WO2023088307A1 - Système de commande et procédé associé pour une voiture volante, et voiture volante - Google Patents

Système de commande et procédé associé pour une voiture volante, et voiture volante Download PDF

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Publication number
WO2023088307A1
WO2023088307A1 PCT/CN2022/132272 CN2022132272W WO2023088307A1 WO 2023088307 A1 WO2023088307 A1 WO 2023088307A1 CN 2022132272 W CN2022132272 W CN 2022132272W WO 2023088307 A1 WO2023088307 A1 WO 2023088307A1
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WO
WIPO (PCT)
Prior art keywords
control
mode
flying car
flight
flying
Prior art date
Application number
PCT/CN2022/132272
Other languages
English (en)
Chinese (zh)
Inventor
王谭
徐厚超
刘波
赵德力
黄璐璐
黄锦腾
陶海燕
张嘉豪
周晨蕾
陈淇
Original Assignee
广东汇天航空航天科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111361520.1A external-priority patent/CN113895190A/zh
Priority claimed from CN202210087502.7A external-priority patent/CN114393964B/zh
Application filed by 广东汇天航空航天科技有限公司 filed Critical 广东汇天航空航天科技有限公司
Publication of WO2023088307A1 publication Critical patent/WO2023088307A1/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

Definitions

  • the present application relates to the technical field of vehicles, and more specifically, to a control system and a control method of a flying car and the flying car.
  • Flying cars are a new type of intelligent transportation that can drive on the ground and fly in the air.
  • the flying car uses the control logic of the car when driving on the ground, and uses the control logic of the aircraft when flying in the air.
  • the control devices corresponding to the two control logics are different. Adding devices other than the car control equipment to the flying car will lead to too many control devices occupying the space in the flying car on the one hand, and on the other hand, too many control devices make the operation complicated and inconvenient for users to control the flying car.
  • Embodiments of the present application provide a flying vehicle control system, a control method, and the flying vehicle.
  • an embodiment of the present application provides a control system for a flying car, the control system is applied to a flying car, and the flying car is controlled by the control system to work in flight mode or land mode;
  • the control system includes a mode controller and the control device, the control device is electrically connected to the mode controller, and the control device includes a steering wheel, a steering rod and a joystick;
  • the mode controller is used to respond to a mode selection instruction, and select a corresponding control mode for the control device;
  • the control mode includes A land control mode for controlling the flying car to travel on land and a flight control mode for controlling the flying car to travel in the air;
  • the control device is used to respond to the controls for the steering wheel, the joystick and the joystick in the flight control mode The operation is to control the flight of the flying car in the air;
  • the control device is also used to control the driving of the flying car on the land in response to the control operations on the steering wheel, steering stick and joystick in the land manipulation mode.
  • the embodiment of the present application provides a flying car, which includes a car body, a land drive system, a flight drive system, and the above-mentioned control system.
  • the land driving system is arranged on the car body, and the flight driving system is arranged on the car body.
  • the flight driving system includes a rotor module connected to the car body, and the control system is connected to the land driving system and the flying driving system.
  • an embodiment of the present application provides a method for operating a flying car.
  • the operating method is applied to a flying car, and the flying car is controlled by the control device to work in the flight mode or the land mode; the method includes: responding to Select instructions to select the corresponding control mode for the control device on the flying car; wherein, the control device includes the steering wheel, the joystick and the joystick; the control mode includes the land control mode for controlling the flying car on land and the control mode for controlling the flight The flight control mode of the car driving in the air; in the flight control mode, the flight of the flying car is controlled in response to the control operations for the steering wheel, the joystick and the joystick; And the control operation of the joystick to control the driving of the flying car on land.
  • the embodiment of the present application provides a flying car, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor.
  • the computer program is executed by the processor, the above-mentioned flight is realized. How to handle the car.
  • the embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for operating a flying car is implemented.
  • Fig. 1 is a system block diagram of a flying car provided by an embodiment of the present application.
  • Fig. 2 is a schematic perspective view of the flying car shown in Fig. 1 in a first sub-flying mode.
  • Fig. 3 is a schematic perspective view of the flying car shown in Fig. 1 when it is in a land mode.
  • Fig. 4 is a schematic perspective view of the flying car shown in Fig. 1 when it is in a second sub-flying mode.
  • Fig. 5 is another system block diagram of the flying car shown in Fig. 1 .
  • Fig. 6 is a schematic perspective view of the control system of the flying car shown in Fig. 1 .
  • FIG. 7 is a schematic diagram of the steering box of the steering system shown in FIG. 5 .
  • Fig. 8 is another schematic perspective view of the control system of the flying car shown in Fig. 6 .
  • Fig. 9 is a flow chart of the steps of a flying car control method provided by the embodiment of the present application.
  • Fig. 10 is a flow chart of steps of another flying car control method provided by the embodiment of the present application.
  • Fig. 11 is a schematic flow chart in flight mode of a flying car control method provided by an embodiment of the present application.
  • Fig. 12 is a schematic flow chart in land mode of a flying car control method provided by an embodiment of the present application.
  • Flying cars are a new type of intelligent transportation that can drive on the ground and fly in the air.
  • the flying car uses the control logic of the car when driving on the ground, and uses the control logic of the aircraft when flying in the air.
  • the control devices corresponding to the two control logics are different. Adding devices other than the car control equipment to the flying car will lead to too many control devices occupying the space in the flying car on the one hand, and on the other hand, too many control devices make the operation complicated and inconvenient for users to control the flying car.
  • the inventor In order to integrate the land mode with multiple flight modes, the inventor has proposed a flying car after long-term research, which has a land mode, a helicopter mode and a fixed wing mode at the same time, which improves the applicability of the flying car.
  • the inventor further found in practice that each of the three modes has its own characteristics, and if the operating devices of various modes are only stacked together, the structure is relatively complicated, which is not conducive to the driver's operation.
  • the flying car includes a car body, a flight drive system and a land drive system.
  • the flight drive system includes a rotor module connected to the car body.
  • the flying car is controlled by the control system to work in the flight mode or the land mode, wherein the flight mode includes a first sub-flight mode and a second sub-flight mode.
  • the mode controller has three gears, respectively corresponding to the first sub-flight mode, the second sub-flight mode and the land mode.
  • the control system integrates the first sub-flight mode, the second sub-flight mode and the land mode, controls the flying car to drive on the ground when the flying car is in the land mode, and controls the rotation of the rotor when the flying car is in the first sub-flight mode
  • the shaft is at the first position
  • the rotation shaft of the control rotor is at the second position when the flying car is in the second sub-flight mode.
  • the control system can meet the flight requirements of the flying car in different states by providing two different flight modes, and has wider applicability.
