assembly；
The cruise component includes: wing and fan propeller；
The rotor assemblies include: multiple groups ducted fan；
The top of the automobile body is arranged in the wing, and the fan propeller setting is right at the top of the automobile body
It answers at the position of longitudinal central axis line；The bottom of the automobile body is arranged in the landing component；
The multiple groups ducted fan is symmetrical and the surrounding of the automobile body is arranged in；
The sensor module is used to send the control assembly for the driving status of the automobile body monitored；
The control assembly is used to control the rotor assemblies, the cruise component, the landing component work according to the driving status
Make.
Further, the integral multiple that the quantity of the ducted fan is 4.
Further, the rotor assemblies further include:
Four groups of radome fairings；
One end of four groups of radome fairings is separately positioned at four corner positions of the automobile body, the radome fairing
The other end be streamlined structure；
Fan mounting holes are provided on the radome fairing, the ducted fan is arranged in the fan mounting holes.
Further, the quantity of the ducted fan is 8 groups；
Ducted fan described in being respectively arranged with two groups on each radome fairing；
In 8 groups of ducted fans, the direction of rotation of two groups of ducted fans of arbitrary neighborhood is opposite.
Further, the landing component includes:
Alighting carriage and traveling wheel；
The traveling wheel is arranged on the alighting carriage, and the bottom of the automobile body is provided with accommodating groove, the drop
It falls bracket to be arranged in the accommodating groove, the alighting carriage is used to stretch out or withdraw from the accommodating groove.
Further, when the sensor module monitors that the driving status of the automobile body is vertical landing state
When, the control assembly controls the revolving speed of all ducted fans less than the first preset rotation speed, and controls the alighting carriage
It is stretched out from the accommodating groove；
When the sensor module monitors that the driving status of the automobile body is unilateral maneuvering condition, the control
Component control is located at the revolving speed of the ducted fan of rotating direction side less than the second preset rotation speed, and controls the culvert for being located at the other side
The revolving speed of road fan is greater than third preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is yaw state counterclockwise, the control
Revolving speed of the component control in right handed ducted fan processed is greater than the 4th preset rotation speed, and controls in counterclockwise
The revolving speed for the ducted fan that direction rotates is less than the 5th preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is yaw state clockwise, the control
Revolving speed of the component control in the ducted fan rotated counterclockwise processed is greater than the 4th preset rotation speed, and controls in clockwise
The revolving speed for the ducted fan that direction rotates is less than the 5th preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is vertical ascent state, the control
The revolving speed that component controls all ducted fans is greater than the 6th preset rotation speed.
Further, the wing includes:
First fixed part, first connecting portion, second connecting portion, first end and the second end；
First fixed part is arranged in the top of the automobile body, the both ends of first fixed part respectively with it is described
One end of first connecting portion and the second connecting portion is flexibly connected, the other end and the first end of the first connecting portion
One end be flexibly connected, the other end of the second connecting portion is flexibly connected with one end of the second end.
Further, the wing includes:
Second fixed part, the first rotary components, the second rotary components, third end and the 4th end；
Second fixed part is arranged in the top of the automobile body, and one end of second fixed part passes through described the
One rotary components are connect with the third end, the other end of second fixed part by second rotary components with it is described
The connection of 4th end；
The third end and the 4th end are used for through first rotary components and second rotary components,
It makes rotating motion using second fixed part as axle center.
Further, the cruise component further include:
Empennage；
The empennage is T-type structure empennage, and side of the automobile body far from cockpit is arranged in the empennage.
A kind of hovercar control method, for controlling the hovercar, which comprises
Monitor the driving status of automobile body；
When the driving status is lift mode, the rotor assemblies work is controlled, and control the cruise group
Part stops working；
When the driving status is average flight state, the rotor assemblies and/or the cruise component operation are controlled；
When the driving status is landing state, the rotor assemblies and the landing component operation are controlled, and control
The cruise component stops working.
Compared with the existing technology, a kind of hovercar of the present invention and hovercar control method have following excellent
Gesture:
A kind of hovercar provided in an embodiment of the present invention and hovercar control method, comprising: automobile body, rotor group
Part, cruise component, sensor module, landing component and control assembly；The component that cruises includes: wing and fan propeller；Rotor group
Part includes: multiple groups ducted fan；The top of automobile body is arranged in wing, and fan propeller is arranged at the top of automobile body corresponding vertical
To at the position of central axes；The bottom of automobile body is arranged in landing component；Multiple groups ducted fan is symmetrical and is arranged in vapour
The surrounding of vehicle ontology；Sensor module is used to send control assembly for the driving status of the automobile body monitored；Control group
Part is for according to transport condition, control rotor assemblies, cruise component, to land component operation.The present invention is provided by ducted fan
Vertical lift realize the VTOL function of hovercar, and realize to improve in flight course by the component that cruises and patrol
The purpose of boat and cruising ability realizes the land sky transfer capability of hovercar using the cooperation of rotor assemblies and cruise component.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of structure chart of hovercar described in the embodiment of the present invention；
Fig. 2 is a kind of overlooking structure figure of hovercar described in the embodiment of the present invention；
Fig. 3 is a kind of state of flight Altered Graphs of hovercar described in the embodiment of the present invention；
Fig. 4 is the state of flight Altered Graphs of another hovercar described in the embodiment of the present invention；
Fig. 5 is the state of flight Altered Graphs of another hovercar described in the embodiment of the present invention；
Fig. 6 is the state of flight Altered Graphs of another hovercar described in the embodiment of the present invention；
Fig. 7 is the structure chart of another hovercar described in the embodiment of the present invention；
Fig. 8 is the structure chart of another hovercar described in the embodiment of the present invention；
Fig. 9 is the structure chart of another hovercar described in the embodiment of the present invention；
Figure 10 is the structure chart of another hovercar described in the embodiment of the present invention；
Figure 11 is the structure chart of another hovercar described in the embodiment of the present invention；
Figure 12 is a kind of step flow chart of hovercar control method described in the embodiment of the present invention；
Figure 13 is a kind of hovercar scheme state conversion block diagram described in the embodiment of the present invention；
Figure 14 is a kind of hovercar scheme state control flow chart described in the embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, it illustrates a kind of structure chart of hovercar provided in an embodiment of the present invention, hovercar packet
It includes: automobile body 10, rotor assemblies 20, cruise component 30, sensor module (not drawn in figure), landing component 40 and control group
Part (is not drawn) in figure；The component 30 that cruises includes: wing 301 and fan propeller 302；Rotor assemblies include: multiple groups ducted fan
201；The top of automobile body 10 is arranged in wing 301, and the setting of fan propeller 302 corresponds to longitudinal central axis at the top of automobile body 10
At the position of line；The bottom of automobile body 10 is arranged in landing component 40；Multiple groups ducted fan 201 is symmetrical and is arranged in vapour
The surrounding of vehicle ontology 10；Sensor module is used to send control assembly for the driving status of the automobile body 10 monitored；Control
Component processed is for according to transport condition, control rotor assemblies 20, cruise component 30, landing component 40 to work.
