CN111932950A - Monitoring terminal and monitoring method of aerocar and monitoring system of intelligent traffic - Google Patents
Monitoring terminal and monitoring method of aerocar and monitoring system of intelligent traffic Download PDFInfo
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- CN111932950A CN111932950A CN202010681411.7A CN202010681411A CN111932950A CN 111932950 A CN111932950 A CN 111932950A CN 202010681411 A CN202010681411 A CN 202010681411A CN 111932950 A CN111932950 A CN 111932950A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
Abstract
The invention relates to the technical field of aerocars, in particular to a monitoring terminal of an aerocar. A terminal for monitoring a flying vehicle, comprising: the mobile data communication system comprises a power module, a bus transceiver, a data acquisition module, a data storage module and a mobile data communication module; the bus transceiver establishes signal connection with a vehicle control unit on the chassis and acquires state information of the chassis; the data acquisition module is in signal connection with a chassis positioning module arranged on the chassis to acquire the position information of the chassis; the bus transceiver establishes signal connection with a flight controller on the aircraft and acquires state information of the aircraft; the data acquisition module is in signal connection with an aircraft positioning module arranged on an aircraft to acquire the position information of the aircraft. The invention realizes the monitoring of the state information of the whole flying automobile. Meanwhile, the invention also discloses a monitoring method of the hovercar and a monitoring system of intelligent traffic.
Description
Technical Field
The invention relates to the technical field of hovercars, in particular to a monitoring terminal, a monitoring system and a monitoring method of a hovercar.
Background
In 2016, 11 and 15 days, the Ministry of industry and communications formally issues a notice about the completion of the safety supervision work of the new energy automobile, and the fact that all the new energy automobiles need to be in data butt joint with a national monitoring platform is made clear, wherein the notice comprises data such as battery voltage, current and temperature, the electric control state of a motor of the whole automobile and the like, the data are transmitted to the national detection platform in real time through a monitoring terminal on the automobile, a production enterprise and a user can conveniently check the data of each automobile in real time, the platform can immediately send alarms of different levels after the potential faults of the automobiles occur, and the user is reminded of checking the automobiles at the first time. The pure electric vehicle can extend to the flying vehicle, and the guarantee of the flying safety is more important.
The flying automobile at least comprises a chassis and an aircraft, wherein the chassis provides power when running on the ground, the aircraft provides power when running in the air, and the chassis is connected with the aircraft through a docking mechanism; the flying automobile generally further comprises a cabin body, wherein the cabin body is located between the chassis and the aircraft, and the cabin body is connected with the chassis and the aircraft up and down through two docking mechanisms. In order to ensure safe operation of the hovercar, the flight process must receive full-range management. Traffic management content includes aspects such as airspace management, capacity management, traffic management, air traffic control, flight monitoring, flight intelligence services, and alerts and notifications. At present, no unified supervision platform is available for remotely managing the running state of the hovercar on line.
Disclosure of Invention
The purpose of the invention is: aiming at the defects of the prior art, the invention provides a monitoring terminal, a monitoring system and a monitoring method of a flying automobile, so as to achieve the purposes of monitoring the running state of the whole automobile and carrying out online safety management on future air traffic tools.
The technical scheme of the invention is as follows: a monitoring terminal of a flying automobile is arranged on the flying automobile; the flying automobile comprises: a chassis and an aircraft. Alternatively, the flying automobile comprises: a chassis, a cabin and an aircraft.
The monitor terminal includes: the mobile data communication system comprises a power module, a bus transceiver, a data acquisition module, a data storage module and a mobile data communication module.
The internal connection relation of the monitoring terminal is as follows: the power supply module provides energy for the bus transceiver, the data acquisition module and the data storage module; the bus transceiver establishes signal connection with the data acquisition module; the data acquisition module is in signal connection with the data storage module and the mobile data communication module.
The connection relationship between the monitoring terminal and the flying car is as follows: the bus transceiver establishes signal connection with a vehicle control unit on the chassis and acquires state information of the chassis; the data acquisition module is in signal connection with a chassis positioning module arranged on the chassis to acquire the position information of the chassis.