  • the control system connects the land steering system and the flight attitude system of the flying car through the attitude controller and controls the attitude of the flying car in land mode and flight mode.
  • the embodiment of the present application provides a flying car control system 10 and a flying car 100 equipped with the control system 10, wherein the control system 10 can be applied in the flying car 100 to realize flight
  • the car 100 is switched between the flight mode and the land mode, that is, the flying car 100 is controlled by the control system 10 to work in the flight mode or the land mode.
  • the flying car 100 may include a car body 102 , a flying driving system 30 and a land driving system 50 .
  • the flight drive system 30 can be arranged on the car body 102 and connected to the control system 10 , and the flight drive system 30 is used to provide thrust for the flying car 100 in flight mode.
  • terms such as “installation”, “connection”, “connection” and “fixation” should be interpreted in a broad sense unless otherwise clearly specified or limited. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components. Communication, or only surface contact. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.
  • flight drive system 30 may include jet engines and/or propellers.
  • the flight driving system 30 includes a rotor module 32 connected to the vehicle body 102 for providing propulsion in different directions to the flying vehicle 100 in different flight modes.
  • the rotor module 32 is adjustably connected to the vehicle body 102. Under the control of the control system 10, the rotation axis O of the rotor module 32 can be selectively in the first position or the second position.
  • the flying car When the rotor When the rotor When the rotation axis of the module 32 is in the first position, the flying car works in the first sub-flight mode, and when the rotation axis O of the rotor module 32 is in the second position, the flying car works in the second sub-flight mode;
  • the angle of the axis O relative to the vehicle body 102 is different when it is in the first position and when it is in the second position, which will be described in detail below.
  • the rotor module 32 includes a rotor motor 321 and a rotor 323.
  • the rotor motor 321 is connected to the vehicle body 102, and the rotor 323 is connected to the output shaft of the rotor motor 321.
  • the rotor The motor 321 can drive the rotor 323 to rotate.
  • the rotor motor 52 may be a servo motor, which converts a voltage signal into torque and rotational speed, thereby driving the rotor 54 to rotate.
  • the rotor motor 52 may be a stepper motor, which converts the electrical pulse signal into a corresponding angular displacement or linear displacement, thereby driving the rotor 54 to rotate.
  • the land driving system 50 can be arranged on the car body 102 and connected to the control system 10, which is used to provide forward power and braking resistance to the flying car 100 in the land mode.
  • the land drive system 50 may include a drive wheel 56, and may also include drive components (not shown) such as a clutch, a speed changer, a transmission shaft, and a transmission gear (not shown in the figure), so as to be used for directional flight.
  • Car 100 provides forward momentum and braking resistance.
  • the number of driving wheels 56 can be two, and the two driving wheels 96 are respectively located on both sides of the rear of the vehicle body 102 .
  • land drive system 50 may include a speed control system 52 and a braking system 54 .
  • the speed control system 52 may include an accelerator or/and an engine for providing forward thrust when the flying car 100 is in land mode
  • the braking system 54 may include a reducer or/and brake pads for providing forward thrust when the flying car 100 is in land mode. provide braking resistance.
  • the flying car 100 may also include a flight attitude system 70, which may be arranged on the car body 102 and connected to the control system 10 for controlling the flying attitude of the flying car 100 in flight mode.
  • the flight attitude system 70 may include an elevator 72 located at the tail of the flying car 100 for controlling the pitching attitude of the flying car 100 in flight mode.
  • the elevator 72 is connected to the tail of the car body 102, and it is used to control the pitch angle of the flying car 100 when flying.
  • the flight attitude system 70 may also include a rudder 74, which is used to control the pitch attitude of the flying car 100 when it is in the flight mode.
  • the rudder 74 may be attached to the vehicle body 102 .
  • the rudder 74 may be connected to the elevator 72 .
  • there are two rudders 74 and the two rudders 74 are respectively connected to opposite sides of the elevator 72 to control the yaw angle of the flying car 100 .
  • the flight attitude system 70 may also include a fixed wing 76 and an aileron 78 , which are used to control the lift and roll attitude of the flying car 100 when it is in flight mode.
  • the number of fixed wings 76 is two, and the two fixed wings 76 are respectively arranged on both sides of the top of the vehicle body 102.
  • the fixed wings 76 can be used as a load-bearing frame structure for installing and carrying ailerons. 78 and rotor module 32.
  • the rotor module 32 may be attached to the fixed wing 76 or the vehicle body 102 .
  • the rotor module 32 is connected to the fixed wing 75 so as to be connected to the vehicle body 102 through the fixed wing 75 .
  • the side of the fixed wing 76 away from the vehicle body 102 may be provided with an accommodating groove 761 , and the rotor motor 321 is at least partially embedded in the accommodating groove 761 .
  • the number of rotor motors 52 is two, and correspondingly, the number of accommodating slots 761 is also two.
  • the rotor module 32 may be directly connected to the vehicle body 102 .
  • the number of ailerons 78 is also two, and the two ailerons 78 are respectively arranged on the two fixed wings 76, by controlling the spatial position relationship of the two ailerons 78 with respect to the corresponding fixed wings 76 , the rolling attitude of the flying car 100 can be controlled when it is in the flight mode.
  • orientation or positional relationship based on the drawings
  • the orientation or positional relationship shown is only to simplify the description for the convenience of describing the present application, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present application. limits.
  • the flight attitude system 70 may also include a retractable mechanism 71, which is connected between the vehicle body 102 and the fixed wing 76, so that the fixed wing 76 can be adjusted to be connected to the Car body 102 .
  • the retractable mechanism 71 is used to change the spatial position of the fixed wing 76 relative to the vehicle body 102 .
  • the retractable mechanism 71 is used to drive the fixed wing 76 to move relative to the vehicle body 102 when the form state of the flying vehicle 100 changes, so as to change the spatial position of the fixed wing 76 relative to the vehicle body 102, for example, the flying vehicle 100
  • the retractable mechanism 71 is used to control the fixed wing 76 to retract relative to the car body 102, or when the flying car 100 changes from the land mode to the flight mode, the retractable mechanism 71 is used to control the fixed wing 76 Expand relative to the vehicle body 102 . Therefore, the retractable mechanism 71 is configured to: in the flight mode, maintain the fixed wing 76 in an unfolded state relative to the vehicle body 102 (as shown in FIG.
  • the retracting mechanism 71 may include a driving motor and a connecting rod assembly (not shown in the figure), the driving motor may be fixedly connected to the vehicle body 102, and the connecting rod assembly may be connected between the driving motor and the fixed wing 32, The driving motor is used to drive the connecting rod assembly to drive the fixed wing 76 to move relative to the vehicle body 102 .
