WO2020083352A1 - Voiture volante et procédé de commande de voiture volante - Google Patents

Voiture volante et procédé de commande de voiture volante Download PDF

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Publication number
WO2020083352A1
WO2020083352A1 PCT/CN2019/113127 CN2019113127W WO2020083352A1 WO 2020083352 A1 WO2020083352 A1 WO 2020083352A1 CN 2019113127 W CN2019113127 W CN 2019113127W WO 2020083352 A1 WO2020083352 A1 WO 2020083352A1
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WO
WIPO (PCT)
Prior art keywords
assembly
car
flying
landing
flying car
Prior art date
Application number
PCT/CN2019/113127
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English (en)
Chinese (zh)
Inventor
张凯
张世隆
葛航
邓丽敏
魏文菲
和林
王天培
Original Assignee
长城汽车股份有限公司
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Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Publication of WO2020083352A1 publication Critical patent/WO2020083352A1/fr

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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

Definitions

  • the invention relates to the field of flying cars, in particular to a flying car and a flying car control method.
  • flying cars Since the beginning of the last century, there have been attempts to fly cars abroad, and the development of flying cars has not stopped. As a trend of future traffic, flying cars can alleviate the current status of traffic congestion and improve transportation efficiency.
  • existing flying cars usually adopt two design schemes, including: the first one is to set up wings on the flying car and take off by accelerating the propulsion on the take-off runway.
  • the second type is to set up multiple sets of rotors on the flying car, and to achieve vertical take-off and flight by working simultaneously.
  • wing flying cars need to rely on the airport runway for landing and landing, and can not freely achieve land-air conversion.
  • rotor-wing flying cars have low cruise efficiency and poor endurance.
  • the present invention aims to propose a flying car and a flying car control method, in order to solve the problems in the prior art that the flying car cannot freely achieve land-air conversion, low cruise efficiency, and poor endurance.
  • a flying car the flying car includes:
  • Automobile body rotor assembly, cruise assembly, sensor assembly, landing assembly and control assembly;
  • the cruise assembly includes: a wing and a thrust fan;
  • the rotor assembly includes: multiple sets of ducted fans;
  • the wing is arranged on the top of the automobile body, the thrust fan is arranged on the top of the automobile body at a position corresponding to the longitudinal central axis; the landing assembly is arranged on the bottom of the automobile body;
  • the multiple groups of ducted fans are symmetrically distributed and arranged around the body of the car;
  • the sensor assembly is used to send the monitored driving state of the car body to the control assembly; the control assembly is used to control the rotor assembly, the cruise assembly, and the landing according to the driving state Components work.
  • the number of the ducted fans is an integer multiple of 4.
  • the rotor assembly further includes:
  • One end of the four groups of fairings are respectively disposed at four top corner positions of the automobile body, and the other end of the fairing is of a streamlined structure;
  • a fan mounting hole is provided on the fairing, and the ducted fan is provided in the fan mounting hole.
  • the number of the ducted fans is 8 groups
  • Each of the fairings is respectively provided with two groups of the ducted fans;
  • the landing component includes:
  • the walking wheel is provided on the landing bracket, the bottom of the automobile body is provided with a storage slot, the landing bracket is provided in the storage slot, and the landing bracket is used to protrude from the storage slot or Withdraw.
  • the control assembly controls the rotational speed of all the bypass fans to be less than the first preset rotational speed, and controls the landing bracket to Extending from the storage slot;
  • the control assembly controls the speed of the bypass fan on one side of the rolling direction to be less than the second preset speed and controls the other side
  • the speed of the ducted fan is greater than the third preset speed
  • the control component controls the bypass fan rotating in the clockwise direction to have a rotation speed greater than the fourth preset rotation speed, and controls the counterclockwise rotation The speed of the bypass fan rotating in the direction is less than the fifth preset speed;
  • the control component controls the speed of the bypass fan rotating counterclockwise to be greater than the fourth preset speed, and controls the clockwise rotation The speed of the bypass fan rotating in the direction is less than the fifth preset speed;
  • the control assembly controls the rotation speed of all the bypass fans to be greater than the sixth preset rotation speed.
  • the wing includes:
  • the first fixing part is provided on the top of the automobile body, and both ends of the first fixing part are movably connected to one ends of the first connection part and the second connection part, respectively, and the first connection part The other end is movably connected to one end of the first end, and the other end of the second connection is movably connected to one end of the second end.
  • the wing includes:
  • a second fixed part a first rotating component, a second rotating component, a third end and a fourth end;
  • the second fixing portion is provided on the top of the automobile body, one end of the second fixing portion is connected to the third end portion through the first rotating assembly, and the other end of the second fixing portion passes through the
  • the second rotating component is connected to the fourth end;
  • the third end portion and the fourth end portion are used for performing a rotary motion with the second fixed portion as an axis through the first rotating component and the second rotating component.