The bus transceiver establishes signal connection with a flight controller on the aircraft and acquires state information of the aircraft; the data acquisition module is in signal connection with an aircraft positioning module arranged on an aircraft to acquire the position information of the aircraft.
In the above scheme, specifically: the vehicle control unit is in signal connection with a vehicle navigation unit, a vehicle driving unit, a vehicle braking unit, a vehicle steering unit, a road surface information acquisition unit and a chassis battery unit on the chassis.
In the above scheme, specifically: the flight controller is in signal connection with a flight navigation unit, a flight power supply unit, an air information acquisition unit and an aircraft battery unit on the aircraft.
On the basis of the above scheme, further, when the flying automobile comprises: when the aircraft is in the state of being supported by the chassis, a first sensor for detecting the opening and closing state of the docking locking mechanism is arranged at the docking locking mechanism of the aircraft and the chassis; the data acquisition module is in signal connection with the first sensor. The opening and closing state of the butt locking mechanism of the cabin body and the chassis can be monitored in real time by using the monitoring terminal.
When the flying automobile comprises: when the aircraft is in the state of being opened and closed, the first sensor is used for detecting the opening and closing state of the butt joint locking mechanism of the cabin and the chassis.
On the basis of the scheme, further, when the hovercar runs on the road surface, the aircraft is in a storage state, and when the hovercar runs in the air, the aircraft is in an expansion state; a second sensor for detecting the aircraft storage/expansion state is arranged on the aerocar; the data acquisition module is in signal connection with the second sensor. The monitoring terminal can be used for monitoring the accommodating/unfolding state of the aircraft in real time.
In the above scheme, specifically: considering that the flying automobile chassis is similar to the pure electric automobile chassis, the pure electric automobile chassis is partially used, and therefore the bus transceiver based on the CAN protocol is selected for the chassis part. The CAN bus transceiver is connected with the flying automobile chassis equipment through a CAN network. The CAN bus is adopted to collect the data of the whole aerocar, the number of the buses is small, and the anti-interference capability is strong. The CAN protocol conforms to the global general SAE-J1939CAN bus standard and simultaneously supports the protocol formats of standard frames and extension frames.
Because the CAN bus has low transmission speed and limited transmission distance, a transceiver based on an Ethernet communication format CAN be selected for an aircraft part of a flying automobile, and the maximum transmission rate CAN reach 100M. The exchange equipment is required to be added, and various data of the aircraft can be transmitted in real time and rapidly.
The data acquisition module adopts a microcontroller based on an ARM processor core; this series of controller covers the product array capacity more, and the user can carry out the selection of chip model according to actual data volume, like STM32 singlechip, because it has advantages such as stable performance, the consumption is little and market circulation is big, is fit for using in a large number.
The mobile data communication module adopts a 4G or 5G communication module, such as a GSM module supporting 4G or an MH5000 module supporting 5G.
On the basis of the scheme, further, the power module is connected with an onboard power supply of the aircraft and is provided with a DC converter. The monitoring terminal airborne power supply is not equipped with a battery, and for the aircraft, the endurance mileage of the aircraft cannot be influenced due to the increase of the load.
The other technical scheme of the invention is as follows: the utility model provides a monitored control system of intelligent transportation, it includes hovercar to and the hovercar's monitor terminal as above that installs in the hovercar, monitored control system still includes: a flight management platform.
The flight management platform is in signal connection with the monitoring terminal through the mobile data communication module and used for acquiring the whole information of the flying automobile and managing the driving mode of the flying automobile. On the premise of complete construction of a low-altitude traffic network, the flight management platform can perform remote data monitoring on the flying automobile, acquire whole automobile data in real time on line and manage the driving mode of the flying automobile in time.
When the flying automobile is converted into a flying mode from a ground driving mode, two steps are carried out, wherein in the first step, a flying management platform is required to plan position information of a current nearest parking lot, a running track is sent to a chassis of the flying automobile, the flying automobile automatically and slowly runs to the nearest parking lot along the track by means of the automatic driving function of the chassis, the chassis of the flying automobile is separated from a cabin body, and the chassis can be used for landing and docking of other aircrafts; and in the second step, the flight management platform needs to send the chassis information which is stopped in place near the destination position and can be used for butt joint to the monitoring terminal of the cabin body, a running track is formed in parallel, the flying automobile continues flying according to the running track, and accurate landing can be realized after the flying automobile reaches the position above the chassis.