In embodiments of the present invention, hovercar can be realized and be hung down by the cooperation of rotor assemblies 20 and landing component 40
Straight takeoff and landing meets hovercar and takes off vertically under more scenes and the needs of vertical landing, get rid of prior art
Middle hovercar needs the problem of help-fly runway ability landing, also, under state of flight, by cruising, component 30 be may be implemented
The level cruise of hovercar greatly improves the cruise efficiency and cruising ability of hovercar.
Automobile body 10 is consistent with current car body, and the power drive on road surface when driving can be dynamic for forerunner
Type, rear driving or 4 wheel driven type, in addition, automobile body 10 can also be realized using the fan propeller 302 of cruise component 30 on road
The thrust in face drives, and the embodiment of the present invention is carried out for the driving equipment on ground winged using fan propeller 302 as hovercar
The description of row automobile.
Specifically, the overall structure of automobile body 10 can be streamlined structure, to reduce windage, automobile body 10 is wrapped
Include: top, bottom and preceding cockpit 101 and tail portion define the y direction of automobile body 10 along length of wagon direction, put down
Row is in the main movement direction of hovercar, and preceding cockpit 101 can be designed at least carry the capacity of two people, further
, automobile body 10 can mitigate vehicle in the case where guaranteeing safety using lightweighting materials (such as: carbon fibre material) as far as possible
Weight improves the cruising ability of hovercar.
Optionally, the integral multiple that the quantity of ducted fan is 4.
In embodiments of the present invention, referring to Fig. 2, it illustrates a kind of vertical views of hovercar provided in an embodiment of the present invention
Structure chart, rotor assemblies 20 are mainly used for realizing the VTOL function of hovercar, including multiple groups ducted fan 201, duct
Fan 201 is that the device of VTOL lift is provided for hovercar, and the duct axis of ducted fan 201 is parallel to Vertical Square
To, for providing vertical lift, due to safety concerns, at least 4 groups of ducted fans 201 can be used, it under special circumstances can be with
Increase the integral multiple that the quantity of ducted fan 201 is 4, (8 groups of ducted fans 201 are used in attached drawing 2), 8 groups of ducted fans 201
It is distributed in the surrounding of automobile body 10 using equally distributed mode, provides lift or auxiliary steam for 10 VTOL of automobile body
Vehicle ontology 10 carries out pose adjustment.During the work time, speed of incoming flow is small for ducted fan 201, and rotor, which can be used, to be suitable for
The spacing blade of low speed of incoming flow controls its thrust size by revolving speed, and rotor (can be shown not in the drawings by electric motor
Show) it directly drives.
Further, multiple groups ducted fan 201 can be in distributed rectangular.Along the spanwise of wing 301, automobile body 10
The ducted fan 201 of two sides is symmetrical relative to the longitudinally asymmetric face A of automobile body 10；Along the length direction of automobile body 10, vapour
10 front and back ducted fan 201 of vehicle ontology is symmetrical relative to lateral vertical cutting face B.Wherein, longitudinally asymmetric face A and lateral vertical cutting face
B intersects vertically, intersecting lens generally proximal to or by automobile body 10 center of gravity and wing 301 centre of lift.
It should be noted that vehicle width should be no more than 2.5 meters according to highway vehicle driving standard, therefore, guaranteeing to fly
Row automobile increases by 201 quantity of ducted fan, using smaller duct in the case where near-earth and certain state of ground width
Fan 201, can increase the lateral shaft of hovercar two sides lift point away from, for the pose adjustment of hovercar will more added with
Therefore benefit uses 8 groups of ducted fans 201 for preferred embodiment.
Compared to the large-scale adjustable blade of the high power slow-speed of revolution, electric motor is well suited for driving such distributed small size
, high revolving speed rotor or fan, compared to the mode that combustion rotor directly drives, electrical motor driven has light-weight, ruler
The advantages that very little small, fast response time, secondly electric motor configuration is simple, and moving component is few, high reliablity.In addition, around rotor
By-pass air duct can play a good protective effect to rotor and surrounding things, improve the safety of complete machine, by-pass air duct is also
Have and increases additional lift, drop low noise and other advantages.