  • the retractable mechanism 71 may include a steering gear fixed to the vehicle body 102 , and the fixed wing 76 may be connected to an output shaft of the steering gear and can move relative to the vehicle body 102 driven by the steering gear.
  • the flight drive system 30 may also include a tilting mechanism 34, the tilting mechanism 34 is connected between the fixed wing 76 and the rotor module 32, so that the rotor module can be rotated through the tilting mechanism 34. Adjustably connected to the fixed wing 76 .
  • the tilt mechanism 34 changes the spatial position of the rotor module 32 .
  • the tilting mechanism 34 is used to drive the rotor module 32 to move relative to the fixed wing 76 when the form state of the flying car 100 changes, so as to change the spatial position of the rotor module 32.
  • the flying car 100 is moved by the first When the sub-flight mode is changed to the second sub-flight mode, the tilting mechanism 34 is used to control the rotor motor 321 of the rotor module 32 to rotate in the horizontal direction, and the rotation axis direction O of the rotor 323 is controlled to be in the horizontal direction, or the flying car 100 is controlled by
  • the tilting mechanism 34 is used to control the rotor motor 321 of the rotor module 32 to rotate in the vertical direction, and to control the rotation axis direction O of the rotor 323 to be the vertical direction.
  • the tilt mechanism 34 is configured as follows: in the first sub-flight mode, the tilt mechanism 34 controls the rotation axis of the rotor module 32 to be in the first position, and the rotation axis direction O is a vertical direction (as shown in FIG. 2 ). , in the second sub-flight mode, the tilt mechanism 34 controls the rotation axis of the rotor module 32 to be in the second position, and the rotation axis direction O is horizontal (as shown in FIG. 4 ).
  • the tilting mechanism 34 may include a drive motor and a link assembly (not shown in the figure), the drive motor may be fixedly connected to the fixed wing 76, and the link assembly may be connected between the drive motor and the rotor module 32 , the drive motor is used to drive the connecting rod assembly to drive the rotor module 32 to move relative to the fixed wing 76 .
  • the retractable mechanism 71 may include a steering gear fixed to the fixed wing 76, and the rotor module 32 may be connected to the output shaft of the steering gear, and can move relative to the fixed wing 76 driven by the steering gear.
  • the flying car 100 may also include a land steering system 90 .
  • the land steering system 90 can be arranged on the car body 102 and connected to the control system 10 for controlling the steering attitude of the flying car 100 in land mode.
  • the land steering system includes steering wheels 92, and may also include steering components such as steering shafts and steering gears (not shown in the figure), which are used to control the flying car 100 when it is in land mode. turning posture.
  • there are two steering wheels 92, and the two steering wheels 92 are respectively located on both sides of the front of the car body 102, and are used to control the driving direction of the flying car 100 when it is in land mode.
  • a control surface can be introduced between the control system 10 and each execution system (such as the flight attitude system 70 of the flying car, the flight drive system 30, etc.), and the control surface is connected between the control system 10 and the execution system.
  • the connection between the control system 10 and the control surface adopts the fly-by-wire type, and the fly-by-wire type refers to controlling the state of the flying car 100 by manipulating the servo system with electric signals, so that the control devices of the flying car 100 are more compact and the control method is more flexible.
  • the fly-by-wire connection state can reduce the driver's perception of the force of the rudder surface, thereby reducing the driver's perception of the first sub-flight mode and the second sub-flight mode, effectively reducing the The psychological pressure of small drivers.
  • control system 10 is configured to: control the flight attitude of the flying car 100 in the flight mode through the flight attitude system 30 , and control the flying attitude of the flying car 100 in the land mode through the land steering system 50 ;
  • the steering attitude is to control the thrust of the flying car 100 in flight mode through the flight drive system, and to control the speed of the flying car 100 in land mode through the land drive system.
  • the operating system 10 includes a mode controller 12 and an operating device 13 .
  • the operating device 13 is electrically connected to the mode controller 12 .
  • electrical connection between two elements may mean that there is an electrical signal transmission path between the two elements, and the two elements may be connected by cables or conductors to transmit electrical signals. Signals can also be wirelessly connected (such as wireless communication connections, etc.) to transmit electrical signals (such as electromagnetic wave signals).
  • the mode controller 12 is connected to the flight driving system 30 and the land driving system 50, and is used to configure the flying car 100 in the flight mode or the land mode. Specifically, the mode controller 12 is used to select a corresponding manipulation mode for the manipulation device 13 in response to the mode selection instruction, and the manipulation mode includes a land manipulation mode for controlling the flying car 100 to drive on land and a land manipulation mode for controlling the flying car 100 . 100 flight maneuvering modes for traveling through the air.
  • the mode selection instruction can be generated based on the user's manipulation action on the mode controller 12 .
  • the control device 13 of the control system 10 is electrically connected to the land drive system 50 to allow the user to control the flying car 100 to drive on land through the control device 13.
  • the operating mode of the control device 13 is the land drive system. manipulation mode.
  • the control device 13 of the control system 10 is electrically connected to the flight drive system 30, so that the user can control the flying car 100 in flight through the control device 13.
  • the operating mode of the control device 13 is flight. manipulation mode.
  • the mode controller 12 may include at least one of devices such as a mode switching button, a large vehicle screen, and a voice receiving device. These devices are used to receive the user's manipulation action, and A corresponding mode selection instruction is generated, so as to control the flying car 100 to be in the selected land mode or flight mode, or control the control device 13 to be in the selected land control mode or flight control mode.
  • devices such as a mode switching button, a large vehicle screen, and a voice receiving device. These devices are used to receive the user's manipulation action, and A corresponding mode selection instruction is generated, so as to control the flying car 100 to be in the selected land mode or flight mode, or control the control device 13 to be in the selected land control mode or flight control mode.
  • the mode controller 12 is roughly knob-shaped, and it is provided with three gears of A, B, and C, and the three gears of A, B, and C are used to control the flying car 100.
  • different mode selection instructions are generated.
  • the flight mode of the flying car 100 includes a first sub-flight mode and a second sub-flight mode.
  • the control system 10 controls the flying drive system 30 to provide the flying car 100 with a substantially vertical propulsion. The force drives the flying car 100 to travel in the air.
  • the control system 10 controls the flying drive system 30 to provide the flying car 100 with a propulsion force roughly along the horizontal direction to drive the flying car 100 to travel in the air.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the three gears A, B, and C of the mode controller 12 are respectively used to configure the flying car 100 in the first sub-flight mode, the second sub-flight mode or the land mode.
  • the structure of the mode controller 12 is introduced by taking the knob as an example.