On the basis of the above scheme, further, the flight management platform includes: the system comprises a ground driving management and control module, an air driving management and control module, a driving mode conversion management and control module and a chassis management module; wherein:
the ground driving management and control module is used for monitoring the position of the chassis, the driving path, the electric quantity of the vehicle-mounted power supply, the road condition of the surrounding environment and the vehicle speed.
The air driving management and control module is used for monitoring the position of the aircraft, the electric quantity of an onboard power supply, the air environment condition and the flying speed.
The driving mode conversion management and control module is used for managing and controlling the conversion from the road driving mode to the air driving mode of the aerocar; the driving mode conversion management and control module judges whether the flying vehicle is suitable or not according to the monitoring information of the ground driving management and control module and the air driving management and control module, and transmits a conversion instruction to the monitoring terminal when the flying vehicle is suitable and plans a flying path.
And the chassis management module is used for managing the chassis positions of all flying automobiles and pairing the chassis with the aircraft according to the positions.
The other technical scheme of the invention is as follows: a method for monitoring a flying car comprises the steps that a monitoring terminal carried on the flying car monitors various information of a chassis system of the flying car and various information of an aircraft system of the flying car; and the monitoring terminal reports the acquired information to the flight management platform.
Further, when the flying automobile runs to a road congestion section, the flight management platform can judge whether to start the flight mode according to the conditions of the current speed of the automobile, the current energy surplus condition and the like.
After the starting of the flight mode is confirmed, the following steps are executed:
A1. the flight management platform issues a flight permission instruction to the flying automobile;
A2. the flying automobile reports the current position and the target position to the flight management platform;
A3. the flight management platform provides a driving path to the nearest parking lot for the flying automobile; the flying automobile runs to a parking lot by means of the chassis;
A4. the chassis of the flying automobile is unlocked from the cabin body/aircraft on the chassis, and the monitoring terminal reports the parking position of the chassis of the flying automobile and the unlocking state of the chassis and the cabin body/aircraft to the flight management platform; the aircraft enters a flying waiting state;
A5. the flight management platform issues a flight planning path to the flying automobile and assigns a chassis to be assembled for the flying automobile;
A6. the flying automobile depends on the aircraft to execute a flight planning path, the flying automobile is arranged above the chassis to be assembled, the flying automobile lands accurately, the aircraft stops, and the cabin body/the aircraft is in butt joint with and locked with the chassis to be assembled; the monitoring terminal reports the combination locking state of the chassis and the cabin/aircraft to the flight management platform;
A7. the flight management platform issues an instruction for permitting the flying automobile to go up the way; the hovercar enters a ground driving mode.
After the enabling of the flight mode is forbidden, the following steps are executed:
B1. the flight management platform issues a flight prohibition instruction to the hovercar;
B2. the hovercar is still traveling toward the destination in the ground travel mode.
Further, the condition that the flight management platform judges whether the hovercar starts the flight mode includes:
the flight management platform judges whether the current driving condition, the chassis working condition and the energy utilization rate of the flying automobile meet the ground driving mode or not from various pieces of information of the chassis reported by the monitoring terminal; under the condition of meeting the ground running mode, in order to avoid collision between the aircraft and the surrounding environment, the ground running mode is executed as much as possible; the ground running can move according to a set running lane, and the safety is ensured. And B, the flight management platform executes the step B under the condition that the flying automobile meets the ground driving mode.
Under the condition that the flight management platform judges that the flying automobile cannot meet the ground running mode at present, the flight management platform judges whether the aircraft meets the current route request of the flying automobile or not from various information of the aircraft reported by the monitoring terminal at the moment; and B, executing the step B under the condition that the aircraft does not meet the current route request.
The flight management platform judges that the aircraft can meet the current route request, and at the moment, the flight management platform judges whether external conditions meet the current route request of the hovercar according to the channel occupation condition and the weather condition; executing the step A under the condition that the external condition meets the current route request; and B, executing the step B under the condition that the external condition does not meet the current route request.
