Modularized vehicle with multiple take-off modes

Abstract

According to the modularized traffic tool with multiple take-off modes, through the innovative split modularized design, the form of the traffic tool can be flexibly changed between an automobile and an aircraft, the flight state and the land running state are switched, and more novel passenger and freight application scenes can be expanded through cooperation of the independent carrying cabin modules. By utilizing the tiltable ducted fan mechanism and by virtue of boosting of the autonomous traveling chassis, the composite wing flight module can realize vertical take-off and landing, and wing lift force can be provided for short-distance taxiing take-off and landing to reduce energy consumption, so that the purposes of large voyage and high load are finally realized. The foldable fixed wing, the horizontal tail and the telescopic tail wing structure ensure that the traffic tool is small in size when running and parking on the land, so that the requirements of existing urban and rural roads and traffic safety laws and regulations can be met, and actual popularization is more facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of split-type aircraft and vehicle automatic driving, and in particular relates to a modular transportation tool with multiple take-off modes. Background Art

[0002] At present, with the country's advocacy and promotion of low-altitude economy, a group of smaller advanced aircraft have rapidly emerged. The ways of taking off and landing and flying mainly include: vertical take-off and landing using tilt rotors or ducted fans, traditional taxiing take-off and landing using propellers + fixed wings, and combined take-off and landing using tilt rotors / ducted fans + fixed wings. Among them, the power layout using tilting rotors / ducted fans is widely used in existing verification models due to its advantages such as small space and relatively mature flight control technology. However, due to the high energy consumption during vertical takeoff and landing, coupled with the heavy power batteries used as aircraft energy at this stage, the effective range and load cannot meet actual needs; traditional taxiing takeoff and landing has high requirements for runways, thus limiting the practicality of this power layout in low-altitude flight scenarios; compound takeoff and landing has many advantages such as vertical takeoff and landing without runways, and large range, high speed, low energy consumption, high payload, and relatively simple flight control during fixed-wing level flight, but it is also difficult to overcome the disadvantages of large size and high energy consumption during takeoff and landing. Therefore, how to further develop a flight solution that combines the advantages of the above-mentioned various aircraft and minimizes the disadvantages in various aspects is one of the problems to be solved in this field.

[0003] On the other hand, the exploration of the specific implementation of the low-altitude economy in this field has spawned many new forms of transportation that are different from the past. For example, the concept of flying cars proposed by many new energy automobile companies recently combines automatic driving with aircraft to achieve dual-use on land and in the air, thereby broadening many new scenarios including passenger transportation, emergency rescue, logistics distribution, low-altitude tourism, etc. In some existing technologies of flying cars, a design form of split flying part and land driving part is proposed, which can not only be combined as a whole, but also can be operated independently; some existing technologies also propose a passenger cabin module that can be combined with the flying part or the land driving part separately, which can be flexibly switched between low-altitude transportation and road transportation. Road driving requires strict restrictions on the size of vehicles including flying cars, which means that the vertical take-off layout with a smaller footprint is more practical. Although some existing technologies have proposed the design of flying cars with foldable fixed wings, the sections of the road network that are suitable for runways are still extremely limited. However, as mentioned above, the vertical take-off and landing method also makes the existing flying cars unable to solve the problems of low range, low payload, and high energy consumption, which in turn hinders the implementation of various low-altitude scenarios.

[0004] Compared with fixed-wing aircraft, vertical take-off and landing aircraft are more difficult to achieve emergency landing in the event of engine failure or flight control failure, and are more likely to cause serious casualties and property losses. Therefore, its safety issue is also an aspect that deserves attention. Summary of the invention

[0005] In view of this, the present invention provides a modular vehicle with multiple take-off modes, which is composed of a composite wing flight module and an autonomous driving chassis that can be combined or separated to operate independently;

[0006] Wherein, foldable fixed wings are installed on both sides of the fuselage of the composite wing flight module, and side beams parallel to the fuselage are arranged on the fixed wings, and vertically placed rotors are installed on the side beams; a vertical tail is arranged at the rear end of each side beam, and the horizontal ends of a horizontal tail are respectively pivotally connected with the upper ends of the two vertical tails, and the middle part of the front end of the horizontal tail is pivotally connected with the middle vertical tail at the tail of the aircraft; the horizontal tail is folded down when driving or parking on land, and unfolded during taxiing takeoff and landing or level flight, and can be unfolded or swung down according to needs during vertical takeoff and landing; a pair of ducted fans are arranged under the horizontal tail, respectively located on both sides of the tail, each ducted fan is pivotally connected to the inner side of the vertical tail on the same side, and the two ducted fans are coaxially pivotally connected with the middle vertical tail, which is used to provide lifting thrust during vertical takeoff and landing, and provide thrust or deceleration reverse thrust during taxiing takeoff and landing and level flight; a carrying cabin for carrying passengers or cargo is arranged on the composite wing flight module;