  • the cruise component further includes:
  • the rear wing is a T-shaped structure rear wing, and the rear wing is disposed on a side of the automobile body away from the cockpit.
  • a flying car control method for controlling the flying car includes:
  • the driving state is a cruise flight state, controlling the rotor assembly and / or the cruise assembly to work;
  • the rotor assembly and the landing assembly are controlled to operate, and the cruise assembly is controlled to stop operating.
  • the flying car and the flying car control method described in the present invention have the following advantages:
  • a flying car and a flying car control method provided by an embodiment of the present invention include: a car body, a rotor assembly, a cruise assembly, a sensor assembly, a landing assembly, and a control assembly;
  • the cruise assembly includes: a wing and a thrust fan;
  • the rotor assembly includes: Multiple sets of ducted fans; the wings are set on the top of the car body, the thrust fans are set on the top of the car body corresponding to the longitudinal center axis; the landing components are set on the bottom of the car body; the multiple sets of ducted fans are symmetrically distributed and set on the car
  • the sensor component is used to send the monitored driving status of the car body to the control component;
  • the control component is used to control the rotor component, the cruise component, and the landing component according to the driving status.
  • the invention realizes the vertical take-off and landing function of the flying car through the vertical lift provided by the ducted fan, and the purpose of improving the cruising and endurance ability during the flight through the cruise component.
  • the cooperation of the rotor component and the cruise component realizes the flying car Land-air conversion capability.
  • FIG. 1 is a structural diagram of a flying car according to an embodiment of the invention.
  • FIG. 2 is a top structural view of a flying car according to an embodiment of the invention.
  • FIG. 3 is a diagram of changing the flying state of a flying car according to an embodiment of the invention.
  • FIG. 4 is a diagram of a change in the flight status of another flying car according to an embodiment of the invention.
  • FIG. 5 is a diagram of a change in the flight status of another flying car according to an embodiment of the invention.
  • FIG. 6 is a diagram of a change in the flight status of another flying car according to an embodiment of the invention.
  • FIG. 7 is a structural diagram of another flying car according to an embodiment of the present invention.
  • FIG. 8 is a structural diagram of another flying car according to an embodiment of the present invention.
  • FIG. 9 is a structural diagram of another flying car according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of another flying car according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of another flying car according to an embodiment of the present invention.
  • FIG. 12 is a flowchart of steps of a method for controlling a flying car according to an embodiment of the present invention
  • FIG. 13 is a block diagram of a state transition of a flying car solution according to an embodiment of the present invention.
  • FIG. 14 is a flow chart of a state control of a flying car solution according to an embodiment of the invention.
  • FIG. 15 schematically shows a block diagram of a calculation processing device for performing the method according to the present invention.
  • Fig. 16 schematically shows a storage unit for holding or carrying program code implementing the method according to the present invention.
  • FIG. 1 shows a structural diagram of a flying car provided by an embodiment of the present invention.
  • the flying car includes: a car body 10, a rotor assembly 20, a cruise assembly 30, a sensor assembly (not shown in the figure), Landing assembly 40 and control assembly (not shown in the figure); cruise assembly 30 includes: wing 301 and thrust fan 302; rotor assembly includes: multiple sets of ducted fans 201; wing 301 is provided on the top of the car body 10, thrust The fan 302 is provided at the top of the car body 10 at a position corresponding to the longitudinal center axis; the landing assembly 40 is provided at the bottom of the car body 10; multiple sets of ducted fans 201 are symmetrically distributed and arranged around the car body 10; the sensor assembly is used to monitor The driving status of the vehicle body 10 is sent to the control component; the control component is used to control the rotor component 20, the cruise component 30, and the landing component 40 to work according to the driving status.
  • the flying car can realize the vertical take-off and landing through the cooperation of the rotor assembly 20 and the landing assembly 40, to meet the requirements of the vertical take-off and vertical landing of the flying car in multiple scenarios, and to get rid of the flying car in the existing technical solutions
  • the problem is that the runway needs to be assisted to take off and land, and in the flight state, the horizontal assembly of the flying car can be achieved through the cruise assembly 30, which greatly improves the cruising efficiency and endurance of the flying car.
  • the car body 10 is consistent with the current car body, and the power drive when driving on the road surface can be a front drive type, a rear drive type, or a four-wheel drive type.
  • the car body 10 can also use the thrust fan 302 of the cruise assembly 30, To realize the thrust driving on the road surface, the embodiment of the present invention takes the thrust fan 302 as the driving device of the flying automobile on the ground as an example to describe the flying automobile.
  • the overall structure of the car body 10 may be a streamlined structure to reduce wind resistance.