Sensor module is used to send control module for the driving status of the hovercar monitored, and control module is used for
According to the driving status received, is determining that hovercar when in different flight state, executes specific flight operation, needing
It is noted that the data monitored can also be sent to car networking service by sensor module by way of wireless network
Device, car networking server can carry out further flight operation planning to hovercar according to the data, and result is fed back
To the control module of hovercar.
Further, referring to Fig. 2, wing 301 is located at 10 top of automobile body, lengthwise position and hovercar entirety
Position of centre of gravity is related, puts down under winged state, the transverse axis of hovercar, wing are defined along the direction of the span of wing 301
The movable aileron 3011 motor-driven containing controllable hovercar rolling can be set on the outside of 301 its rear, according to demand, at other
In embodiment, wing 301 can increase the control surface such as wing flap, winglet of the optimizing pneumatics performance such as other lift-risings, drag reduction
Equal devices.
In embodiments of the present invention, fan propeller 302 is the device of winged thrust before providing for hovercar, can also be with duct
The structure of fan 201 is similar, it is preferred that can be symmetrical arranged two groups of fan propellers 302, two groups of fan propellers 302 are about automobile
The longitudinally asymmetric face A of ontology 10 is symmetrical, does not generate airflow influence with ducted fan 201 when fan propeller 302 works.Fan propeller
302 can install independently of each other with wing 301, and the exhibition for not influencing wing 301 is received.During the work time for fan propeller 302
The features such as speed of incoming flow is high during speed of incoming flow is changed greatly, cruised, therefore the rotor of fan propeller 302 uses variablepiston
Blade makes it remain higher propulsive efficiency under different speed of incoming flow.In addition, rotor can be made to produce by displacement adjusting
Raw deboost increases the flat winged mobility of hovercar.Also due to the work of ducted fan 201 and fan propeller 302
Environment is different, and the design of by-pass air duct also can be variant.
In conclusion a kind of hovercar provided in an embodiment of the present invention, comprising: automobile body, rotor assemblies, cruise group
Part, sensor module, landing component and control assembly；The component that cruises includes: wing and fan propeller；Rotor assemblies include: more
Group ducted fan；The top of automobile body is arranged in wing, and fan propeller setting corresponds to longitudinal central axis line at the top of automobile body
Position at；The bottom of automobile body is arranged in landing component；Multiple groups ducted fan is symmetrical and automobile body is arranged in
Surrounding；Sensor module is used to send control assembly for the driving status of the automobile body monitored；Control assembly is used for root
According to driving status, rotor assemblies, cruise component, landing component operation are controlled.The vertical liter that the present invention is provided by ducted fan
Power realizes the VTOL function of hovercar, and realizes to improve in flight course by the component that cruises and cruise and continue a journey
The purpose of ability realizes the land sky transfer capability of hovercar using the cooperation of rotor assemblies and cruise component.
Optionally, referring to Fig.1, rotor assemblies 20 further include: four groups of radome fairings 202；One end difference of four groups of radome fairings 202
It is arranged at four corner positions of automobile body 10, the other end of radome fairing 202 is streamlined structure；It is arranged on radome fairing
There are fan mounting holes, ducted fan 201 is arranged in fan mounting holes.
In embodiments of the present invention, radome fairing 202 mainly can be used to optimize the preceding winged aeroperformance of ducted fan 201,
In general, it is analyzed, can be distinguished at four corner positions of automobile body 10 according to the flight stability to hovercar
Corresponding radome fairing 202 is set, and the other end of radome fairing 202 is designed as streamlined structure, before reducing hovercar
The frontal resistance of ducted fan 201 when flying, according to hovercar design in 201 quantity of ducted fan, size and the arrangement taken
Mode is different, and radome fairing 202 can have different designs, and which is not limited by the present invention.
Optionally, referring to Fig. 2, the quantity of ducted fan 201 is 8 groups；Two groups of culverts are respectively arranged on each radome fairing 202
Road fan 201；The direction of rotation of two adjacent groups ducted fan 201 on each radome fairing 202 is opposite.
In a kind of more preferably scheme of the embodiment of the present invention, hovercar can use 4 groups of radome fairing 202 and 8 group culverts
The design of road fan 201 is respectively arranged with two groups of ducted fans 201 on each radome fairing 202, meanwhile, referring to Fig. 3 to Fig. 6, it is
Reach the balance of hovercar, two groups of ducted fans 201 of arbitrary neighborhood should be in the opposite direction in 8 groups of ducted fans
Rotation.
It should be noted that sensor module is connected respectively at every group of ducted fan 201, for monitoring ducted fan 201
Operating state data, so that driver is analyzed in real time, and sensor module can also be by the work of ducted fan 201
Status data is sent to control module, and control module can be according to the analysis or reception to 201 operating state data of ducted fan
The control instruction that driver sends, is adjusted separately the revolving speed of each ducted fan 201, to realize that hovercar correlation flies
The change of row posture.
Optionally, referring to Fig.1, landing component 40 includes: alighting carriage 401 and traveling wheel 402；The setting of traveling wheel 402 exists
On alighting carriage 401, the bottom of automobile body 10 is provided with accommodating groove, and alighting carriage 401 is arranged in accommodating groove, alighting carriage
401 from accommodating groove for stretching out or withdrawing.