  • the outer circumference of the knob may be provided with successively spaced gear positions marked with A, B, and C, and the knob's logo (such as a feature point on the knob)
  • the characteristic mode controller 12 is in the first gear
  • the control system 10 is configured to: control the flying car 100 to work in the land mode (as shown in FIG. 3 ).
  • the land mode can be understood as the car mode.
  • the control system 10 can control the fixed wing 76 to fold relative to the car body 102 through the retractable mechanism 71 .
  • the elevator 36 and the two rudders 38 can jointly form a receiving space 79 for receiving the fixed wing 76 , the aileron 78 and the rotor module 32 .
  • the characterization mode controller 12 when the mark of the knob (such as the characteristic point on the knob) points to the B gear, the characterization mode controller 12 is in the second gear, and the control system 10 is configured to: control the rotation of the rotor module 32
  • the axis O is at the first position, making the flying car 100 work in the first sub-flight mode (as shown in FIG. 2 ).
  • the first position of the rotation axis O of the rotor module 32 can be characterized by the included angle of the rotation axis O relative to the vehicle body 102, or by the angle between the rotation axis O relative to the vertical direction or the horizontal direction.
  • the angle is used as a representation, for example, when the angle between the rotation axis O and the vertical direction falls within a predetermined range, the rotation axis O can be considered to be in the first position.
  • the rotation axis O of the rotor module 32 is at the first position, which can be understood as the angle between the rotation axis O and the vertical direction is less than 5 degrees, or the rotation axis O is roughly arranged along the vertical direction.
  • the first sub-flight mode can also be understood as the rotor mode (or helicopter mode). Therefore, when the flying car 100 is working in the first sub-flight mode, the rotor module 32 provides the flying car 100 with a propulsion force in the vertical direction.
  • the control system 10 can control the fixed wing 76 to be unfolded relative to the car body 102 through the retractable mechanism 71, and control the rotation axis O of the rotor module 32 through the tilting mechanism 34. Roughly arranged along the vertical direction (for example, the angle between the rotation axis O and the vertical direction is less than 5 degrees), so as to drive the flying car 100 to take off and land vertically. It should be understood that, in other embodiments, the first position of the rotation axis O can be set according to actual needs.
  • the first position of the rotation axis O is: the angle between it and the vertical direction
  • the range is a position greater than or equal to 40 degrees and less than or equal to 50 degrees, to meet the needs of the flying car 100 for rapid lifting and fast advancement; in other examples, the first position of the rotation axis O is: the angle between it and the vertical direction
  • the range is a position less than or equal to 10 degrees, so as to adapt to different air flow speeds while ensuring vertical lift.
  • the characterization mode controller 12 when the mark of the knob points to gear C, the characterization mode controller 12 is in the third gear, and the control system 10 is configured to: control the rotation axis O of the rotor module 32 to be in the second position, so that The flying car 100 works in the second sub-flying mode (as shown in FIG. 4 ).
  • the second position of the rotation axis O of the rotor module 32 can be characterized by the included angle of the rotation axis O relative to the vehicle body 102, or by the angle of the rotation axis O relative to the vertical or horizontal direction.
  • the angle is used as a representation, for example, when the angle between the rotation axis O and the horizontal direction falls within a predetermined range, the rotation axis O can be considered to be at the second position.
  • the second position is different from the first position, which can be reflected in the different inclination angles of the rotation axis O of the rotor module 32, for example, when the rotation axis O is at the first position and at the second position, it is relatively
  • the angle of the vehicle body 102 is different.
  • the rotation axis O of the rotor module 32 is at the second position, which can be understood as the angle between the rotation axis O and the horizontal direction is less than 5 degrees, or is arranged roughly along the horizontal direction.
  • the second sub-flight mode can also be understood as a fixed-wing mode.
  • the control system 10 can control the rotation axis of the rotor module 32 to be set in the horizontal direction through the tilting mechanism 34, which can Drive the flying car 100 to travel along the horizontal direction.
  • the second position of the rotation axis O can be set according to actual needs, as long as it is guaranteed to be different from the first position.
  • the second position of the rotation axis O is: a position where the angle range between it and the horizontal direction is greater than or equal to 40 degrees and less than or equal to 50 degrees, so as to meet the needs of the flying car 100 for rapid promotion and rapid advancement; In some other examples, the second position of the rotation axis O is: the angle range between it and the horizontal direction is less than or equal to 10 degrees, so as to adapt to different air flow speeds while ensuring horizontal propulsion.
  • the control device 13 includes an attitude controller 14.
  • the attitude controller 14 is connected to the mode controller 12, and is connected to the flight attitude system 30 and the land steering system 50.
  • the attitude system 30 controls the flying attitude of the flying car 100.
  • the steering attitude of the flying car 100 is controlled by the land steering system 70.
  • the attitude controller 14 is used to control the traveling attitude, that is, the attitude controller 14 of the control system 10 is reused, which can simplify the structure of the control system 10 and also simplify the flight. Steering logic and operation of the car 100 .
  • the attitude controller 14 includes a steering wheel 141, and the operating device 13 is used to control the flight of the flying car 100 in the air in response to the control operation on the steering wheel 141 in the flight control mode. and for controlling the driving of the flying car 100 on land in response to the control operation on the steering wheel 141 in the land manipulation mode.
  • the steering wheel 141 is rotatably arranged in the car body 102, and is configured to: when the flying car 100 is in the flight mode, control the rolling attitude of the flying car 100 based on its own rotation angle, and control the rolling attitude of the flying car 100 when the flying car 100 is in the flight mode. In land mode, the steering attitude of the flying car 100 is controlled based on its own rotation angle.
  • the attitude controller 14 may also include a steering rod 143, which is rotatably connected between the steering wheel 141 and the car body 102, and is configured to: when the flying car 100 is in the flight mode, The pitching attitude of the flying car 100 is controlled by the displacement.
  • a steering rod 143 which is rotatably connected between the steering wheel 141 and the car body 102, and is configured to: when the flying car 100 is in the flight mode, The pitching attitude of the flying car 100 is controlled by the displacement.
  • the attitude controller 14 may also include a rotation limit mechanism and an axial limit mechanism (not shown in the figure), and the rotation limit mechanism and the axial limit mechanism are connected to the steering wheel 141 or/and the steering wheel 141.
  • the rod 14 , the rotation limit mechanism is used to limit the rotation angle of the steering wheel 141
  • the axial limit mechanism is used to limit the axial displacement of the steering wheel 141 and the steering rod 143 .
  • the rotation limit mechanism and the axial limit mechanism of the steering rod 143 are released, so that the steering wheel 141 has the freedom of rotation and axial movement, thereby allowing the driver to rotate the steering wheel 141 and push, Pull out the steering wheel 141 .