[0007] The autonomous driving chassis serves as the take-off and landing platform of the composite wing flight module. It has an automatic driving function and can also drive automatically or under the control of the driver when combined with the composite wing flight module. When the composite wing flight module takes off, the autonomous driving chassis drives its acceleration to obtain the main lift or auxiliary lift.

[0008] When the composite wing flight module is combined with the autonomous driving chassis and is driving or parked on land, the fixed wing and the horizontal tail are folded so that the outer periphery of the composite wing flight module does not exceed the outer periphery of the autonomous driving chassis or approaches its size in the horizontal direction, while meeting the height limit requirements during daily driving.

[0009] Furthermore, the carrying cabin is a separate module that can be combined or separated with the composite wing flight module or the autonomous driving chassis; when the carrying cabin is separated from the composite wing flight module, the composite wing flight module can fly and take off and land autonomously; when the carrying cabin is combined with the autonomous driving chassis, it can be used as a vehicle for automatic driving or driven under the control of a driver; in the passenger transport scenario, the cabin door can be set on the side of the carrying cabin; in the cargo transport scenario, the cabin door can be set at the front or rear bottom of the carrying cabin. On the autonomous driving skateboard chassis, the aircraft fuselage can also be switched to a car body.

[0010] Furthermore, each ducted turbofan can be independently tilted in the pitch direction to improve the maneuverability of the composite wing flight module during flight.

[0011] Furthermore, the fixed wing includes a central wing and an outer wing from the fuselage to the far end, and winglets that are optionally installed according to lift index requirements; side beams are arranged at the connection between the central wing and the outer wing; flaps and ailerons are provided on the outer wing, or a simplified form that only includes ailerons.

[0012] Furthermore, a pair of tiltable rotors with locking mechanisms or non-tiltable coaxial reverse propeller rotors are provided on each side beam, symmetrically distributed on the front and rear sides of the fixed wing; a pair of tiltable propellers can be optionally added to the front end of the side beam as needed.

[0013] Furthermore, elastic buffering and energy-absorbing materials are provided on the autonomous driving chassis to reduce the impact of the composite wing flight module during take-off and landing.

[0014] Furthermore, precision positioning pins are provided under the composite wing flight module or the carrier cabin, corresponding precision positioning pin holes are provided on the autonomous driving chassis, and corresponding precision positioning pin holes and coarse positioning guide blocks for positioning the nose of the composite wing flight module are provided on the autonomous driving chassis. The positioning of the composite wing flight module when combined with the autonomous driving chassis is achieved through mutual cooperation.

[0015] Furthermore, the composite wing flight module is also provided with a landing gear for self-takeoff and landing or emergency landing of the composite wing flight module on land or water. A retractable hidden landing gear or an external landing gear can be selected according to actual needs.

[0016] Furthermore, the composite wing flight module uses a fuel cell as a power source. The fuel cell includes a titanium alloy bipolar plate, which also serves as a load-bearing structure for the fuselage, wings, and other parts of the composite wing flight module.

[0017] Furthermore, the side beams on the composite wing flight module can drive the left and right vertical tails and the horizontal tail to move forward and backward in telescopic manner; the middle vertical tail adopts a telescopic connection structure or a connection structure that can be disconnected from the horizontal tail to achieve the forward and backward movement of the horizontal tail following the vertical tail; or, a structure in which the middle vertical tail is separated from the horizontal tail and not connected to each other is adopted, replacing the pivotable connection between the two, so as to achieve the telescopic movement function of the horizontal tail and the vertical tail.