Has the advantages that: the monitoring terminal can monitor the state information of the whole flying vehicle, and can report the acquired state information through the mobile data communication module, and meanwhile, the acquired state information is stored in the data storage module, and data can be supplemented when the signal of the mobile data communication module is lost.
The monitoring terminal and the flight management platform in the invention jointly form an intelligent traffic monitoring system; the flight management platform can monitor the working conditions of the flying automobile such as separation and combination, track navigation, driving modes and the like, judge the driving mode suitable for the flying automobile and dispatch the chassis of the flying automobile. The monitoring system realizes real-time online management of the aerocar, and is beneficial to construction of three-dimensional traffic and air road networks of smart cities.
The invention also provides a method for monitoring the flying automobile, wherein the flying automobile adopts a road surface driving mode under the normal condition, the monitoring method judges whether the flying automobile executes the conversion of the driving mode in the driving process, and after the execution of the driving mode is confirmed, the monitoring method guides the flying automobile to a parking lot, plans the flying path and distributes the chassis to be assembled. The monitoring method is used for carrying out on-line safety management on future air traffic tools, and the intelligent degree of three-dimensional traffic is improved.
Drawings
FIG. 1 is a schematic structural view of a flying vehicle according to the present invention;
FIG. 2 is a block diagram of the structure of the monitor terminal according to the present invention;
FIG. 3 is a block diagram of the connection of the monitor terminal to the hovercar component of the present invention;
FIG. 4 is a block diagram of the structural components of the flight management platform of the present invention;
FIG. 5 is a block diagram of the monitoring system for intelligent transportation according to the present invention;
FIG. 6 is a flow chart of a method of the present invention;
FIG. 7 is a flowchart illustrating a method of determining whether a hovercar is engaged in a transition between travel modes in accordance with the present invention;
in the figure: 1-cabin body, 11-monitoring terminal, 111-power supply module, 112-bus transceiver, 113-data acquisition module, 114-data storage module, 115-mobile data communication module, 2-chassis, 21-vehicle controller, 22-chassis positioning module, 23-vehicle navigation unit, 24-vehicle driving unit, 25-vehicle braking unit, 26-vehicle steering unit, 27-road information acquisition unit, 28-chassis battery unit, 3-aircraft, 31-flight controller, 32-aircraft positioning module, 33-flight navigation unit, 34-flight power supply unit, 35-air information acquisition unit, 36-aircraft battery unit, 4-first sensor, 5-second sensor, 112-bus transceiver, and the like, 6-flight management platform, 61-ground driving management and control module, 62-air driving management and control module, 63-driving mode conversion management and control module and 64-chassis management module.
Detailed Description
Embodiment 1, a monitor terminal 11 for an hovercar, which is installed in the hovercar; the flying automobile in this example is shown in fig. 1, and includes: a chassis 2, a cabin 1 and an aircraft 3. The monitoring terminal 11 can be used for remotely monitoring the data of the hovercar in real time and acquiring the data of the whole unmanned vehicle on line in real time.
Referring to fig. 2, the monitor terminal 11 includes: a power module 111, a bus transceiver 112, a data acquisition module 113, a data storage module 114, and a mobile data communication module 115. The power module 111 is used for supplying power to the whole monitoring terminal 11, and can use the onboard power of the aircraft 3 and convert the onboard power through the DC module; considering that the flying automobile chassis 2 is similar to a pure electric automobile chassis, and the pure electric automobile chassis is partially used, the bus transceiver 112 for the chassis 2 is selected from a bus transceiver based on a CAN protocol, a CAN bus is adopted to collect data of the whole flying automobile, the number of buses is small, and the anti-interference capability is strong. For the hovercar aircraft 3 portion, the bus transceiver 112 may be selected from ethernet format based transceivers, up to 100M transmission rate. The data acquisition module 113 may optionally be a microcontroller based on an ARM processor core. In this example, the mobile data communication module 115 is a 4G or 5G communication module, but is not limited to the communication technologies listed in this application. The data storage module 114 is used for performing data complementation when the signal is lost.