  • the rotation limiting mechanism can be provided with a rotation limiting ring, and the rotation limiting ring can be arranged around the rotation axis of the steering wheel 141 and can resist the solid structure of the steering wheel 141 or the steering rod 143 , so as to limit the rotation angle range of the steering wheel 141 to be between -90° and 90°.
  • the initial angle at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the roll attitude angle of the flying car 100 in flight mode based on its own rotation angle relative to the initial angle. Specifically, when the steering wheel 141 is driven by an external force to rotate counterclockwise from the initial position by a first angle, the steering wheel 141 determines the roll attitude angle of the flying car 100 as the first angle according to the first angle, and controls the flying car 100 to perform First angle roll motion.
  • the rotation limiting mechanism of the driving rod 143 when the rotation limiting mechanism of the driving rod 143 is released, it means that the driving rod 143 can be rotated by external force, and the non-rotating connection between the driving rod 143 and the steering wheel 141 (that is, two Or synchronous rotation or stationary), at this time the rotation of the steering wheel 141 can drive the rotation of the steering column 143, and the axial movement of the steering wheel 141 can drive the axial movement of the steering column 143, so the rotation angle of the steering wheel 141 can also represent the steering column
  • the rotation angle of 143 and the axial displacement of the steering wheel 141 can also represent the axial displacement of the steering column 143.
  • the steering column 143 can be configured to: when the flying car 100 is in the flight mode, control the flight based on its own rotation angle.
  • the rolling attitude of the car 100; the steering wheel 141 can be configured to: when the flying car 100 is in the flight mode, control the pitching attitude of the flying car 100 based on its own axial displacement.
  • the left aileron 34 of the flying car 100 can be controlled to be too high and the right aileron 34 to be too high. low, thereby driving the flying car 100 to roll to the left.
  • the steering wheel 141 is driven by an external force to turn clockwise by a second angle from the initial position, the steering wheel 141 determines the rolling attitude angle of the flying car 100 as the second angle according to the second angle, and controls the flying car 100 to roll at the second angle. turn movement.
  • the right aileron 34 in the figure of the flying car 100 can be controlled to be high, and the left aileron 34 is low, thereby driving Flying car 100 rolls to the right.
  • the axial limiting mechanism is opposed to the solid structure of the steering wheel 141 or the steering rod 143 to limit the movement of the steering wheel 141 along the axial direction of the steering rod 143 .
  • the initial distance at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the pitch angle of the flying car 100 in flight mode according to its own moving distance relative to the initial distance.
  • the steering wheel 141 determines the position of the flying car according to the first distance.
  • the pitching attitude angle of 100 is the first angle, and the flying car 100 is controlled to perform pitching motion at the first angle.
  • the elevator 36 of the flying car 100 deflects downward, driving the flying car 100 to fly with its head down.
  • the steering wheel 141 is driven by an external force to move a second distance from the initial position to the top of the steering column 143
  • the steering wheel 141 determines the pitch angle of the flying car 100 to be the second angle according to the second distance, and controls the flying car 100 to perform the first step.
  • Two-angle pitching movement Specifically, for example, when the steering wheel 141 moves along the axis of the steering column 143 toward the top of the steering column 143 , the elevator 36 of the flying car 100 deflects upwards, driving the flying car 100 to fly upwards.
  • the rotation limiting mechanism can be provided with a rotation limiting ring, and the rotation limiting ring can be arranged around the rotation axis of the steering wheel 141, and can be opposed to the solid structure of the steering wheel 141 or the steering rod 143, thereby limiting
  • the rotation angle of the steering wheel 141 ranges from -540° to 540°.
  • the initial angle at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the steering attitude angle of the flying car 100 in flight mode based on its own rotation angle relative to the initial angle. Specifically, when the steering wheel 141 is driven by an external force to turn counterclockwise from the initial position by a first angle, the steering wheel 141 determines the steering attitude angle of the flying car 100 as the first angle according to the first angle, and controls the flying car 100 to perform the first angle.
  • An angled steering movement Specifically, an example in the figure is used for illustration. When the steering wheel 141 turns counterclockwise, the steering wheel 92 of the flying car 100 can be controlled to deflect to the left, thereby driving the flying car 100 to drive to the left.
  • the steering wheel 141 determines the steering attitude angle of the flying car 100 as the second angle according to the second angle, and controls the flying car 100 to perform a second angle steering movement .
  • the steering wheel 92 of the flying car 100 can be controlled to deflect to the right, thereby driving the flying car 100 to drive to the right.
  • the attitude controller 14 may further include a direction controller 145 configured to control the yaw attitude of the flying car 100 through the flight attitude system 70 when the flying car 100 is in the flight mode.
  • the direction controller 145 is roughly in the shape of a paddle, and there are two in number.
  • the two direction controllers 145 are respectively located on opposite sides of the steering wheel 141 and connected to the steering wheel 141 .
  • the direction controller 145 is rotatably connected to the steering wheel 141 , and can control the yaw attitude of the flying car 100 in flight mode based on the relative angle between the direction controller 145 and the steering wheel 141 .
  • one end of the direction controller 145 is rotatably connected to the steering wheel 141, and the other end is basically a free end and is used to receive the driver's operation. If the angle between the steering wheel 145 or the steering rod 143 changes, the direction controller 145 determines the yaw angle of the flying car 100 according to the angle between the steering wheel 145 or the steering rod 143, and controls the flying car 100 in this way. Determined yaw angle to fly. Specifically, for example, when the flying car 100 is in flight mode, the driver pulls the direction controller 145 on the left side of the figure, and the rudder 38 of the flying car 100 deflects to the left, driving the flying car 100 to deflect to the left and fly.
  • the driver pulls the direction controller 145 on the right side in the figure, and the rudder 38 of the flying car 100 deflects to the right, driving the flying car 100 to deflect to the right and fly.
  • the direction controller 145 is invalid, that is, the direction controller 145 will not respond to actions applied by the user.
  • the direction controller 145 can be omitted, and the flying car 100 can directly control the yaw attitude of the flying car 100 through the steering wheel 141 , so as to simplify the structure of the flying car 100 .
  • the operating device 13 may further include a control box 16 and a joystick 17 , the mode controller 12 is disposed on the manipulation box 16 , and the joystick 17 is movably disposed on the manipulation box 16 . Therefore, in this embodiment, the control device 13 can be used to control the flight of the flying car 100 in the air in response to the control operations on the steering wheel 141, the steering stick 143 and the joystick 17 in the flight control mode; In the land manipulation mode, in response to the control operations on the steering wheel 141 , the steering stick 143 and the joystick 17 , the driving of the flying car 100 on land is controlled.