In embodiments of the present invention, landing component 40 is used to buffer impact when hovercar lands and the machine on ground
It is dynamic.In addition, when hovercar is in state of flight, it, can be by the component 40 that lands in order to avoid landing component 40 generates windage
It withdraws in accommodating groove, when hovercar is in landing state, the component 40 that will land takes out from accommodating groove carries out landing behaviour
Make.
Optionally, referring to Fig. 3, it illustrates a kind of state of flight changes of hovercar provided in an embodiment of the present invention
Figure, illustrates vertical flight control program of the hovercar under vertical flight mode, wherein dotted ellipse represents the flight
The car body of automobile, dotted rectangle represent the headstock direction of hovercar, by taking revolving speed controls as an example, the thickness of rotation arrow
Degree represents the revolving speed speed of ducted fan 201.
Specifically, when sensor module monitors that the driving status of automobile body is vertical landing state b, control assembly
The revolving speed of all ducted fans 201 is controlled less than the first preset rotation speed, and controls alighting carriage 401 and is stretched out from accommodating groove.
Optionally, when the sensor module monitors that the driving status of the automobile body is vertical ascent state,
The revolving speed that the control assembly controls all ducted fans is greater than the 6th preset rotation speed.
In a specific example, when hovercar is in floating state a, the revolving speed of ducted fan 201 is first pre-
If revolving speed, when hovercar becomes vertical landing state b from floating state a, need to reduce simultaneously 8 groups of ducted fans 201
Revolving speed reduces overall lift, so that the revolving speed of ducted fan 201 is less than the first preset rotation speed；In addition, when hovercar is wanted
When into vertical climb mode c, then the revolving speed for increasing by 8 groups of ducted fans 201 simultaneously is needed to increase overall lift, so that duct
The revolving speed of fan is greater than the 6th preset rotation speed, wherein the 6th preset rotation speed is more than or equal to the first preset rotation speed.
Optionally, referring to Fig. 4, it illustrates the state of flight changes of another hovercar provided in an embodiment of the present invention
Figure, illustrates Flight Control Scheme of the hovercar under unilateral maneuvering condition, wherein dotted ellipse represents the hovercar
Car body, dotted rectangle represents the headstock direction of hovercar, by taking revolving speed controls as an example, the fineness of rotation arrow
Represent the revolving speed speed of ducted fan 201.
Specifically, when sensor module monitors that the driving status of the automobile body is unilateral maneuvering condition, control
Component control is located at the revolving speed of the ducted fan 201 of rotating direction side less than the second preset rotation speed, and controls and be located at the other side
Ducted fan 201 revolving speed be greater than third preset rotation speed.
In a specific example, when hovercar is thought to be the motor-driven d of rolling to the left and keeps constant (the vertical side of flying height
It is constant to total life) when, need to increase simultaneously the revolving speed of the ducted fan 201 on the right side of car body 10 to improve right side lift,
And at the same time reducing the revolving speed of 10 left side ducted fan 201 of car body to reduce left side lift, while needing to maintain automobile primary
10 vertical direction total life of body remains unchanged.It corresponds, when hovercar thinks to be to the right the motor-driven e of rolling and keeps flight
When highly constant, need to increase simultaneously the revolving speed of the ducted fan 201 in the left side of car body 10 to improve left side lift and same
When reduce the revolving speed of 10 right side ducted fan 201 of car body to reduce right side lift, while needing to maintain car body 10 perpendicular
Histogram is remained unchanged to total life.
It should be noted that control assembly control is located at rolling when the driving status of automobile body is unilateral maneuvering condition
The revolving speed of the ducted fan of dynamic direction side is less than the second preset rotation speed, and control is big positioned at the revolving speed of the ducted fan of the other side
In third preset rotation speed, wherein in one case, the second preset rotation speed and third preset rotation speed can be same rotating speed, i.e.,
It, can be with when hovercar needs are slightly turned left assuming that the second preset rotation speed and third preset rotation speed are 10000 revs/min
The revolving speed of the ducted fan in left side is controlled less than 10000 revs/min, while the revolving speed for controlling the ducted fan on right side is greater than 10000
Rev/min.In another case, the second preset rotation speed and third preset rotation speed can be respectively different rotating speeds, that is, assume second
Preset rotation speed is 7000 revs/min, and third preset rotation speed is 12000 revs/min, when hovercar needs to carry out the left-hand rotation of greater angle
When, it can control the revolving speed of the ducted fan in left side less than 7000 revs/min, while the revolving speed for controlling the ducted fan on right side is greater than
12000 revs/min.
Further, Fig. 5 is it illustrates the state of flight Altered Graphs of another hovercar provided in an embodiment of the present invention,
Illustrate Flight Control Scheme of the hovercar under pitching flying state, wherein dotted ellipse represents the hovercar
Car body, dotted rectangle represents the headstock direction of hovercar, by taking revolving speed controls as an example, the fineness generation of rotation arrow
The table revolving speed speed of ducted fan 201.
When hovercar wants to bow motor-driven f and constant holding flying height, need to increase simultaneously 10 tail of car body
The revolving speed of the ducted fan 201 in portion come improve rear side lift and at the same time reduce 10 head ducted fan 201 of car body turn
Speed reduces front side lift, while needing that 10 vertical direction total life of car body is maintained to remain unchanged.It corresponds, when winged
When row automobile is wanted to do when coming back motor-driven g and keeps flying height constant, need to increase simultaneously the duct wind on 10 head of car body
The revolving speed of fan 201 improves front side lift and at the same time reducing the revolving speed of 10 tail portion ducted fan 201 of car body come after reducing
Side lift, while needing that 10 vertical direction total life of car body is maintained to remain unchanged.