The internal connection relationship of the monitoring terminal 11 is as follows: the power module 111 provides energy for the bus transceiver 112, the data acquisition module 113 and the data storage module 114; the bus transceiver 112 establishes signal connection with the data acquisition module 113; the data acquisition module 113 establishes signal connection with the data storage module 114 and the mobile data communication module 115.
Referring to fig. 3, the connection relationship between the monitoring terminal 11 and the hovercar is as follows: the bus transceiver 112 establishes signal connection with the vehicle control unit 21 on the chassis 2, and acquires state information of the chassis 2; further, the vehicle control unit 21 establishes signal connection with a vehicle navigation unit 23, a vehicle driving unit 24, a vehicle braking unit 25, a vehicle steering unit 26, a road surface information acquisition unit 27 and a chassis battery unit 28 on the chassis 2. The data acquisition module 113 establishes signal connection with the chassis positioning module 22 installed on the chassis 2 to acquire position information of the chassis 2.
The bus transceiver 112 establishes signal connection with the flight controller 31 on the aircraft 3, and collects the state information of the aircraft 3; further, the flight controller 31 establishes signal connection with the flight navigation unit 33, the flight power supply unit 34, the air information acquisition unit 35, and the aircraft battery unit 36 on the aircraft 3. The data acquisition module 113 establishes a signal connection with the aircraft positioning module 32 installed on the aircraft 3, and acquires the position information of the aircraft 3.
Preferably, a first sensor 4 for detecting the opening and closing state of the docking locking mechanism is arranged at the docking locking mechanism of the cabin 1 and the chassis 2; the data acquisition module 113 establishes a signal connection with the first sensor 4. The opening and closing state of the butt locking mechanism of the cabin body 1 and the chassis 2 can be monitored in real time by using the monitoring terminal 11. When the flying automobile only comprises: when the chassis 2 and the aircraft 3 are connected, the first sensor 4 is arranged at a docking locking mechanism of the aircraft 3 and the chassis 2 and used for detecting the opening and closing state of the docking locking mechanism.
When the hovercar is traveling on the road surface, the aircraft 3 is in the stowed state, and when the hovercar is traveling in the air, the aircraft 3 is in the deployed state. Preferably, a second sensor 5 for detecting the stowed/deployed state of the aircraft 3 is provided on the hovercar; the data acquisition module 113 establishes a signal connection with the second sensor 5. The stowed/deployed state of the aircraft 3 can be monitored in real time using the monitor terminal 11.
The flight management platform 6 establishes signal connection with the monitoring terminal 11 through the mobile data communication module 115, and is used for acquiring the whole vehicle information of the hovercar and managing the driving mode of the hovercar. The flight management platform 6 can carry out remote data monitoring on the flying automobile and acquire the data of the whole flying automobile on line in real time, under the normal condition, the flying automobile adopts a ground driving mode, and the flight management platform 6 judges whether the current driving condition is safe and reliable in real time according to the received data and achieves the highest energy utilization rate. When the flying automobile does not meet the ground driving mode, the flight management platform 6 can manage the driving mode of the flying automobile in time according to the set judgment condition. Further, the flight management platform 6 can also utilize the air state information acquired by the aircraft 3 in the flight process to build a low-altitude traffic network and complete the information interconnection of the land-air smart city. The flight management platform 6 can also be provided with a manager, and the platform manager can check the actual working conditions of all the running flying vehicles in real time on line and intervene the flying vehicles under abnormal working conditions.
Referring to fig. 5, the flight management platform 6 includes: a ground driving management and control module 61, an air driving management and control module 62, a driving mode conversion management and control module 63 and a chassis management module 64; wherein:
the ground driving control module 61 is used for monitoring the position of the chassis 2, the driving path, the electric quantity of the vehicle-mounted power supply, the surrounding road condition and the vehicle speed.
The air travel management and control module 62 is used for monitoring the position of the aircraft 3, the onboard power supply capacity, the air environment condition and the flight speed.
The driving mode conversion control module 63 is used for controlling the conversion from the road driving mode to the air driving mode of the hovercar; the driving mode conversion control module 63 determines whether the flight is suitable according to the monitoring information of the ground driving control module 61 and the air driving control module 62, and issues a conversion instruction to the monitoring terminal 11 and plans a flight path when the flight is suitable.