  • the car body 10 includes: a top, a bottom, and a front cockpit 101 and a rear portion, which defines the longitudinal axis direction of the car body 10 along the length of the vehicle body, parallel
  • the front cockpit 101 can be designed to carry at least two people.
  • the car body 10 can be made of lightweight materials (for example: carbon fiber materials) to reduce the car as much as possible while ensuring safety Body mass, improve the endurance of flying cars.
  • the number of ducted fans is an integer multiple of 4.
  • the rotor assembly 20 is mainly used to realize the vertical take-off and landing function of the flying car, including multiple sets of culverts Fan 201
  • ducted fan 201 is a device that provides vertical take-off and landing lift for flying cars.
  • the ducted axis of ducted fan 201 is parallel to the vertical direction and is used to provide vertical lift.
  • at least 4 sets of ducts can be used Fan 201, in special cases, the number of ducted fans 201 can be increased to an integer multiple of 4, (8 groups of ducted fans 201 are used in FIG.
  • ducted fans 201 are evenly distributed in the car
  • the surroundings of the body 10 provide lift for the vehicle body 10 to take off and land vertically or assist the vehicle body 10 in posture adjustment.
  • the ducted fan 201 its incoming flow speed is small, and its rotor blades can be used with fixed pitch blades suitable for low incoming flow speed.
  • the thrust is controlled by the rotation speed.
  • the rotor blade can be controlled by an electric motor (not shown in the drawings) ) Direct drive.
  • multiple groups of ducted fans 201 may be distributed in a rectangular shape.
  • the ducted fans 201 on both sides of the car body 10 are symmetrical with respect to the longitudinal symmetry plane A of the car body 10; along the length of the car body 10, the front and rear ducted fans 201 of the car body 10 are relative to the lateral direction
  • the vertical section B is symmetrical.
  • the longitudinal symmetry plane A and the transverse vertical tangent plane B perpendicularly intersect, and the intersection line is generally close to or passes through the center of gravity of the automobile body 10 and the lift center of the wing 301.
  • the width of the car should not exceed 2.5 meters. Therefore, in order to ensure that the flying car has a certain width near the ground and the ground state, increase the number of ducted fans 201 and use a smaller size
  • the duct fan 201 may increase the lateral wheelbase of the lift points on both sides of the flying car, which will be more advantageous for the attitude adjustment of the flying car. Therefore, 8 groups of ducted fans 201 are adopted as the preferred solution.
  • electric motors are very suitable for driving such distributed small-size, high-speed rotors or fans.
  • electric motor drives have light weight, The advantages of small size and fast response speed, followed by the simple structure of the electric motor, fewer moving parts, and high reliability.
  • the external culverts around the rotor can play a good role in protecting the rotor and its surroundings and improve the safety of the whole machine.
  • the external culverts also have the advantages of adding extra lift and reducing noise.
  • the sensor module is used to send the monitored driving status of the flying car to the control module.
  • the control module is used to perform specific flight operations when it is determined that the flying car is in a different flying state according to the received driving status. What needs to be explained is
  • the sensor module can also send the monitored data to the IoV server via a wireless network, and the IoV server can further plan the flight operation of the flying car based on the data and feed the result back to the control module of the flying car.
  • the wing 301 is located at the top of the car body 10, and its longitudinal position is related to the overall center of gravity of the flying car.
  • the lateral axis of the flying car is defined along the direction of the wingspan of the wing 301.
  • the outer side of the trailing edge of the wing 301 can be provided with a movable aileron 3011 that can control the rolling maneuver of the flying car.
  • the wing 301 can add other maneuvers for optimizing aerodynamic performance, such as increase in lift and drag reduction. Faces such as flaps, wingtips, winglets and other devices.
  • the thrust fan 302 is a device that provides forward thrust for a flying car, and may be similar to the structure of the ducted fan 201. Preferably, two sets of thrust fans 302 may be symmetrically arranged.
  • the longitudinal symmetry plane A of the automobile body 10 is symmetrical, and the thrust fan 302 does not produce airflow influence with the ducted fan 201 during operation.
  • the thrust fan 302 and the wing 301 can be installed independently of each other, without affecting the spread of the wing 301.
  • the rotor of the thrust fan 302 uses variable pitch blades to keep it relatively constant at different incoming speeds High propulsion efficiency.
  • the rotor can generate reverse thrust, which increases the dynamics of the flying plane.
  • the design of the external duct will also be different.
  • a flying automobile provided by an embodiment of the present invention includes: an automobile body, a rotor assembly, a cruise assembly, a sensor assembly, a landing assembly and a control assembly;
  • the cruise assembly includes: a wing and a thrust fan;
  • the rotor assembly includes: Multiple sets of ducted fans; the wings are set on the top of the car body, the thrust fans are set on the top of the car body corresponding to the longitudinal center axis; the landing components are set on the bottom of the car body; the multiple sets of ducted fans are symmetrically distributed and set on the car
  • the sensor component is used to send the monitored driving status of the car body to the control component;
  • the control component is used to control the rotor component, the cruise component, and the landing component according to the driving status.