  • the joystick 17 is configured to: when the flying car 100 is in the flight mode, based on the relative position of the joystick 17 relative to the control box 16, control the thrust of the flying car 100 in the direction of travel; when the flying car 100 is in the land mode , the gear of the flying car 100 is controlled based on the relative position of the joystick 17 relative to the control box 16 .
  • control box 16 is provided with a first positioning area 161 and a second positioning area 163, and the joystick 17 is movably positioned at different positions in the first positioning area 161 of the control box 16 or in the second positioning area 163. different positions.
  • the joystick 17 is configured to: in the case of the first positioning area 161, control the thrust of the flying car 100 in the direction of travel according to the position of the joystick 17 in the first positioning area 161; in the case of the second positioning area 163 Next, according to the position of the joystick 17 in the second positioning area 163, the gear of the flying car 100 is controlled, and the gear includes at least one of parking gear, reverse gear, neutral gear, and forward gear.
  • a limiting mechanism such as a baffle may be provided between the first positioning area 161 and the second positioning area 163, so that when the flying car 100 is in flight mode, the joystick 17 is restricted from moving in the first positioning area 163 , so that the joystick 17 is used to control the thrust of the flying car 100 in the direction of travel (such as forward speed or rising speed) or the advance and retreat in the direction of travel (such as forward/backward or ascending/falling), when the flying car 100 is in land mode , the joystick 17 is restricted to move in the second positioning area 163 , so that the joystick 17 is used to control the gear of the flying car 100 .
  • a limiting mechanism such as a baffle may be provided between the first positioning area 161 and the second positioning area 163, so that when the flying car 100 is in flight mode, the joystick 17 is restricted from moving in the first positioning area 163 , so that the joystick 17 is used to control the thrust of the flying car 100 in the direction of travel (such as forward speed or rising speed) or the advance and retreat
  • the joystick 17 determines the magnitude of the power parameter according to the relative position, and controls the flying car 100 to perform different thrusts.
  • the first positioning area 161 of its own rotation angle can be provided with different gears from 0% to 100%, the lowest gear being 0% and the uppermost gear being 100%.
  • the joystick 17 moves in the first positioning area 161, and the working command to control the rotor 323 is determined through the dynamic parameters, thereby driving the flying car 100 to perform upward/downward movement.
  • the joystick 17 moves in the first positioning area 161 , and the work command for controlling the rotor 323 is determined through the power parameters, thereby increasing/decreasing the power of the rotor motor 52 .
  • the joystick 17 determines the positioning point of the gear according to the relative position, and controls the gear of the flying car.
  • the second positioning area 165 may be provided with four gear slots, which are respectively P, R, N, and D four gears, respectively corresponding to the parking gear, the reverse gear, the neutral gear and the forward gear.
  • the flying car 100 can be controlled to park, reverse, temporarily stop and drive forward respectively.
  • the manipulation device may also include a shift knob, which needs to be rotated when a special gear is switched, for example, when moving from P gear (parking gear) to R gear (reverse gear). Rotate the shift knob first and then shift gears by the joystick 17.
  • a shift knob which needs to be rotated when a special gear is switched, for example, when moving from P gear (parking gear) to R gear (reverse gear). Rotate the shift knob first and then shift gears by the joystick 17.
  • the steering system 10 may further include a speed control pedal 18 , and the speed control pedal 18 is connected to the mode controller 12 and connected to the speed control system 52 in the land driving system 50 .
  • the speed control pedal 18 is located near the control box 16 and is configured to control the speed of the flying car 100 through the speed control system 52 when the flying car 100 is in land mode.
  • one end of the speed control pedal 18 is rotatably connected to the vehicle body 102, and the other end is basically a free end and is used to receive the driver's operation.
  • the speed control pedal 18 determines the driving speed of the flying car 100 according to the angle between the car bodies 102, and controls the flying car 100 to run at the speed determined here. Specifically, for example, when the flying car 100 is in the land mode, the driver steps on the speed control pedal 18, and the flying car accelerates. When the flying car 100 is in the flying mode, the speed control pedal 18 is inactive, that is, the speed control pedal 18 will not respond to actions applied by the user.
  • Steering system 10 may also include a brake pedal 19 coupled to mode controller 12 and to braking system 54 of land drive system 50 .
  • the brake pedal 19 is located on the side of the speed control pedal 18 away from the control box 16, and is configured to control the flying car 100 to brake through the braking system 54 when the flying car 100 is in the land mode.
  • one end of the brake pedal 19 is rotatably connected to the vehicle body 102, and the other end is basically a free end and is used to receive the driver's operation.
  • the brake pedal 19 determines the braking force of the flying car 100 according to the angle between the car bodies 102, and controls the flying car 100 to brake with the braking force determined here.
  • the driver steps on the brake pedal 19, and the flying car brakes.
  • the brake pedal 19 is ineffective, that is, the brake pedal 19 will not respond to actions applied by the user.
  • the driver can adjust the flying car 100 to the first sub-flight mode, the second sub-flight mode or the land mode through the mode controller 12 .
  • the attitude controller 14 can control the flying attitude and steering attitude of the flying car 100 when it is in the flight mode and the land mode.
  • the joystick 17 can control the thrust of the flying car 100 in the direction of travel when it is in the flight mode, and control its gear when in the land mode.
  • the speed control pedal 18 and the brake pedal 19 can control the speed and regime of the flying car 100 when it is in the land mode.
  • the control system 10 integrates the first sub-flight mode, the second sub-flight mode and the land mode, controls the flying car to drive on the ground when the flying car is in the land mode, and controls the rotation of the rotor when the flying car is in the first sub-flight mode
  • the axis is at the first position
  • the rotation axis of the control rotor is at the second position when the flying car is in the second sub-flight mode, which can increase the control mode of the flying car without adding other operating equipment, which is convenient for the user to control the flight.
  • the car takes control. Furthermore, by providing two different flight modes, the control system can meet the flight requirements of the flying car in different states, and has wider applicability.
  • the steering rod 143 is rotatably connected between the steering wheel 141 and the vehicle body 102 . It should be understood that, in some other embodiments, the driving rod 143 may be disposed at other positions of the vehicle body 102 .
  • the joystick 17 is movably arranged on the steering column 143, and the steering column 143 is configured to: when the flying car 100 is in the flight mode, The upward movement controls the pitch attitude of the flying car 100 , and the rolling attitude of the flying car 100 is controlled based on the movement of the steering stick 143 in a second direction, wherein the first direction intersects with the second direction (for example, they are perpendicular to each other).
  • the steering rod 143 is provided with an accommodating space, and the joystick 17 is at least partially arranged in the accommodating space and is movably connected to the driving rod 143. The driving rod 143 is retracted into the accommodation space.