Optionally, referring to Fig. 6, it illustrates the state of flight changes of another hovercar provided in an embodiment of the present invention
Figure illustrates Flight Control Scheme of the hovercar under along yaw state counterclockwise, wherein dotted ellipse represents the flight
The car body of automobile, dotted rectangle represent the headstock direction of hovercar, by taking revolving speed controls as an example, the thickness of rotation arrow
Degree represents the revolving speed speed of ducted fan 201.
When hovercar wants to be yaw state h counterclockwise around its center and keeps flying height constant, need to increase simultaneously
The revolving speed for the ducted fan 201 for adding car body 10 to rotate clockwise, and at the same time reducing what car body 10 rotated counterclockwise
The revolving speed of ducted fan 201 makes car body 10 integrally bear a counterclockwise rotating force square, while needing to maintain car body
10 vertical direction total lifes remain unchanged.It corresponds, when hovercar wants to be yaw state i and guarantor clockwise around its center
Hold flying height it is constant when, need to increase simultaneously the revolving speed for the ducted fan 201 that car body 10 rotates counterclockwise, and at the same time
The revolving speed for reducing the ducted fan 201 that car body 10 rotates clockwise makes car body 10 integrally bear a rotation clockwise
Torque, while needing that 10 vertical direction total life of car body is maintained to remain unchanged.
In summary to the description of suitable/counterclockwise yaw state hovercar, it should be noted that in one case,
4th preset rotation speed and the 5th preset rotation speed can be same rotating speed, i.e. the 4th preset rotation speed of hypothesis and the 5th preset rotation speed is
10000 revs/min, when hovercar needs to carry out slight rotation counterclockwise, right handed ducted fan can be controlled
Revolving speed be greater than 10000 revs/min, and control in the revolving speed of ducted fan rotated counterclockwise less than 10000 revs/min.
In another case, the 4th preset rotation speed and the 5th preset rotation speed can be respectively different rotating speeds, that is, assume the 4th default turn
Speed is 7000 revs/min, and the 5th preset rotation speed is 12000 revs/min, can when hovercar needs faster rotation counterclockwise
The revolving speed of the ducted fan rotated counterclockwise with control controls right handed culvert less than 7000 revs/min
The revolving speed of road fan is greater than 12000 revs/min.
Optionally, referring to Fig. 7, it illustrates the structure chart of another hovercar provided in an embodiment of the present invention, wings
301 include: the first fixed part 301a, first connecting portion 301b, second connecting portion 301c, first end 301d and the second end
301e；The top of automobile body 10 is arranged in first fixed part 301a, and the both ends of the first fixed part 301a are connect with first respectively
One end of portion 301b and second connecting portion 301c are flexibly connected, the other end of first connecting portion 301b and the one of first end 301d
End is flexibly connected, and the other end of second connecting portion 301c is flexibly connected with one end of the second end 301e.
In embodiments of the present invention, since wing 301 only works in the case where hovercar is in state of flight, flying
When row automobile is in ground run state or stops working, in order to avoid space hold caused by the longer wing 301 of length, answer
Wing 301 is subjected to folding storage, Fig. 7 shows the first wing 301 proposed by the present invention and folds example.Wing 301 will be by
It is divided into five parts, the first fixed part 301a, first connecting portion 301b, second connecting portion 301c, first end 301d and second end
It can be attached by rotary shaft between portion 301e, so that first connecting portion 301b, second connecting portion 301c, first end
301d and the second end 301 can carry out folding storage, the first fixed part 301a and automobile body based on the first fixed part 301a
10 laps remain unchanged；First connecting portion 301b, second connecting portion 301c are downward along axis C relative to the first fixed part 301a
About 90 degree of deflection, holding are bonded with the side of automobile body 10；First end 301d and the second end 301e connects relative to first
Socket part 301b, second connecting portion 301c upward deflect about 180 degree along axis D, and holding is bonded with the side of automobile body 10, therefore,
Achieved the purpose that 301 folding storage of wing, for such folding scheme, not to the folding exhibition sequence of 301 each section of wing into
Row mandatory requirement.
Optionally, referring to Fig. 8, it illustrates the structure chart of another hovercar provided in an embodiment of the present invention, wings
301 include: the second fixed part 301f, the first rotary components, the second rotary components, third end 301g and the 4th end 301h；
Second fixed part 301f is arranged in the top of automobile body 10, and one end of the second fixed part 301f passes through the first rotary components and the
The other end of three end 301g connections, the second fixed part 301f is connect by the second rotary components with the 4th end 301h；Third
End 301g and the 4th end 301h is used for by the first rotary components and the second rotary components, using the second fixed part 301f as axis
The heart makes rotating motion.
It is that second of wing 301 proposed by the present invention opens up debit's formula shown in Fig. 8, wherein the second fixed part 301f and vapour
10 lap of vehicle ontology remains unchanged；Third end 301g and the 4th end 301h first can by the first rotary components,
Second rotary components rotate about 90 degree around 301 horizontal axis (axis F) of wing, make the leading edge position of third end 301g and the 4th end 301h
In top, further, it is bonded for 90 degree of direction back rotation, obtains with the rear portion of automobile body 10 along diagram further around shaft (axis E)
Receiving state shown in Fig. 9, wherein the first rotary components, the second rotary components can be the rotation of rotary shaft or ball pin structure
Component.