  • the invention realizes the vertical take-off and landing function of the flying car through the vertical lift provided by the ducted fan, and the purpose of improving the cruising and endurance ability during the flight through the cruise component.
  • the cooperation of the rotor component and the cruise component realizes the flying car Land-air conversion capability.
  • the rotor assembly 20 further includes: four sets of fairings 202; one end of the four sets of fairings 202 are respectively disposed at four top corner positions of the automobile body 10, and the other end of the fairing 202 has a streamlined structure ; A fan mounting hole is provided on the fairing, and the ducted fan 201 is provided in the fan mounting hole.
  • the fairing 202 can be mainly used to optimize the forward aerodynamic performance of the ducted fan 201.
  • it can be located at the four top corners of the car body 10
  • Corresponding fairings 202 are provided at each place, and the other end of the fairing 202 is designed as a streamlined structure to reduce the windward resistance of the ducted fan 201 when the flying car is flying ahead, according to the number of ducted fans 201 adopted in the design of the flying car
  • the size and arrangement are different.
  • the fairing 202 can have different designs, which is not limited in the present invention.
  • the number of ducted fans 201 is 8; each fairing 202 is provided with two sets of ducted fans 201; the adjacent two sets of ducted fans 201 on each fairing 202 The direction of rotation is opposite.
  • the flying car may adopt the design of four sets of fairings 202 and eight sets of ducted fans 201.
  • Each fairing 202 is provided with two sets of ducted fans 201, meanwhile, Referring to FIGS. 3 to 6, in order to achieve the torque balance of the flying car, any adjacent two groups of the ducted fans 201 in the eight groups of ducted fans should rotate in opposite directions.
  • the sensor module is connected to each group of ducted fan 201 separately, which is used to monitor the working state data of the ducted fan 201 for the driver to perform real-time analysis, and the sensor module can also change the working state of the ducted fan 201
  • the data is sent to the control module.
  • the control module can adjust the speed of each ducted fan 201 according to the analysis of the working status data of the ducted fan 201 or receive the control command sent by the driver to achieve the flying attitude of the flying car. change.
  • the landing assembly 40 includes: a landing bracket 401 and a walking wheel 402; the walking wheel 402 is disposed on the landing bracket 401, a storage slot is provided at the bottom of the automobile body 10, and the landing bracket 401 is provided in the storage slot, The landing bracket 401 is used to extend or retract from the storage tank.
  • the landing assembly 40 is used to cushion the impact of the flying car when landing, and the maneuvering of the ground. In addition, in order to avoid wind resistance of the landing assembly 40 when the flying vehicle is in the flying state, the landing assembly 40 can be retracted into the storage tank. When the flying vehicle is in the landing state, the landing assembly 40 can be taken out of the storage tank for landing operation.
  • FIG. 3 shows a flight status change diagram of a flying car provided by an embodiment of the present invention, which shows a vertical flight control scheme of the flying car in a vertical flight mode, where the dotted ellipse represents the For the main body of a flying car, the dotted rectangular frame represents the direction of the head of the flying car. Taking rotation speed control as an example, the thickness of the turning arrow represents the speed of the bypass fan 201.
  • the control assembly controls the rotational speed of all the ducted fans 201 to be less than the first preset rotational speed, and controls the landing bracket 401 to protrude from the storage tank.
  • the control assembly controls the rotation speed of all the bypass fans to be greater than a sixth preset rotation speed.
  • the rotational speed of the ducted fan 201 is the first preset speed.
  • the flying car changes from the hovering state a to the vertical landing state b, it needs to be reduced by 8 at the same time.
  • the rotation speed of 201 increases the overall lift, so that the rotation speed of the bypass fan is greater than the sixth preset rotation speed, where the sixth preset rotation speed is greater than or equal to the first preset rotation speed.
  • FIG. 4 shows a flight state change diagram of another flying car provided by an embodiment of the present invention, which shows the flight control scheme of the flying car in a one-sided maneuvering state, where the dotted ellipse represents all
  • the dotted rectangular frame represents the direction of the head of the flying car.
  • the thickness of the turning arrow represents the speed of the bypass fan 201.
  • the control component controls the speed of the bypass fan 201 on one side of the rolling direction to be less than the second preset speed and controls the other side
  • the speed of the bypass fan 201 is greater than the third preset speed.
  • the flying car wants to roll the maneuver e to the right and keep the flying height unchanged, it is necessary to increase the speed of the bypass fan 201 on the left side of the car body 10 at the same time to increase the left lift and reduce the car at the same time
  • the rotation speed of the bypass duct 201 on the right side of the main body 10 is used to reduce the right lift, and at the same time, the total lift in the vertical direction of the main body 10 of the vehicle needs to be maintained unchanged.