[0018] The modular vehicle with multiple take-off modes provided by the present invention can flexibly change the vehicle form between a car and an aircraft, and switch between flying and land driving states through an innovative split modular design. The independent cargo cabin module helps to expand more new passenger and cargo application scenarios. By utilizing a tiltable ducted fan mechanism and with the help of the autonomous driving chassis, the composite wing flight module can achieve short-distance taxiing and landing, and can also provide lift for vertical take-off and landing to reduce energy consumption, ultimately achieving the purpose of long range and high load. The foldable fixed-wing, horizontal tail and retractable tail structure ensure that the vehicle is smaller in size when driving and parking on land, thereby meeting the requirements of existing urban and rural roads and traffic safety regulations, and is more conducive to actual promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a land driving or parking mode of a modular vehicle provided by the present invention;

[0020] Figure 2 A schematic diagram of a vertical take-off and landing mode of a modular vehicle provided by the present invention;

[0021] Figure 3 A schematic diagram of the level flight mode of the modular vehicle provided by the present invention;

[0022] Figure 4 A schematic diagram of the taxiing take-off and landing mode of the modular vehicle provided by the present invention;

[0023] Figure 5 It is a schematic diagram of the optional positioning combination structure of the composite wing flight module and the autonomous driving chassis;

[0024] Figure 6 The schematic diagram of using the positioning combination structure to achieve landing guidance and rough and fine positioning;

[0025] Figure 7 A preferred embodiment of providing a tiltable propeller at the front end of the side beam;

[0026] Figure 8 It is a preferred embodiment with a retractable vertical tail and a horizontal tail. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The modular vehicle provided by the present invention has multiple take-off modes, such as Figure 1-4 As shown, it is composed of a composite wing flight module 1 and an autonomous driving chassis 2 that can be combined with each other or separated to operate independently;

[0031] Among them, foldable fixed wings 3 are installed on both sides of the fuselage of the composite wing flight module 1, and side beams 4 parallel to the fuselage are arranged on the fixed wings 3, and vertically placed rotors 5 are installed on the side beams 4; a vertical tail 6 is arranged at the rear end of each side beam 4, and the horizontal ends of a horizontal tail 7 are respectively pivotally connected with the upper ends of the two vertical tails 6, and the middle part of the front end of the horizontal tail 7 is pivotally connected with the middle vertical tail 8 at the tail of the aircraft; the horizontal tail 7 is folded down when driving or parking on land, and unfolded during taxiing takeoff and landing or level flight. During vertical takeoff and landing, the unfolded or folded state can be selected according to needs.

[0032] This high horizontal tail + three vertical tail layout is more conducive to increasing the range than other layouts, and also provides better redundancy and flexibility for the design of the wing and the cargo compartment. At the same time, compared with the existing technology using double tail struts, the three vertical tail layout can achieve a better balance in terms of tail strength and weight.

[0033] A pair of ducted fans 9 are arranged below the horizontal tail 7 and are located on both sides of the tail, and each ducted fan 9 is pivotally connected to the inner side of the vertical tail 6 on the same side, and the two ducted fans 9 are pivotally connected to the middle vertical tail 8 coaxially, so as to provide lifting thrust during vertical take-off and landing, and thrust or deceleration reverse thrust during taxiing take-off and landing and level flight; a carrying cabin for carrying passengers or cargo is arranged on the composite wing flight module 1;

[0034] The autonomous chassis 2 serves as the take-off and landing platform of the composite wing flight module 1. It has an automatic driving function and can also drive automatically or under the control of the driver when combined with the composite wing flight module 1. When the composite wing flight module 1 takes off, the autonomous chassis 2 drives it to accelerate and obtain auxiliary lift. Through this design, the vehicle of the present invention can freely choose different take-off methods according to actual needs. For example, it can perform taxiing take-off and landing on open roads and suburban environments to save energy, and perform vertical take-off and landing on congested urban roads, so there is no need to carry out too much modification of existing roads. For special environments such as plateaus with thin air that are not conducive to vertical take-off, the autonomous chassis can also play a boosting role in the vertical take-off process, thereby greatly enriching the environment and scenes to which the present invention is applicable.

[0035] When the composite wing flight module 1 is combined with the autonomous driving chassis 2 and is driven or parked on land, the fixed wing 3 and the horizontal tail 6 are folded, so that the outer periphery of the composite wing flight module 1 does not exceed the outer periphery of the autonomous driving chassis 2 in the horizontal direction, and meets the road height limit requirements during driving. This design not only enables the dimensions of the present invention on land to meet the requirements of the existing urban road width, height and relevant traffic safety regulations, but also can provide certain protection for the folded composite wing flight module with the help of the front and rear anti-collision beam structures on the autonomous driving chassis, reducing losses in the event of a collision accident.