It should be noted that being that the third wing 301 exhibition proposed by the present invention is received in fact shown in 0, Figure 10 referring to Fig.1
Example.Third end 301g and the 4th end 301h can be based on the second fixed part by the first rotary components, the second rotary components
301f distinguishes G around the shaft and about 90 degree of shaft H back rotation, so that third end 301g and the 4th end 301h and automobile body
10 is longitudinal substantially parallel.
Optionally, referring to Fig.1 1, it illustrates the structure chart of another hovercar provided in an embodiment of the present invention, cruises
Component 30 further include: empennage 303, empennage 303 are T-type structure empennage, and empennage 303 is arranged in automobile body 10 far from cockpit
101 side.
In embodiments of the present invention, empennage 303 has the function of maintaining assembled machine balance and adjusts posture course.The present invention is real
Tailplane 3031 and vertical tail 3032 can be divided into, wherein tailplane 3031 and machine using T-shape wing structure by applying in example
The wing 301 is parallel, while elevator 3033 is provided on tailplane 3031, is provided with rudder on vertical tail 3032
3034；Vertical empennage 3032 is vertical with wing 301, and elevator 3033 can deflect up and down, for controlling the pitching of hovercar
Motor-driven, rudder 3034 can be with deflection, for controlling the yawing maneuvering of hovercar.
It should be noted that Fig. 1 illustrates the wing state of anury of hovercar scheme of the present invention, shown with Figure 11
Hovercar form it is different, hovercar shown in Fig. 1 be no tail structure, empennage 303 have maintain assembled machine balance with
The effect in posture course is adjusted, still, empennage 303 is not that the present invention relates to the necessary devices of hovercar scheme, because, In
10 surrounding of automobile body arranges multiple groups (at least 4 groups) ducted fan 201.Ducted fan 201 can not only be mentioned and can be hung down for hovercar
The lift of straight landing, while the adjustment of posture and course can also be completed by assisting in flying automobile under any state, that is to say, that this
The characteristics of hovercar being related to has both wing and more rotor flying automobiles is invented, for the reality of hovercar shown in Figure 11
Example, during stablizing cruise, ducted fan 201 may be at completely closed state, be provided needed for flat fly by cruise component 30
Whole lift, posture and the course of hovercar are controlled by devices such as wing 301, empennage 303, fan propellers 302；It can also
Using more rotors and wing in conjunction with control method improve the mobility of complete machine, and for flying shown in Fig. 1 without empennage
Automotive example must then carry out the tune that assisting in flying automobile carries out posture and course in flat winged cruising phase by ducted fan 201
It is whole.
It should be noted that referring to Fig.1, for hovercar during flat fly, the rolling of hovercar is motor-driven, mainly by pair
The deflection of about 3011 wing is completed；As shown in figure 11, during cruise, the pitching of hovercar is motor-driven mainly by tailplane 3031
About 3033 elevator deflect complete；Rudder 3034 or so of the yawing maneuvering of hovercar mainly by vertical empennage 3032
Deflection is to complete.Specific control mode excessively repeats those skilled in the art it is clear that not doing herein.
In conclusion a kind of hovercar provided in an embodiment of the present invention, comprising: automobile body, rotor assemblies, cruise group
Part, sensor module, landing component and control assembly；The component that cruises includes: wing and fan propeller；Rotor assemblies include: more
Group ducted fan；The top of automobile body is arranged in wing, and fan propeller setting corresponds to longitudinal central axis line at the top of automobile body
Position at；The bottom of automobile body is arranged in landing component；Multiple groups ducted fan is symmetrical and automobile body is arranged in
Surrounding；Sensor module is used to send control assembly for the driving status of the automobile body monitored；Control assembly is used for root
According to driving status, rotor assemblies, cruise component, landing component operation are controlled.The vertical liter that the present invention is provided by ducted fan
Power realizes the VTOL function of hovercar, and realizes to improve in flight course by the component that cruises and cruise and continue a journey
The purpose of ability realizes the land sky transfer capability of hovercar using the cooperation of rotor assemblies and cruise component.
Referring to Fig.1 2, a kind of step flow chart of hovercar control method of the embodiment of the present invention is shown, specifically may be used
To include the following steps:
Step 501, the driving status of automobile body is monitored.
In embodiments of the present invention, sensor module may include velocity sensor, the equipment such as detection radar, for that will supervise
The driving status of the hovercar measured is sent to control module, and control module is used for according to the driving status received, true
Hovercar is determined when in different flight state, executes specific flight operation, it should be noted that sensor module may be used also
By by the data monitored by wireless network in a manner of be sent to car networking server, car networking server can be according to the number
Further flight operation planning is carried out according to hovercar, and result is fed back to the control module of hovercar.
Step 502, when the driving status is lift mode, the rotor assemblies work is controlled, and control institute
Cruise component is stated to stop working.
In embodiments of the present invention, rotor assemblies are mainly used for realizing the VTOL function of hovercar, including multiple groups
Ducted fan, ducted fan are that the device of VTOL lift is provided for hovercar, and the duct axis of ducted fan is parallel to
Vertical direction, for providing vertical lift, while in order to reduce the windage under lift mode, it is also necessary to control cruise component
It stops working, wing is avoided to cause the promotion of windage.
Step 503, when the driving status is average flight state, the rotor assemblies and/or the cruise are controlled
Component operation.