  • the control component controls the speed of the ducted fan on one side of the rolling direction to be less than the second preset speed, and controls the speed of the ducted fan on the other side
  • the rotation speed is greater than the third preset rotation speed, wherein, in one case, the second preset rotation speed and the third preset rotation speed may be the same rotation speed, that is, the second preset rotation speed and the third preset rotation speed are assumed to be 10,000 rpm
  • the second preset speed and the third preset speed may be different speeds, that is, assuming that the second preset speed is 7000 rpm and the third preset speed is 12000 rpm, when flying When the car needs to turn left at a larger angle, it can control the speed of the left ducted fan to be less than 7000 rpm, while controlling the speed of the right ducted fan to be greater than 12000 rpm.
  • FIG. 5 shows a flight status change diagram of another flying car provided by an embodiment of the present invention, and shows a flight control scheme of the flying car in a pitch flight state, where the dotted ellipse represents the flying car ’s flight status.
  • the dashed rectangular frame represents the direction of the head of the flying car.
  • the thickness of the steering arrow represents the speed of the bypass fan 201.
  • the flying car wants to do the head-up maneuver g and keep the flying height unchanged, it is necessary to increase the speed of the bypass fan 201 at the head of the car body 10 to increase the front lift and reduce the tail of the car body 10 at the same time
  • the rotation speed of the bypass fan 201 reduces the rear side lift force, and at the same time, the total lift force in the vertical direction of the vehicle body 10 needs to be maintained unchanged.
  • FIG. 6 shows a flight state change diagram of another flying car provided by an embodiment of the present invention, showing a flight control scheme of the flying car in a clockwise and counterclockwise yaw state, where the dotted ellipse Representing the main body of the flying car, the dashed rectangular frame represents the direction of the head of the flying car.
  • the thickness of the turning arrow represents the speed of the bypass fan 201.
  • the flying car wants to make a counterclockwise yaw state h around its center and keep the flying height unchanged, it is necessary to increase the speed of the bypass fan 201 of the car body 10 rotating clockwise at the same time, and at the same time reduce the counterclockwise rotation of the car body 10
  • the rotation speed of the ducted fan 201 causes the automobile body 10 as a whole to withstand a counterclockwise rotation torque, and at the same time, it is necessary to maintain the total lift of the automobile body 10 in the vertical direction unchanged.
  • the flying car wants to make a clockwise yaw state i around its center and keep the flying height unchanged, it is necessary to increase the speed of the bypass fan 201 of the car body 10 rotating counterclockwise at the same time, and at the same time reduce the car body
  • the rotational speed of the ducted fan 201 rotating clockwise 10 makes the whole body 10 of the vehicle bear a clockwise rotation torque, and at the same time needs to maintain the total lift of the body 10 in the vertical direction unchanged.
  • the fourth preset speed and the fifth preset speed may be the same speed, that is, assuming the fourth preset speed and The fifth preset speed is 10000 rpm, when the flying car needs to rotate slightly counterclockwise, the speed of the bypass fan rotating clockwise can be controlled to be greater than 10000 rpm, and the bypass that rotates counterclockwise can be controlled The speed of the fan is less than 10,000 rpm.
  • the fourth preset speed and the fifth preset speed may be different speeds, that is, assuming that the fourth preset speed is 7000 rpm and the fifth preset speed is 12000 rpm, when flying When the car needs a faster counterclockwise rotation, the speed of the bypass fan rotating counterclockwise can be controlled to be less than 7000 rpm, and the speed of the bypass fan rotating clockwise can be controlled to be greater than 12000 rpm.
  • the wing 301 includes: a first fixing portion 301a, a first connecting portion 301b, a second connecting portion 301c, The first end portion 301d and the second end portion 301e; the first fixing portion 301a is provided on the top of the automobile body 10, and both ends of the first fixing portion 301a are movably connected to one ends of the first connecting portion 301b and the second connecting portion 301c, respectively.
  • the other end of the first connection portion 301b is movably connected to one end of the first end portion 301d, and the other end of the second connection portion 301c is movably connected to one end of the second end portion 301e.
  • FIG. 7 shows the first folding example of the wing 301 proposed by the present invention.
  • the wing 301 will be divided into five parts.
  • the first fixing portion 301a, the first connecting portion 301b, the second connecting portion 301c, the first end portion 301d and the second end portion 301e can be connected by a rotating shaft, so that the first The connecting portion 301b, the second connecting portion 301c, the first end 301d and the second end 301 can be folded and stored based on the first fixing portion 301a, and the overlapping portion of the first fixing portion 301a and the automobile body 10 remains unchanged; the first connection The portion 301b and the second connecting portion 301c are deflected downward about 90 degrees along the axis C with respect to the first fixing portion 301a, and remain in contact with the side of the automobile body 10; the first end 301d and the second end 301e are relative to the first The connecting portion 301b and the second connecting portion 301c are deflected upward by about 180 degrees along the axis D, and remain in contact with the side of the automobile body 10. Therefore, the purpose of folding and storing the wing 301 is achieved.