[0036] In a preferred embodiment of the present invention, the carrying cabin is a separate module (not shown in the figure) that can be combined or separated with the composite wing flight module or the autonomous driving chassis; when the carrying cabin is separated from the composite wing flight module, the composite wing flight module can fly and take off and land autonomously; when the carrying cabin is combined with the autonomous driving chassis, it can be used as a vehicle for automatic driving or driving under the operation of the driver; in the passenger transport scenario, the cabin door can be set on the side of the carrying cabin; in the cargo transport scenario, the cabin door can be set at the front or rear bottom of the carrying cabin. It is worth noting that the layout of the high horizontal tail + three vertical tails of the present invention is the optimal choice that comprehensively considers the design requirements of the independent carrying cabin, flight power layout, and the size of the composite wing flight module after folding. In some existing technologies that adopt a low horizontal tail layout, it is obviously impossible to realize the above-mentioned multiple carrying cabin doors and passenger and cargo function designs, and the folded size and flight range cannot reach the same indicators as the present invention.

[0037] In a preferred embodiment of the present invention, each ducted turbofan 9 is capable of independently tilting in the pitch direction to improve the maneuverability of the composite wing flight module 1 during flight.

[0038] In a preferred embodiment of the present invention, the fixed wing includes a central wing and an outer wing in sequence from the fuselage to the far end, and winglets that are optionally installed according to lift index requirements, which can be omitted when the lift requirement is not high and take-off and landing can be achieved using only the central wing and the outer wing; side beams are arranged at the connection between the central wing and the outer wing; flaps and ailerons are provided on the outer wing, or a simplified form that only includes ailerons.

[0039] In a preferred embodiment of the present invention, a pair of tiltable rotors with locking mechanisms or non-tiltable coaxial anti-propeller rotors are provided on each side beam 4, which are symmetrically distributed on the front and rear sides of the fixed wing 3 to achieve better power redundancy. When a coaxial anti-propeller structure is adopted, a greater thrust can be provided; a pair of tiltable propellers can be optionally added to the front end of the side beam as needed, such as Figure 7 As shown, when taking off vertically, the upward thrust can be increased, and when flying level, the aircraft turns to the horizontal direction to increase the horizontal thrust.

[0040] In a preferred embodiment of the present invention, an elastic buffering energy-absorbing material is provided on the autonomous driving chassis 2 to reduce the impact of the composite wing flight module 1 during take-off and landing.

[0041] In a preferred embodiment of the present invention, Figure 5 and 6 As shown, precision positioning pins are provided under the composite wing flight module or the carrying cabin, and corresponding precision positioning pin holes and coarse positioning guide blocks for positioning the composite wing flight module are provided on the autonomous driving chassis. The positioning of the composite wing flight module when combined with the autonomous driving chassis is achieved through mutual cooperation.

[0042] In a preferred embodiment of the present invention, the composite wing flight module 1 is also provided with a landing gear, and a hidden landing gear that can be folded or an external landing gear can be selected according to actual needs. The setting of the landing gear can further enable the present invention to be used as a cross-medium transportation tool that is amphibious on land, sea and air, and can also expand its application scenarios. For example, in certain disaster areas where there are no conditions for land driving, the composite wing flight module is required to use the landing gear to take off and land by itself; when performing rescue missions to rescue people who fall into the water, the composite wing flight module can be equipped with a water landing gear to complete take-off and landing on the water. In addition, the setting of the fixed wing and the landing gear also provides the possibility of emergency landing in the event of a fault such as engine shutdown in the air, which significantly increases the safety and survival rate of people and property on board compared to multi-rotor aircraft.

[0043] The power system of the composite wing flight module and the autonomous driving chassis of the present invention can select existing power systems such as pure electric, oil-electric hybrid, hydrogen fuel cell hybrid, etc. according to actual needs. In a preferred embodiment of the present invention, the composite wing flight module uses a fuel cell as a power source, and the fuel cell includes a titanium alloy bipolar plate, which also serves as a load-bearing structure for the fuselage of the composite wing flight module, such as the fuselage, wings, skin, etc.

[0044] In a preferred embodiment of the present invention, the side beams on the composite wing flight module can drive the left and right vertical tails and the horizontal tail to move forward and backward telescopically; the middle vertical tail adopts a telescopic structure or a connection structure that can be disconnected from the horizontal tail, so as to realize the forward and backward movement of the horizontal tail following the vertical tail;

[0045] Alternatively, use Figure 8 The structure shown in which the intermediate vertical tail and the horizontal tail are separated and not connected to each other replaces the pivotable connection between the two to achieve the telescopic movement function of the horizontal tail and the vertical tail.

[0046] The telescopic tail form can further reduce the longitudinal size of the composite wing flight module when traveling or parked on land, and can also flexibly adjust the balancing torque during flight.