  • control column 143 When the control column 143 is not connected to the steering wheel 141, for example, the control column 143 is independent of the steering wheel 141 and the joystick 16, or the control column 143 is installed on the control column 16, the control column 143 can be configured to: In the land mode, the pitch and roll attitude angles of the flying car 100 are controlled based on the user's manipulation actions; in the land mode, the flying car 100 is controlled to shift gears based on the user's manipulation actions.
  • the driving rod 143 can be arranged in a rocker structure (such as being arranged in the vehicle body or on the joystick 16), which can have two degrees of freedom of movement and one degree of freedom of rotation, respectively: The degree of freedom of movement in the first direction (which can be considered as the swing of the rocker structure in the first direction), the degree of freedom of movement in the second direction (which can be considered as the swing of the rocker structure in the second direction), and the degree of freedom around its own axis degrees of rotational freedom of , where the first direction intersects the second direction (eg, they are perpendicular to each other).
  • a rocker structure such as being arranged in the vehicle body or on the joystick 16
  • the degree of freedom of movement in the first direction which can be considered as the swing of the rocker structure in the first direction
  • the degree of freedom of movement in the second direction which can be considered as the swing of the rocker structure in the second direction
  • the degree of freedom around its own axis degrees of rotational freedom of where the first direction intersects the second direction
  • control stick 143 can be configured to: in flight mode, respond to the movement of the control stick 143 in the first direction, control the pitch angle of the flying car, and respond to the movement of the control stick 143 in the second direction, control The roll angle of the flying car; in the land mode, the gear of the flying car 100 is controlled in response to the angle at which the steering stick 143 rotates around its own axis.
  • FIG. 9 shows a flow chart of the steps of a flying car control method of the present application.
  • the control method is applied to a flying car, and the flying car is controlled by the control device to work in flight mode or land mode. Specifically, the following steps may be included:
  • Step 101 Select a corresponding control mode for the control device on the flying car in response to the selection instruction.
  • control device includes a steering wheel, a steering stick and a joystick
  • control modes include a land control mode for controlling the flying car to drive on land and a flight control mode for controlling the flying car to drive in the air.
  • specific structures of the steering wheel, the steering rod, and the joystick can refer to the description of the characteristics of the steering wheel, the steering rod, and the joystick of the above-mentioned control device, and will not be repeated here.
  • the mode selection command initiated by the user can be received by installing a mode switching button (mode controller), a large vehicle-mounted screen, and a voice receiving device on the flying car; the joystick can be used to control the gear change when the flying car is driving on the ground. After selecting the corresponding flight control mode for the joystick on the flying car, the joystick will be used to control the flight of the flying car, and will no longer control the gear change; For the control device of direction control, after selecting the corresponding flight control mode for the steering wheel on the flying car, the steering wheel will be used to control the flight of the flying car, and will no longer control the direction of travel of the flying car. Specifically, after receiving the user's flight mode selection instruction, select the corresponding flight control mode for the control device on the flying car, so that different control devices have different functions to control the flight of the flying car, so that the flight Cars fly in the air.
  • Step 102 In the flight control mode, control the steering wheel to fly the flying car in response to the control operations on the steering wheel, the steering stick and the joystick.
  • the flight of the flying car in response to the user's control operations on the steering wheel, the steering stick and the joystick, the flight of the flying car can be controlled.
  • the joystick can be set on the driving stick without occupying the interior space of the flying car, and the driving stick and the joystick can respectively control the flight of the flying car, thereby realizing the control without increasing the space inside the flying car.
  • the control method of flying car flight is added.
  • the user in the flight control mode, the user can control the flight of the flying car only through the steering wheel, joystick and joystick, without adding other operating equipment, which is convenient for the user to control the flying car.
  • the steering rod is adapted to be rotatably connected between the steering wheel and the body of the flying car.
  • the joystick is arranged on the top of the joystick, and the top of the joystick has a space for the joystick to move.
  • the steering rod may be provided with an accommodation space, the joystick is at least partially disposed in the accommodation space, and is movably connected to the steering rod, and the joystick can protrude from the accommodation space outside the steering rod, or retract from the outside of the steering rod into the accommodation space.
  • the above method may further include: when responding to the selection command, when the control device on the flying car is selected for the land control mode, controlling the joystick to retract relative to the driving stick, so that the joystick is accommodated in the accommodation space; when responding In the case of selecting an instruction to select a corresponding flight control mode for the control device on the flying car, the control joystick protrudes relative to the steering stick, so as to control the flight of the flying car in response to the control operation on the joystick.
  • the joystick when the control mode of the control device is switched from the flight control mode to the land control mode, the joystick is no longer needed, so the control joystick is retracted relative to the control stick, and the joystick is hidden in the control stick, thereby avoiding the joystick Influence the user to control the driving of the flying car.
  • the control mode of the control device is switched from the land control mode to the flight control mode, the joystick is required to control the flight of the flying car, so the control joystick protrudes relative to the driving stick, which is convenient for the user to control the flight of the flying car through the joystick .
  • control device may also include a control box, and the joystick is movably arranged on the control box.
  • the above step 102 may include: controlling the pitch of the flying vehicle in response to the axial displacement operation of the control stick Attitude; in response to the rotation operation of the control stick, control the rolling attitude of the flying car; in response to the movement operation of the joystick in the control box, control the thrust of the flying car in the direction of travel; in response to the rotation operation of the steering wheel , to control the yaw attitude of the flying car.
  • the user can initiate an axial displacement operation for the driving stick, thereby controlling the pitching attitude (pitch angle) of the flying car; the user can initiate a rotating operation for the driving stick, thereby controlling the rolling attitude (rolling angle) of the flying car ); the user can initiate a movement operation on the joystick in the control box, and the joystick can move back and forth in the control box, thereby controlling the thrust in the direction of travel.
  • the user can initiate a rotation operation on the steering wheel to control the yaw attitude (yaw angle) of the flying car.
  • the flight of the flying car is controlled only through the steering wheel, steering stick and joystick on the flying car.
  • Fig. 10 shows a flow chart of steps of another flying car manipulation method of the present application, which may specifically include the following steps:
  • Step 201 Select a corresponding control mode for the control device on the flying car in response to the selection instruction.
  • control device also includes a shift knob, a speed control pedal, and a brake pedal.
  • the specific structures of the speed control pedal and the brake pedal can refer to the mode controller, speed control pedal, brake The description of the characteristics of the pedals will not be repeated here.
  • the method further includes: when the land control mode is selected for the control device in response to the selection command, configuring the steering column to a locked state, and setting the steering wheel, joystick, brake pedal and speed control The pedals are configured in an unlocked state, and the joystick is controlled to move to the second area; when the flight control mode is selected for the control device in response to the selection command, the brake pedal and the speed control pedal are configured in a locked state, and the steering wheel, The driving stick and the joystick are configured in an unlocked state, and the joystick is controlled to move to the first area.