  • the wing 301 includes: a second fixing portion 301f, a first rotating component, a second rotating component, a third The end 301g and the fourth end 301h; the second fixing portion 301f is provided on the top of the automobile body 10, one end of the second fixing portion 301f is connected to the third end 301g through the first rotating component, and the other of the second fixing portion 301f One end is connected to the fourth end portion 301h through the second rotating component; the third end portion 301g and the fourth end portion 301h are used to rotate through the first rotating component and the second rotating component, with the second fixed portion 301f as the axis .
  • FIG. 8 Shown in FIG. 8 is the second wing 301 spreading method proposed by the present invention, in which the overlapping portion of the second fixing portion 301f and the automobile body 10 remains unchanged; the third end portion 301g and the fourth end portion 301h can pass first
  • the first rotating component and the second rotating component rotate about 90 degrees about the horizontal axis (axis F) of the wing 301, so that the leading edges of the third end portion 301g and the fourth end portion 301h are located above, and further around the rotation axis (axis E ) Rotate 90 degrees backward in the direction shown in the figure to fit the rear of the car body 10 to obtain the storage state shown in Figure 9, where the first rotating component and the second rotating component can be the rotation of the rotating shaft or the ball pin structure Components.
  • FIG. 10 shown in FIG. 10 is a third wing 301 spreading example provided by the present invention.
  • the third end portion 301g and the fourth end portion 301h can be rotated about 90 degrees backward about the rotation axis G and the rotation axis H based on the second fixing portion 301f through the first rotation component and the second rotation component, respectively, so that the third end portion 301g and The fourth end 301h is substantially parallel to the longitudinal direction of the automobile body 10.
  • the cruise assembly 30 further includes: a rear wing 303, the rear wing 303 is a T-shaped structure rear wing, and the rear wing 303 is disposed on the vehicle body 10 The side away from the cockpit 101.
  • the tail 303 has the functions of maintaining the balance of the whole machine and adjusting the attitude and heading.
  • a "T" wing structure may be adopted, which is divided into a horizontal tail 3031 and a vertical tail 3032, wherein the horizontal tail 3031 is parallel to the wing 301, and an elevator 3033 is provided on the horizontal tail 3031, and a vertical tail 3032 A rudder 3034 is provided; the vertical tail 3032 is perpendicular to the wing 301; the elevator 3033 can be deflected up and down to control the pitch maneuver of the flying car; the rudder 3034 can be deflected left and right to control the yaw maneuver of the flying car.
  • FIG. 1 shows the wingless form of the flying car scheme according to the present invention, which is different from the form of the flying car shown in FIG. 11.
  • the flying car shown in FIG. 1 has a finless structure, and the wing 303 has The role of balancing and adjusting the attitude and heading, however, the tail 303 is not a necessary device for the scheme of the present invention related to flying cars, because multiple sets (at least 4 sets) of bypass fans 201 are arranged around the car body 10.
  • the ducted fan 201 can not only provide vertical lift for the flying car, but also can assist the flying car to complete the attitude and heading adjustment in any state. That is to say, the flying car involved in the present invention has both wings and multiple The characteristics of the rotor flying car.
  • the bypass fan 201 can be completely closed, and the cruise assembly 30 provides all the lift required for level flight.
  • the ducted fan 201 must be relied on to assist the flying car in adjusting its attitude and heading.
  • the rolling maneuver of the flying car is mainly completed by the aileron 3011 deflecting up and down; as shown in FIG. 11, during the cruising process, the flying maneuver of the flying car mainly depends on The elevator 3033 of the horizontal tail 3031 is deflected up and down; the yaw maneuvering of the flying car is mainly completed by the yaw 3034 of the vertical tail 3032.
  • the specific control method is obvious to those skilled in the art and will not be described in detail here.
  • a flying automobile provided by an embodiment of the present invention includes: an automobile body, a rotor assembly, a cruise assembly, a sensor assembly, a landing assembly and a control assembly;
  • the cruise assembly includes: a wing and a thrust fan;
  • the rotor assembly includes: Multiple sets of ducted fans; the wings are set on the top of the car body, the thrust fans are set on the top of the car body corresponding to the longitudinal center axis; the landing components are set on the bottom of the car body; the multiple sets of ducted fans are symmetrically distributed and set on the car
  • the sensor component is used to send the monitored driving status of the car body to the control component;
  • the control component is used to control the rotor component, the cruise component, and the landing component according to the driving status.