[0047] When the modular vehicle provided by the present invention is driven or parked on land, the winglets (if installed) are stored at the rear of the skateboard chassis, the outer wings are vertically upward (or slightly tilted inward) and locked, the horizontal tail is folded downward, the ducted fan is forward, and the positioning pins are locked in the positioning holes. The land driving mode can be used as a car for daily use, and only the independent carrying cabin can be installed for operation.

[0048] When performing vertical take-off and landing, the following working sequence can be adopted:

[0049] 1. Vertical takeoff, such as Figure 2 As shown, first drive to a location suitable for vertical takeoff, the outer wings and winglets (if installed) rotate to the flight state and lock; the horizontal tail is unfolded to the horizontal state, and the ducted fan rotates upward; the four-rotor, the front propeller (if installed) and the ducted fan are started at the same time to wait for the take-off command. When the aircraft self-inspection status and weather search and other conditions determine that it is airworthy, the electrical and communication interfaces are disengaged, the locating pins and locating holes are unlocked, the four-rotor electric propellers and the ducted fan simultaneously increase the thrust for vertical takeoff, and the flight control system controls the flight attitude to climb rapidly.

[0050] 2. Switch to level flight. When the vertical flight reaches a certain height (e.g. 50m above the ground), the ducted fan gradually tilts to the horizontal direction, the thrust of the quadcopter and the front propeller (if installed) is adjusted to maintain balance, and the composite wing flight module gradually accelerates forward and switches to level flight. Figure 3 Level flight condition shown.

[0051] 3. Prepare for landing, such as Figure 5 and 6 As shown, the autonomous driving chassis is scheduled to slide to the landing site, and the composite wing flight module descends to the top of it. First, visual algorithm tracking is performed, and the two (relatively static) are docked and adjusted to make them gradually approach each other, and the B-precision positioning guide pin is extended from the landing gear.

[0052] 4. Control the nose of the aircraft to approach the A-coarse positioning guide block, the composite wing flight module reduces lift, and moves forward close to the A-coarse positioning guide block.

[0053] 5. Landing combination, such as Figure 1 As shown, after confirming the alignment, the composite wing flight module continues to descend, and the B-precision positioning guide pin is inserted into the pin hole and locked, completing the precise positioning docking. The horizontal tail is retracted, the ducted fan rotates forward, the four-wing rotor and front propeller (if installed) are turned to a vertical state, and the winglets (if installed) are stored by folding or disassembling. The control, communication and power interfaces of the composite wing flight module and the autonomous driving chassis are connected, and it drives to the parking position.

[0054] When performing a taxiing takeoff and landing, the following working sequence can be adopted:

[0055] 1. Rolling takeoff, such as Figure 4 As shown, first drive to a location suitable for taxiing and takeoff (a runway of about 100m), the outer wing and winglet (if installed) rotate to the flight state and lock; the horizontal tail is unfolded to the horizontal state, and the ducted fan rotates forward; the duct starts to rotate at the same time and waits for the take-off command. When the aircraft self-check status and weather search and other conditions determine that it is airworthy, the electrical and communication interfaces are disengaged, the positioning pins and positioning holes are unlocked, the autonomous driving chassis starts and the ducted fan is powered at the same time. After accelerating to the take-off speed (such as: 120km / h), the flaps, ailerons, horizontal tail and other rudders rotate downward to provide lift for the wings, the quadcopter and the front propeller (if installed) are opened in time to increase lift, the ducted fan continues to accelerate, the positioning pins are unlocked, the composite wing flight module is separated from the skateboard chassis, and it climbs diagonally upward quickly to the position shown in the figure. Figure 3 Level flight condition shown.

[0056] 2. Prepare for landing, such as Figure 5 and 6 As shown, the autonomous driving chassis is scheduled to slide to the landing site, and the composite wing flight module descends to the top of it. First, visual algorithm tracking is performed, and the two (relatively static) are docked and adjusted to make them gradually approach each other, and the B-precision positioning guide pin is extended from the landing gear.

[0057] 3. Control the nose of the aircraft to approach the A-coarse positioning guide block, the composite wing flight module reduces lift, and moves forward close to the A-coarse positioning guide block.

[0058] 4. Landing combination, such as Figure 1 As shown, after confirming the alignment, the composite wing flight module continues to descend, and the B-precision positioning guide pin is inserted into the pin hole and locked, completing the precise positioning docking. The horizontal tail is retracted, the ducted fan rotates forward, the four-wing rotor and front propeller (if installed) are turned to a vertical state, and the winglets (if installed) are stored by folding or disassembling. The control, communication and power interfaces of the composite wing flight module and the autonomous driving chassis are connected, and it drives to the parking position.