In embodiments of the present invention, rotor assemblies are arranged around automobile body, ducted fan can not only be hovercar
Mention can VTOL lift, while can also under any state assisting in flying automobile complete posture and course adjustment, also
It is to say, the characteristics of hovercar of the present invention has both wing and more rotor flying automobiles, in addition, stablizing cruising flight shape
In state, ducted fan may be at completely closed state, flies required whole lift by the offer of cruise component is flat, leans on wing, tail
The devices such as the wing, fan propeller control posture and the course of hovercar；The controlling party that more rotors and wing combine can also be used
Method improves the mobility of complete machine.
Step 504, when the driving status is landing state, the rotor assemblies and the landing component work are controlled
Make, and controls the cruise component and stop working.
In embodiments of the present invention, when driving status is landing state, rotor assemblies provide hangs down needed for vertical landing
Straight cushion effect, and realize that hovercar contacts the final buffering on ground by landing component, while controlling cruise component and stopping working,
Wing is stored, avoid generating windage and occupies exceptional space.
Further, referring to Fig.1 3, a kind of hovercar scheme state conversion block diagram of the embodiment of the present invention is shown, is flown
Row automobile primary will include four principal states: ground stationary state j, wing pack up floating state k, wing expansion floating state l
And stablize cruising condition m.
Specifically, can become wing from ground stationary state j by take-off process n packs up floating state k, it is vertical at this time to fly
It capable lift and motor-driven is completed completely by rotor assemblies.Process p is unfolded using wing in hovercar, and hovering can be packed up by wing
State k becomes wing expansion floating state l, and to hang down, winged/flat winged pattern switching is prepared.It can by the effect of fan propeller 302
So that hovercar further passes through an accelerator r, floating state l is opened in the completion slave span to be become stablizing cruising condition m.
At this point, the thrust of hovercar, lift and motor-driven active force are all provided by cruise component.
Similarly, by moderating process s, hovercar can become wing expansion floating state again from cruising condition m is stablized
l；Process q is being packed up by wing, completes the slave span and open floating state l and become wing to pack up floating state k.Wing is in the sky
It packs up, ground stationary state j can be converted to from wing collapsed state by descent o completion and parked on the ground.
With further reference to Figure 14, a kind of hovercar scheme state control flow chart of the embodiment of the present invention is shown, is opened up
What is shown is hovercar scheme of the present invention from hovering/winged state of hanging down to the possible control stream of one kind for stablizing cruising condition
Journey, when hovercar, which receives, hangs down winged/flat winged pattern switching instruction (601), pattern switching starts, and hovercar starts to detect
Surrounding space and barrier (602), since hovercar scheme of the present invention is near ground or near-earth, wing, which is in, to be received
The state of rising, it is therefore desirable to determine whether have wing unfolding condition (603) under the hovering height.If at this point, hovercar does not reach
It is higher to enough flying heights or peripheral obstacle, do not have wing unfolding condition, then needs further to adjust flying height
(604), it when reaching a higher flying height, rejudges and whether has wing unfolding condition, until having wing exhibition
Condition is opened, hovercar can pack up floating state from wing with expansion wing (605) at this time, become wing expansion floating state.
At this time, it may be necessary to open fan propeller, forward flight speed (606) are continued to monitor, are monitored by forward flight speed, can calculate and measure machine
The lift that the wing can be provided, and constantly adjust the lift accounting (607) of ducted fan and wing.Need whether judge wing later
Provide it is flat fly required enough lift (608), if the lift that wing provides be unable to reach with complete machine gravitational equilibrium, need
The lift accounting (607) for continuing to adjust ducted fan and wing at this time may be used until wing is provided all with the lift of gravitational equilibrium
To close ducted fan and continue to monitor lift (609), pattern switching completes (610).So far, hovercar is completed from vertical
State of flight becomes stablizing cruising condition.
In conclusion a kind of hovercar provided in an embodiment of the present invention and hovercar control method, comprising: automobile sheet
Body, rotor assemblies, cruise component, sensor module, landing component and control assembly；The component that cruises includes: wing and thrust wind
Fan；Rotor assemblies include: multiple groups ducted fan；The top of automobile body is arranged in wing, and fan propeller is arranged in automobile body
Top corresponds at the position of longitudinal central axis line；The bottom of automobile body is arranged in landing component；Multiple groups ducted fan is symmetrical
And the surrounding of automobile body is set；Sensor module is used to send control group for the driving status of the automobile body monitored
Part；Control assembly is for according to transport condition, control rotor assemblies, cruise component, to land component operation.The present invention passes through duct
The vertical lift that fan provides realizes the VTOL function of hovercar, and is realized by the component that cruises in flight course
The middle purpose for improving cruise and cruising ability realizes the land idle running of hovercar using the cooperation of rotor assemblies and cruise component
Transducing power.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of hovercar, which is characterized in that the hovercar includes:
Automobile body, rotor assemblies, cruise component, sensor module, landing component and control assembly；
The cruise component includes: wing and fan propeller；
The rotor assemblies include: multiple groups ducted fan；
The top of the automobile body is arranged in the wing, and the fan propeller is arranged at the top of the automobile body corresponding vertical
To at the position of central axes；The bottom of the automobile body is arranged in the landing component；
The multiple groups ducted fan is symmetrical and the surrounding of the automobile body is arranged in；
The sensor module is used to send the control assembly for the driving status of the automobile body monitored；It is described
Control assembly is used to control the rotor assemblies, the cruise component, the landing component operation according to the driving status.
2. hovercar according to claim 1, which is characterized in that the integral multiple that the quantity of the ducted fan is 4.