The chassis management module 64 is used for managing the positions of the chassis 2 of all the flying automobiles and pairing the chassis 2 with the aircraft 3 according to the positions.
Referring to fig. 6, when the flying vehicle travels to a congested road section, the flight management platform 6 may determine whether to enable the flight mode according to conditions such as a current speed of the vehicle and a current energy remaining condition.
After the starting of the flight mode is confirmed, the following steps are executed:
A1. the flight management platform 6 issues a flight permission instruction to the hovercar;
A2. the flying automobile reports the current position and the target position to the flying management platform 6;
A3. the flight management platform 6 provides the flying vehicle with a driving path to the nearest parking lot; the flying automobile runs to a parking lot by means of the chassis 2;
A4. the chassis 2 of the flying automobile is unlocked from the cabin 1 of the flying automobile, and the monitoring terminal 11 reports the parking position of the chassis 2 of the flying automobile and the unlocking state of the chassis 2 and the cabin 1 to the flight management platform 6; the aircraft 3 enters a flying waiting state;
A5. the flight management platform 6 issues a flight planning path to the flying automobile and assigns a chassis 2 to be assembled for the flying automobile;
A6. the flying automobile depends on the aircraft 3 to execute a flight planning path, the flying automobile is arranged above the chassis 2 to be assembled, the flying automobile lands accurately, the aircraft 3 stops, and the cabin body 1 is in butt joint with and locked with the chassis 2 to be assembled; the monitoring terminal 11 reports the combination locking state of the chassis 2 and the cabin 1 to the flight management platform 6;
A7. the flight management platform 6 issues an instruction for permitting the flying automobile to go up the way; the hovercar enters a ground driving mode.
After the enabling of the flight mode is forbidden, the following steps are executed:
B1. the flight management platform 6 issues a flight prohibition instruction to the hovercar;
B2. the hovercar is still traveling toward the destination in the ground travel mode.
Further, referring to fig. 7, the condition that the flight management platform 6 determines whether the hovercar is in the flight mode includes:
the flight management platform 6 judges whether the current driving condition, the chassis 2 working condition and the energy utilization rate of the hovercar meet the ground driving mode or not from various information reported by the monitoring terminal 11 for the chassis 2; under the condition of meeting the ground running mode, in order to avoid collision between the aircraft and the surrounding environment, the ground running mode is executed as much as possible; the ground running can move according to a set running lane, and the safety is ensured. And B, the flight management platform 6 executes the step B under the condition that the flying automobile meets the ground driving mode.
Under the condition that the flight management platform 6 judges that the flying automobile cannot meet the ground running mode at present, at the moment, the flight management platform 6 judges whether the aircraft 3 meets the current route request of the flying automobile from various information of the aircraft 3 reported by the monitoring terminal 11; and B, executing the step B under the condition that the aircraft 3 does not meet the current route request.
The flight management platform 6 judges that the aircraft 3 can meet the current route request, and at the moment, the flight management platform 6 judges whether the external conditions meet the current route request of the hovercar according to the channel occupation condition and the weather condition; executing the step A under the condition that the external condition meets the current route request; and B, executing the step B under the condition that the external condition does not meet the current route request.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (12)
1. A monitoring terminal (11) of a flying automobile is arranged on the flying automobile; the flying automobile comprises: a chassis (2) and an aircraft (3); the method is characterized in that: the monitoring terminal (11) includes: the mobile data communication system comprises a power supply module (111), a bus transceiver (112), a data acquisition module (113), a data storage module (114) and a mobile data communication module (115);
the power supply module (111) provides energy to the bus transceiver (112), the data acquisition module (113), and the data storage module (114); the bus transceiver (112) is in signal connection with the data acquisition module (113); the data acquisition module (113) is in signal connection with the data storage module (114) and the mobile data communication module (115);
the bus transceiver (112) is in signal connection with a vehicle control unit (21) on the chassis (2) and collects state information of the chassis (2); the data acquisition module (113) is in signal connection with a chassis positioning module (22) arranged on the chassis (2) to acquire the position information of the chassis (2);
the bus transceiver (112) is in signal connection with a flight controller (31) on the aircraft (3) and collects state information of the aircraft (3); the data acquisition module (113) is in signal connection with an aircraft positioning module (32) installed on the aircraft (3) and acquires the position information of the aircraft (3).