[0059] It should be understood that the size of the serial numbers of the steps in the embodiment of the present invention does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular vehicle with multiple take-off modes, characterized in that: It consists of a composite wing flight module and an autonomous driving chassis that can be combined with each other or separated and operated independently; Wherein, foldable fixed wings are installed on both sides of the fuselage of the composite wing flight module, and side beams parallel to the fuselage are arranged on the fixed wings, and vertically placed rotors are installed on the side beams; a vertical tail is arranged at the rear end of each side beam, and the horizontal ends of a horizontal tail are respectively pivotally connected with the upper ends of the two vertical tails, and the middle part of the front end of the horizontal tail is pivotally connected with the middle vertical tail at the tail of the aircraft; the horizontal tail is folded down when driving or parking on land, and unfolded during taxiing takeoff and landing or level flight, and the unfolded or swung down state is selected according to needs during vertical takeoff and landing; a pair of ducted fans are arranged under the horizontal tail, respectively on both sides of the tail, each ducted fan is pivotally connected to the inner side of the vertical tail on the same side, and the two ducted fans are coaxially pivotally connected with the middle vertical tail, which is used to provide lifting thrust during vertical takeoff and landing, and provide thrust or deceleration reverse thrust during taxiing takeoff and landing and level flight; a carrying cabin for carrying passengers or cargo is arranged on the composite wing flight module; The autonomous driving chassis serves as the take-off and landing platform of the composite wing flight module. It has an automatic driving function and can also drive automatically or under the control of the driver when combined with the composite wing flight module. When the composite wing flight module takes off, the autonomous driving chassis drives it to accelerate to obtain the main lift or auxiliary lift. When the composite wing flight module is combined with the autonomous driving chassis and is driving or parked on land, the fixed wing and the horizontal tail are folded so that the outer periphery of the composite wing flight module is close to or does not exceed the outer periphery of the autonomous driving chassis in the horizontal direction, while meeting the height limit requirements for daily road driving.

2. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: The carrying cabin is a separate module that can be combined or separated from the composite wing flight module or the autonomous driving chassis; when the carrying cabin is separated from the composite wing flight module, the composite wing flight module can fly and take off and land autonomously; when the carrying cabin is combined with the autonomous driving chassis, it acts as a vehicle and performs automatic driving or travels under the control of a driver.

3. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: Each ducted turbofan can be tilted in the pitch direction independently to improve the maneuverability of the composite wing flight module during flight.

4. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: The fixed wing includes a central wing and outer wings from the fuselage to the far end, as well as winglets that are optionally installed according to lift index requirements; side beams are set at the connection between the central wing and the outer wing; the outer wing is equipped with flaps and ailerons, or a simplified form that only includes ailerons.

5. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: A pair of tiltable rotors with locking mechanisms or non-tiltable coaxial reverse propeller rotors are arranged on each side beam, symmetrically distributed on the front and rear sides of the fixed wing; a pair of tiltable propellers can be optionally installed at the front end of the side beam as needed.

6. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: Elastic buffer and energy-absorbing materials are provided on the autonomous driving chassis to reduce the impact of the composite wing flight module during takeoff and landing.

7. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: Precision positioning pins are arranged under the composite wing flight module or the carrying cabin, and corresponding precision positioning pin holes and coarse positioning guide blocks for positioning the composite wing flight module are arranged on the autonomous driving chassis. The positioning of the composite wing flight module when combined with the autonomous driving chassis is achieved through mutual cooperation.

8. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: The composite wing flight module is also provided with a landing gear for the composite wing flight module to take off and land on its own or make an emergency landing on land or water.

9. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: The composite wing flight module uses a fuel cell as a power source. The fuel cell includes a titanium alloy bipolar plate, which also serves as the fuselage load-bearing structure of the composite wing flight module.

10. The modular vehicle with multiple take-off modes as claimed in claim 1, characterized in that: The side beams on the composite wing flight module can drive the left and right vertical tails and the horizontal tail to move forward and backward in telescopic manner; the middle vertical tail adopts a telescopic structure or a connection structure that can be disconnected from the horizontal tail to achieve the forward and backward movement of the horizontal tail following the vertical tail; or, a structure in which the middle vertical tail is separated from the horizontal tail and not connected to each other is adopted to replace the pivotable connection between the two, so as to achieve the function of the horizontal tail following the vertical tail in telescopic movement.

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