  • the invention realizes the vertical take-off and landing function of the flying car through the vertical lift provided by the ducted fan, and the purpose of improving the cruising and endurance ability during the flight through the cruise component.
  • the cooperation of the rotor component and the cruise component realizes the flying car Land-air conversion capability.
  • FIG. 12 a flowchart of steps of a method for controlling a flying car according to an embodiment of the present invention is shown, which may specifically include the following steps:
  • Step 501 Monitor the driving status of the car body.
  • the sensor module may include a speed sensor, a detection radar and other devices, which are used to send the monitored driving status of the flying car to the control module, and the control module is used to determine the flying car according to the received driving status When in different flight states, perform specific flight operations.
  • the sensor module can also send the monitored data to the Internet of Vehicles server through the wireless network, and the Internet of Vehicles server can further carry out the flying car according to the data. Planning of the flight operation and feedback the results to the control module of the flying car.
  • Step 502 when the driving state is a vertical flight state, control the rotor assembly to work, and control the cruise assembly to stop working.
  • the rotor assembly is mainly used to realize the vertical take-off and landing function of the flying car, including multiple groups of ducted fans
  • the ducted fan is a device that provides vertical take-off and landing lift for the flying car
  • the ducted axis of the ducted fan Parallel to the vertical direction it is used to provide vertical lift.
  • the cruise component in order to reduce the wind resistance in the vertical flight state, it is also necessary to control the cruise component to stop working to avoid the wind resistance caused by the wing.
  • Step 503 When the driving state is a cruise flight state, control the rotor assembly and / or the cruise assembly to work.
  • the rotor assembly is arranged around the body of the car.
  • the ducted fan can not only provide vertical lift for the flying car, but also assist the flying car to complete the attitude and heading adjustment in any state, that is, That is to say, the flying car of the present invention has the characteristics of both wing and multi-rotor flying cars.
  • the bypass fan can be completely closed, and the cruise component provides all the lift required for level flight.
  • the wing, tail wing, thrust fan and other devices are used to control the attitude and heading of the flying car; a combined control method of multi-rotor and wing can also be used to improve the maneuverability of the whole aircraft.
  • Step 504 When the driving state is the landing state, control the rotor assembly and the landing assembly to work, and control the cruise assembly to stop working.
  • the rotor assembly when the driving state is the landing state, the rotor assembly provides the vertical cushioning force required for vertical landing, and the landing assembly realizes the final cushioning of the flying car contacting the ground, while controlling the cruise assembly to stop working, that is, the wing Store it to avoid wind resistance and take up extra space.
  • FIG. 13 shows a state transition block diagram of a flying car solution according to an embodiment of the present invention.
  • the flying car mainly includes four main states: ground static state j, wing retracted hover state k, and wing expansion. Hover state l and steady cruise state m.
  • the take-off process n can be changed from the ground static state j to the wing retracted hover state k.
  • the lift and maneuver of vertical flight are completely completed by the rotor assembly.
  • the wing retracted hover state k can be changed to the wing deployed hover state l, preparing for the vertical / level flight mode switching.
  • the flying car can further pass an acceleration process r to complete the change from the wing deployment hover state l to the stable cruise state m.
  • the thrust, lift and maneuvering force of the flying car are provided by the cruise component.
  • the flying car can once again change from the stable cruise state m to the wing unfolding hover state l; after the wing retracting process q, the wing unfolding hover state l is changed to the wing Collapse hover state k.
  • the landing process can be used to complete the transition from the retracted state of the wings to the ground stationary state j and parked on the ground.
  • FIG. 14 a flowchart of a state control of a flying car solution according to an embodiment of the present invention is shown, showing a possible control of the flying car solution involved in the present invention from a hovering / flying state to a stable cruise state Flow, when the flying car receives the vertical / level flying mode switching command (601), the mode switching starts, and the flying car starts to detect the surrounding space and obstacles (602), because the flying car scheme of the present invention is on the ground or near the ground Nearby, the wing is in the stowed state, so it is necessary to determine whether the wing deployment conditions are available at this hover height (603).
  • the flying car does not reach sufficient flying height, or the surrounding obstacles are high, and the wing deployment conditions are not met, you need to further adjust the flying height (604).
  • a higher flying height is reached, re-judge whether The wing deployment conditions are available until the wing deployment conditions are met.
  • the flying car can deploy the wing (605), retract the hover state from the wing, and become the wing deployment hover state.
  • the thrust fan needs to be turned on to continuously monitor the forward flight speed (606). Through the forward flight speed monitoring, the lift provided by the wing can be calculated and measured, and the lift ratio of the ducted fan to the wing can be continuously adjusted ( 607). Afterwards, it is necessary to determine whether the wing provides sufficient lift for level flight (608).