2. A terminal (11) for monitoring flying vehicles according to claim 1, characterized in that: the vehicle control unit (21) is in signal connection with a vehicle navigation unit (23), a vehicle driving unit (24), a vehicle braking unit (25), a vehicle steering unit (26), a road surface information acquisition unit (27) and a chassis battery unit (28) on the chassis (2).
3. A terminal (11) for monitoring flying vehicles according to claim 1, characterized in that: the flight controller (31) is in signal connection with a flight navigation unit (33), a flight power supply unit (34), an air information acquisition unit (35) and an aircraft battery unit (36) on the aircraft (3).
4. A terminal (11) for monitoring flying vehicles according to any one of claims 1 to 3, characterised in that: the flying automobile further comprises: a cabin (1);
a first sensor (4) for detecting the opening and closing state of the docking locking mechanism is arranged at the docking locking mechanism of the chassis (2) and the cabin (1)/the aircraft (3) thereon; the data acquisition module (113) is in signal connection with the first sensor (4).
5. A terminal (11) for monitoring flying vehicles according to any one of claims 1 to 3, characterised in that: when the hovercar runs on the road surface, the aircraft (3) is in a storage state, and when the hovercar runs in the air, the aircraft (3) is in a deployment state; the second sensor (5) is used for detecting the storage/deployment state of the aircraft (3); the data acquisition module (113) is in signal connection with the second sensor (5).
6. A monitoring system of intelligent traffic, comprising a flying car, and a monitoring terminal (11) of the flying car according to any one of claims 1 to 5 installed in the flying car, characterized in that: it still includes: a flight management platform (6); the flight management platform (6) is in signal connection with the monitoring terminal (11) through the mobile data communication module (115) and is used for acquiring the whole vehicle information of the hovercar and managing the driving mode of the hovercar.
7. The monitoring system of intelligent traffic as claimed in claim 6, wherein: the flight management platform (6) comprises: the system comprises a ground driving management and control module (61), an air driving management and control module (62), a driving mode conversion and control module (63) and a chassis management module (64); wherein:
the ground driving control module (61) is used for monitoring the position of the chassis (2), a driving path, the electric quantity of a vehicle-mounted power supply, the road condition of the surrounding environment and the vehicle speed;
the air driving management and control module (62) is used for monitoring the position of the aircraft (3), the electric quantity of an onboard power supply, the air environment condition and the flying speed;
the driving mode conversion control module (63) is used for controlling the conversion from the road driving mode to the air driving mode of the aerocar; the driving mode conversion management and control module (63) judges whether the flight is suitable or not according to the monitoring information of the ground driving management and control module (61) and the air driving management and control module (62), and transmits a conversion instruction to the monitoring terminal (11) and plans the flight path when the flight is suitable;
the chassis management module (64) is used for managing the positions of the chassis (2) of all the flying automobiles and pairing the chassis (2) with the aircraft (3) according to the positions.
8. A monitoring method of a flying automobile is characterized in that: monitoring various information of the flying automobile chassis (2) system and various information of the flying automobile aircraft (3) system by a monitoring terminal (11) carried on a flying automobile; and the monitoring terminal (11) reports the acquired information to the flight management platform (6).