  • the control mode when the control mode is switched to the land control mode in response to the selection command, the user needs to control the driving of the flying car through the steering wheel, steering stick, brake pedal and speed control pedal, so unlock the steering wheel, driving stick , gear shift knob, brake pedal and speed control pedal are convenient for the user to control the flying car on the ground, and the user does not need to control the driving of the flying car through the joystick, so the joystick is locked.
  • control mode When the control mode is switched to flight control mode in response to the selected command, the user needs to control the flight of the flying car through the steering wheel, joystick and joystick, so the steering wheel, joystick and joystick are unlocked to facilitate the user to control the flight
  • the car is flying in the air, and the user does not need to control the flight of the flying car through the speed control pedal and the brake pedal, so the speed control pedal and the brake pedal are locked.
  • Step 202 In the land control mode, control the driving of the flying car in response to the control operations on the steering wheel, the joystick, the shift knob, the brake pedal and the accelerator pedal.
  • the driving of the flying car in response to the user's control operations on the steering wheel, joystick, brake pedal and speed control pedal, the driving of the flying car can be controlled so that the flying car can drive on the ground.
  • the flying car in the land mode, can use the original steering wheel, joystick, brake pedal and speed control pedal on the car to control the driving of the flying car, without adding new control equipment to occupy
  • the space inside the flying car is convenient for users to move in the flying car.
  • the steering system further includes a steering box, the steering box is provided with a first positioning area and a second positioning area, and the joystick can be positioned at different positions in the first positioning area, or at the second positioning area. Different positions in the positioning area; step 202 may include: in response to the position of the joystick, control the gear of the flying car; in response to the stepping operation on the brake pedal, control the braking of the flying car; The stepping operation controls the acceleration of the flying car; in response to the turning operation of the steering wheel, the direction of the flying car is controlled.
  • the user can control the gear of the flying car according to the position of the joystick; the user can initiate a stepping operation on the brake pedal to control the braking of the flying car; the user can initiate a stepping operation on the speed control pedal to control the flying car Acceleration; the user can initiate an operation on the turning angle of the steering wheel to control the direction of the flying car.
  • the flying car includes a car body, a flight drive system, and a land drive system.
  • the flight drive system includes a rotor module connected to the car body.
  • the control device also includes a mode controller.
  • the plurality of gears includes a first gear corresponding to a land mode, a second gear corresponding to a first flight mode, and a third gear corresponding to a second flight mode; the method further includes: the mode controller is in the first gear In the case of the first gear, the flying car is controlled to work in the land mode through the land drive system; in the case of the second gear, the rotation axis of the control rotor module is in the first position, so that the flying car works in the first flight mode; In the case of the third gear, the rotation axis of the control rotor module is in the second position, so that the flying car works in the second flight mode; wherein, when the rotation axis is in the first position and when it is in the second position, it is relative to the vehicle body. different angles.
  • the driving of the flying car is controlled only through the steering wheel, joystick, brake pedal, and speed control pedal on the flying car, so that the user of the flying car can use the driving method of a conventional car to drive the flying car.
  • the car can easily control the flying car to drive on the ground without learning the land control mode of the flying car.
  • FIG. 11 it shows a schematic flow chart of the flight control mode in a flying car control method of the present application.
  • the user can rotate the land/flight mode switching button to select the flight mode, release (unlock) the steering wheel, the joystick and Joystick, lock the brake pedal, speed control pedal, and put the joystick in the first area to control the flight of the flying car.
  • the thrust of the flying car in the direction of travel is controlled by the joystick; the axial displacement of the joystick controls the pitch attitude of the flying car; the rotation angle of the joystick controls the roll attitude of the aircraft; the left and right yaw of the aircraft is controlled by the steering wheel.
  • FIG. 12 it shows a schematic flow chart of a flying car control method in the present application under the land control mode.
  • the user can rotate the land/flight mode switching button to select the land mode, and release (unlock) the steering wheel and the brake pedal. , express the control pedal and the first joystick, lock the driving stick, and place the joystick in the second area to control the driving of the flying car.
  • the steering wheel controls the direction of the flying car; the joystick controls the car's gear shift; the brake pedal controls the car's braking/deceleration; the speed control pedal controls the car's accelerator/acceleration.
  • free switching between land mode and flight mode can be realized, and the user of the flying car can easily control the flying car based on the control device on the flying car without participating in complicated flight driving training.
  • the present application also discloses a flying car, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor.
  • the computer program is controlled by the When the above-mentioned processor is executed, the flying car control method as described in the embodiment of the present application is realized.
  • the embodiment of the present application also discloses a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the flying car control method as described in the embodiment of the present application is realized.

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Abstract

La présente invention concerne un système de commande (10) et un procédé associé pour une voiture volante, ainsi qu'une voiture volante (100). Le système de commande comprend un dispositif de commande de mode (12) et un dispositif de commande (13), le dispositif de commande de mode étant utilisé pour sélectionner un mode de fonctionnement correspondant pour le dispositif de commande en réponse à une instruction de sélection de mode, le mode de fonctionnement comprenant un mode de fonctionnement sur terre pour commander le déplacement d'une voiture volante sur terre et un mode de fonctionnement en vol pour commander le déplacement de la voiture volante dans les airs ; et le dispositif de commande étant utilisé pour commander, dans le mode de fonctionnement en vol, le vol de la voiture volante dans les airs en réponse à une opération de commande sur un volant (141), un manche de conduite (143) et un manche de commande (17), et le dispositif de commande étant en outre utilisé pour commander, dans le mode de fonctionnement sur terre, le déplacement de la voiture volante sur terre en réponse à une opération de commande sur le volant, le manche de conduite et le manche de commande. Au moyen du système de commande, les modes de commande pour une voiture volante peuvent être accrus sans ajouter d'autres dispositifs de commande, permettant ainsi de faciliter la commande de la voiture volante par un utilisateur.
PCT/CN2022/132272 2021-11-17 2022-11-16 Système de commande et procédé associé pour une voiture volante, et voiture volante WO2023088307A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202111361520.1 2021-11-17
CN202111361520.1A CN113895190A (zh) 2021-11-17 2021-11-17 飞行汽车的操纵系统及飞行汽车
CN202210087502.7A CN114393964B (zh) 2022-01-25 2022-01-25 飞行汽车操纵方法、系统和飞行汽车
CN202210087502.7 2022-01-25

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WO2023088307A1 true WO2023088307A1 (fr) 2023-05-25

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