  • the mode switch is complete (610). At this point, the flying car has completed changing from the vertical flight state to the stable cruise state.
  • the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some or all components in a computing processing device according to an embodiment of the present invention.
  • the present invention may also be implemented as a device or device program (eg, computer program and computer program product) for performing a part or all of the method described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
  • FIG. 15 shows a computing processing device that can implement the method according to the present invention.
  • the computing processing device traditionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020.
  • the memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for the program code 1031 for performing any method steps in the above method.
  • the storage space 1030 for program codes may include respective program codes 1031 for implementing various steps in the above method, respectively. These program codes can be read from or written into one or more computer program products.
  • Such computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks.
  • Such a computer program product is usually a portable or fixed storage unit as described with reference to FIG. 16.
  • the storage unit may have storage sections, storage spaces, and the like arranged similarly to the memory 1020 in the computing processing device of FIG. 15.
  • the program code may be compressed in an appropriate form, for example.
  • the storage unit includes computer readable code 1031 ', that is, code that can be read by, for example, a processor such as 1010, which, when executed by a computing processing device, causes the computing processing device to perform the method described above The various steps.
  • a flying car and a flying car control method include: a car body, a rotor assembly, a cruise assembly, a sensor assembly, a landing assembly, and a control assembly;
  • the cruise assembly includes: a wing and a thrust fan
  • the rotor assembly includes: multiple sets of ducted fans; the wing is set on the top of the car body, the thrust fan is set on the top of the car body at a position corresponding to the longitudinal central axis; the landing assembly is set on the bottom of the car body; Distributed and set around the car body; the sensor component is used to send the monitored driving status of the car body to the control component; the control component is used to control the rotor component, cruise component, and landing component according to the driving status.
  • the invention realizes the vertical take-off and landing function of the flying car through the vertical lift provided by the ducted fan, and the purpose of improving the cruising and endurance ability during the flight through the cruise component.
  • the cooperation of the rotor component and the cruise component realizes the flying car Land-air conversion capability.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Toys (AREA)

Abstract

La présente invention concerne une voiture volante et un procédé de commande de voiture volante. La voiture volante comprend : une carrosserie de voiture (10) ; des ensembles rotor (20) ; des ensembles de croisière (30), un ensemble capteur, des ensembles d'atterrissage (40) et un ensemble de commande. Chaque ensemble de croisière (30) comprend une aile (301) et un ventilateur de poussée (302). Chaque ensemble rotor (20) comprend une pluralité de ventilateurs à enveloppe (201). Les ailes (301) sont disposées sur la partie supérieure de la carrosserie de voiture (10). Les ventilateurs de poussée (302) sont disposés au niveau de la position sur la partie supérieure de la carrosserie de voiture (10) correspondant à un axe central longitudinal. Les ensembles d'atterrissage (40) sont disposés au niveau de la partie inférieure de la carrosserie de voiture (10). La pluralité de ventilateurs à enveloppe (201) est répartie symétriquement autour de la carrosserie de voiture (10). L'ensemble de commande est utilisé pour commander les ensembles rotor (20), les ensembles de croisière (30) et les ensembles d'atterrissage (40) pour leur fonctionnement selon un état de conduite surveillé par l'ensemble capteur. La portance verticale fournie par les ventilateurs à enveloppe met en œuvre une fonction de décollage et d'atterrissage verticaux de la voiture volante, les ensembles de croisière permettent d'améliorer la capacité de croisière et d'endurance pendant un processus de vol, et la coopération des ensembles rotor et des ensembles de croisière met en œuvre la capacité de conversion air/sol de la voiture volante.
PCT/CN2019/113127 2018-10-25 2019-10-24 Voiture volante et procédé de commande de voiture volante WO2020083352A1 (fr)

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CN201811253367.9A CN110466297A (zh) 2018-10-25 2018-10-25 一种飞行汽车及飞行汽车控制方法

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CN111874224A (zh) * 2020-09-06 2020-11-03 叶殊钨 一种多旋翼载人飞行巴士
TWI782333B (zh) * 2020-09-29 2022-11-01 瑞鑑航太科技股份有限公司 飛行載具
CN112141342A (zh) * 2020-10-20 2020-12-29 叶殊钨 多旋翼载货飞行器
CN112722260B (zh) * 2021-01-19 2022-09-09 西北工业大学 一种自适应鼓包增升装置
CN113341932A (zh) * 2021-06-22 2021-09-03 北京理工大学 陆空两栖车辆域控制系统及其控制方法
CN113879053A (zh) * 2021-11-17 2022-01-04 广东汇天航空航天科技有限公司 多功能飞行器的操控方法、系统及多功能飞行器
CN116923012A (zh) * 2022-04-06 2023-10-24 广东汇天航空航天科技有限公司 安全保护系统及飞行汽车

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