3. hovercar according to claim 1, which is characterized in that the rotor assemblies further include:
Four groups of radome fairings；
One end of four groups of radome fairings is separately positioned at four corner positions of the automobile body, the radome fairing it is another
One end is streamlined structure；
Fan mounting holes are provided on the radome fairing, the ducted fan is arranged in the fan mounting holes.
4. hovercar according to claim 3, which is characterized in that the quantity of the ducted fan is 8 groups；
Ducted fan described in being respectively arranged with two groups on each radome fairing；
In 8 groups of ducted fans, the direction of rotation of two groups of ducted fans of arbitrary neighborhood is opposite.
5. hovercar according to claim 4, which is characterized in that the landing component includes:
Alighting carriage and traveling wheel；
The traveling wheel is arranged on the alighting carriage, and the bottom of the automobile body is provided with accommodating groove, the landing branch
Frame is arranged in the accommodating groove, and the alighting carriage is used to stretch out or withdraw from the accommodating groove.
6. hovercar according to claim 5, which is characterized in that
When the sensor module monitors that the driving status of the automobile body is vertical landing state, the control assembly
The revolving speed of all ducted fans is controlled less than the first preset rotation speed, and controls the alighting carriage and is stretched from the accommodating groove
Out；
When the sensor module monitors that the driving status of the automobile body is unilateral maneuvering condition, the control assembly
Control is located at the revolving speed of the ducted fan of rotating direction side less than the second preset rotation speed, and controls the duct wind for being located at the other side
The revolving speed of fan is greater than third preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is yaw state counterclockwise, the control group
Revolving speed of the part control in right handed ducted fan is greater than the 4th preset rotation speed, and controls in counterclockwise
The revolving speed of the ducted fan of rotation is less than the 5th preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is yaw state clockwise, the control group
Revolving speed of the part control in the ducted fan rotated counterclockwise is greater than the 4th preset rotation speed, and controls in clockwise
The revolving speed of the ducted fan of rotation is less than the 5th preset rotation speed；
When the sensor module monitors that the driving status of the automobile body is vertical ascent state, the control assembly
The revolving speed for controlling all ducted fans is greater than the 6th preset rotation speed.
7. hovercar according to claim 1, which is characterized in that the wing includes:
First fixed part, first connecting portion, second connecting portion, first end and the second end；
First fixed part is arranged in the top of the automobile body, and the both ends of first fixed part are respectively with described first
One end of interconnecting piece and the second connecting portion is flexibly connected, the other end of the first connecting portion and the one of the first end
End is flexibly connected, and the other end of the second connecting portion is flexibly connected with one end of the second end.
8. hovercar according to claim 1, which is characterized in that the wing includes:
Second fixed part, the first rotary components, the second rotary components, third end and the 4th end；
The top of the automobile body is arranged in second fixed part, and one end of second fixed part is revolved by described first
Turn component to connect with the third end, the other end of second fixed part passes through second rotary components and the described 4th
End connection；
The third end and the 4th end are used for by first rotary components and second rotary components, with institute
The second fixed part is stated to make rotating motion for axle center.
9. hovercar according to claim 1, which is characterized in that the cruise component further include:
Empennage；
The empennage is T-type structure empennage, and side of the automobile body far from cockpit is arranged in the empennage.
10. a kind of hovercar control method, which is characterized in that for controlling any flight vapour of claim 1 to 9
Vehicle, which comprises
Monitor the driving status of automobile body；
When the driving status is lift mode, the rotor assemblies work is controlled, and control the cruise component and stop
Only work；
When the driving status is average flight state, the rotor assemblies and/or the cruise component operation are controlled；
When the driving status is landing state, the rotor assemblies and the landing component operation are controlled, and described in control
Cruise component stops working.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811253367.9A CN110466297A (en) | 2018-10-25 | 2018-10-25 | A kind of hovercar and hovercar control method |
| PCT/CN2019/113127 WO2020083352A1 (en) | 2018-10-25 | 2019-10-24 | Flying car and flying car control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811253367.9A CN110466297A (en) | 2018-10-25 | 2018-10-25 | A kind of hovercar and hovercar control method |
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| CN110466297A true CN110466297A (en) | 2019-11-19 |
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| CN201811253367.9A Pending CN110466297A (en) | 2018-10-25 | 2018-10-25 | A kind of hovercar and hovercar control method |
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| WO (1) | WO2020083352A1 (en) |
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| TWI782333B (en) * | 2020-09-29 | 2022-11-01 | 瑞鑑航太科技股份有限公司 | Flying vehicle |
| CN112141342A (en) * | 2020-10-20 | 2020-12-29 | 叶殊钨 | Cargo aircraft with multiple rotary wings |
| CN112722260A (en) * | 2021-01-19 | 2021-04-30 | 西北工业大学 | Self-adaptive bulge high-lift device |
| CN112722260B (en) * | 2021-01-19 | 2022-09-09 | 西北工业大学 | Self-adaptive bulge high-lift device |
| CN113341932A (en) * | 2021-06-22 | 2021-09-03 | 北京理工大学 | Land-air amphibious vehicle domain control system and control method thereof |
| CN113879053A (en) * | 2021-11-17 | 2022-01-04 | 广东汇天航空航天科技有限公司 | Multifunctional aircraft control method and system and multifunctional aircraft |
| CN116923012A (en) * | 2022-04-06 | 2023-10-24 | 广东汇天航空航天科技有限公司 | Safety protection system and aerocar |
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| WO2020083352A1 (en) | 2020-04-30 |
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