9. A method of monitoring a flying vehicle as claimed in claim 8, wherein: the flight management platform (6) judges whether the hovercar starts a flight mode or not;
after the starting of the flight mode is confirmed, the following step A is executed:
A1. the flight management platform (6) issues a flight permission instruction to the hovercar;
A2. the flying automobile reports the current position and the target position to the flying management platform (6);
A3. the flight management platform (6) providing the flying vehicle with a driving path to the nearest parking lot; the flying vehicle runs to the parking lot by means of a chassis (2) of the flying vehicle;
A4. the chassis (2) of the flying automobile is unlocked from the cabin (1)/the aircraft (3) on the chassis, and the monitoring terminal (11) reports the parking position of the chassis (2) of the flying automobile and the unlocking state of the chassis (2) and the cabin (1)/the aircraft (3) to the flight management platform (6); the aircraft (3) enters a state of waiting for flight;
A5. the flight management platform (6) issues a flight planning path to the flying automobile and assigns a chassis (2) to be assembled for the flying automobile;
A6. the flying automobile executes a flight planning path by means of an aircraft (3) of the flying automobile, lands above the chassis (2) to be assembled, the aircraft (3) stops, and the cabin body (1)/the aircraft (3) and the chassis (2) to be assembled are in butt joint and locked; the monitoring terminal (11) reports the combination locking state of the chassis (2) and the cabin body (1)/the aircraft (3) to the flight management platform (6);
A7. the flight management platform (6) issues an order of permitting the flyer to go on the way by issuing the order to the flyer; the aerocar enters a ground driving mode;
after the enabling of the flight mode is forbidden, the following step B is executed:
B1. the flight management platform (6) issues a flight prohibition instruction to the hovercar;
B2. the hovercar is still traveling toward the destination in the ground travel mode.
10. A method of monitoring a flying vehicle as claimed in claim 9, wherein: the flight management platform (6) judges whether the current driving condition of the flying automobile, the working condition of the chassis (2) and the energy utilization rate meet a ground driving mode or not from various information of the chassis (2) reported by the monitoring terminal (11); and B, executing the step B under the condition that the ground driving mode is met.
11. A method of monitoring a flying vehicle as claimed in claim 10, wherein: under the condition that the flight management platform (6) judges that the flying automobile cannot meet the ground running mode at present, the flight management platform (6) judges whether the flying automobile (3) meets the current route request of the flying automobile or not from various information of the flying automobile (3) reported by the monitoring terminal (11); and B, executing the step B under the condition that the aircraft (3) does not meet the current route request.
12. A method of monitoring a flying vehicle as claimed in claim 11, wherein: the flight management platform (6) judges that the aircraft (3) can meet the current route request, and at the moment, the flight management platform (6) judges whether external conditions meet the current route request of the flying automobile according to the channel occupation condition and the weather condition; executing the step A under the condition that the external condition meets the current route request; and B, executing the step B under the condition that the external condition does not meet the current route request.
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| CN202010681411.7A CN111932950A (en) | 2020-07-15 | 2020-07-15 | Monitoring terminal and monitoring method of aerocar and monitoring system of intelligent traffic |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112991821A (en) * | 2021-02-06 | 2021-06-18 | 西南大学 | Low-altitude air route and road comprehensive management platform and method |
| CN113959430A (en) * | 2021-10-13 | 2022-01-21 | 广东汇天航空航天科技有限公司 | Flight attitude determination method and device for aerocar, vehicle-mounted terminal and storage medium |
| CN115019503A (en) * | 2022-05-12 | 2022-09-06 | 东风汽车集团股份有限公司 | Space track distribution method under aerocar hybrid traffic flow based on information sharing |
| WO2024062704A1 (en) * | 2022-09-22 | 2024-03-28 | 株式会社Ｊｖｃケンウッド | Recording control device, recording control method, and program |
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2020
- 2020-07-15 CN CN202010681411.7A patent/CN111932950A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112991821A (en) * | 2021-02-06 | 2021-06-18 | 西南大学 | Low-altitude air route and road comprehensive management platform and method |
| WO2022166248A1 (en) * | 2021-02-06 | 2022-08-11 | 西南大学 | Low-altitude air route and road integrated management platform and method |
| CN113959430A (en) * | 2021-10-13 | 2022-01-21 | 广东汇天航空航天科技有限公司 | Flight attitude determination method and device for aerocar, vehicle-mounted terminal and storage medium |
| CN113959430B (en) * | 2021-10-13 | 2023-12-22 | 广东汇天航空航天科技有限公司 | Method and device for determining attitude of aerocar, vehicle-mounted terminal and storage medium |
| CN115019503A (en) * | 2022-05-12 | 2022-09-06 | 东风汽车集团股份有限公司 | Space track distribution method under aerocar hybrid traffic flow based on information sharing |
| WO2024062704A1 (en) * | 2022-09-22 | 2024-03-28 | 株式会社Ｊｖｃケンウッド | Recording control device, recording control method, and program |
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