Flying vehicle arm control method, device, system and storage medium

Abstract

The present invention discloses a method, device, system, and storage medium for controlling an arm of an aerial vehicle. The method comprises: upon powering on the state switching control device and receiving an unlock request, determining first driving state information of the aerial vehicle based on the unlock request; and, if the first driving state information satisfies an unlock condition, controlling the unlock actuator to unlock the aerial vehicle arm. The present invention improves the safety of unlocking the aerial vehicle arm.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, system and storage medium for controlling an arm of a flying vehicle. Background Art

[0002] A flying vehicle is a new type of vehicle that combines the road-driving capabilities of a traditional automobile with the low-altitude flight capabilities of an aircraft. It is equipped with multiple rotors and movable arms that connect the rotors to the vehicle body and can be folded and unfolded. The vehicle is equipped with an unlocking mechanism for unfolding or folding the arms, and a locking mechanism for securing the arms in place when unfolded and folded. When the vehicle is driving on the road, the arms may be unlocked during operation, causing them to be unfixed in their designated position. This could cause the arms to swing at high speeds, potentially encroaching into the driving space of other vehicles and causing a collision. Furthermore, when the vehicle is airborne, the arms may be unlocked during flight, causing them to be unfixed in their designated position. This could cause the arms to cause relative displacement of the corresponding rotors, leading to accidents. Summary of the Invention

[0003] The main purpose of the present invention is to provide a method, device, system and storage medium for controlling the arms of an aerial vehicle, aiming to solve the problem of how to improve the safety of unlocking the arms of an aerial vehicle.

[0004] To achieve the above objectives, the present invention provides a method for controlling an arm of an aerial vehicle, which is applied to a configuration switching control device. The configuration switching control device is used to control an unlocking actuator, which is connected to the aerial vehicle arm. The method for controlling the aerial vehicle arm includes the following steps:

[0005] When the state switching control device is powered on and receives an unlock request, the device determines first driving state information of the flying vehicle according to the unlock request;

[0006] If the first driving state information meets the unlocking condition, the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0007] Optionally, the step of determining the first driving state information of the flying vehicle according to the unlocking request includes:

[0008] When the unlock request includes switching from the land mode to the flight mode, obtaining air-ground state information of the flying vehicle, the air-ground state information including whether the flying vehicle is in the air or on the ground, and the first driving state information including the air-ground state information;

[0009] If the first driving state information satisfies the unlocking condition, the step of controlling the unlocking actuator to unlock the arm of the flying vehicle includes:

[0010] If the air-ground state information indicates that the flying vehicle is on the ground, it is determined that the first driving state information meets the unlocking condition, and the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0011] Optionally, the step of determining the first driving state information of the flying vehicle according to the unlocking request includes:

[0012] When the unlock request includes switching from the flight mode to the land mode, obtaining ground speed information of the flying vehicle, wherein the first driving state includes the ground speed information;

[0013] If the first driving state information satisfies the unlocking condition, the step of controlling the unlocking actuator to unlock the arm of the flying vehicle includes:

[0014] If the ground vehicle speed information is less than a preset vehicle speed threshold, it is determined that the first driving state information meets the unlocking condition, and the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0015] Optionally, the mode switching control device is used to control a locking actuator, wherein the locking actuator is connected to an arm of the flying vehicle. After the step of controlling the unlocking actuator to unlock the arm of the flying vehicle if the first driving state information satisfies an unlocking condition, the method further includes:

[0016] Determine the real-time arm status of the flying vehicle;

[0017] If the real-time arm state meets the arm state corresponding to the driving mode, the locking actuator is controlled to lock the arm of the flying vehicle.

[0018] To achieve the above objectives, the present invention provides a method for controlling an arm of a flying vehicle, which is applied to a power distribution management device, wherein the power distribution management device is connected to a power distribution device and a mode switching control device, respectively. The method for controlling an arm of a flying vehicle comprises the following steps:

[0019] After receiving the power distribution request, obtaining second driving state information of the flying vehicle according to the power distribution request;

[0020] After the second driving state information meets the power distribution condition, the power distribution device is controlled to supply power to the mode switching control device, so that after the mode switching control device is powered on, the arm of the flying vehicle is unlocked when it is determined that the unlocking condition is met.

[0021] Optionally, the step of obtaining the second driving state information of the flying vehicle according to the power distribution request includes:

[0022] The power distribution request includes obtaining ground speed information and a gear position signal of the flying vehicle when the land mode is switched to the flight mode, and the second driving state information includes the ground speed information and the gear position signal;

[0023] After the second driving state information satisfies the power distribution condition, the step of controlling the power distribution device to supply power to the mode switching control device includes:

[0024] When the ground vehicle speed information is less than a preset vehicle speed threshold and the gear signal is the parking gear, it is determined that the second driving state information meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device.

[0025] Optionally, the step of obtaining the second driving state information of the flying vehicle according to the power distribution request includes:

[0026] The power distribution request includes obtaining air-ground state information of the flying vehicle and speed information of the flying motor of the flying vehicle when the flight mode is switched to the ground mode, and the second driving state information includes the air-ground state information and the speed information;

[0027] After the second driving state information satisfies the power distribution condition, the step of controlling the power distribution device to supply power to the mode switching control device includes:

[0028] When the air-ground state information indicates that the flying vehicle is on the ground and the speed information is less than a preset speed threshold, it is determined that the second driving state information meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device.

[0029] Optionally, after the step of controlling the power distribution device to supply power to the mode switching control device after the second driving state information satisfies the power distribution condition, the method further includes:

[0030] Upon receiving a power-off request, determining whether an arm of the flying vehicle is in a locked state;

[0031] If the aircraft arm of the flying vehicle is in a locked state, the power distribution mode is controlled to cut off power to the mode switching control device.

[0032] To achieve the above-mentioned objectives, the present invention also provides an arm control device for an flying vehicle, wherein the arm control device for an flying vehicle includes a memory, a processor, and an arm control program for an flying vehicle stored in the memory and executable on the processor. When the arm control program for an flying vehicle is executed by the processor, the various steps of the arm control method for an flying vehicle as described above are implemented.

[0033] To achieve the above-mentioned purpose, the present invention also provides a form switching control device, which includes a memory, a processor, and a flying vehicle arm control program stored in the memory and executable on the processor. When the flying vehicle arm control program is executed by the processor, the various steps of the flying vehicle arm control method described above are implemented.

[0034] To achieve the above-mentioned objectives, the present invention also provides an arm control system for an flying vehicle, wherein the arm control system for the flying vehicle includes: the form switching control device as described above, and the power distribution management device as described above; the power distribution management device supplies power to the form switching control device by controlling the power distribution device.

[0035] Optionally, the arm control system further includes a brake control device and a gear control device respectively connected to the power distribution management device, the brake control device being used to obtain ground speed information of the flying vehicle, and the gear control device being used to obtain a gear signal of the flying vehicle;

[0036] The arm control system further includes a flight control device connected to the form switching control device, and the flight control device is used to obtain air-ground status information of the flying vehicle.

[0037] Optionally, the arm control system further includes a flight control device and a flight motor control device respectively connected to the power distribution management device, the flight control device being used to obtain air-ground state information of the flying vehicle, and the flight motor control device being used to obtain speed information of the flight motor of the flying vehicle;

[0038] The arm control system further includes a brake control device connected to the form switching control device, and the brake control device is used to obtain ground speed information of the flying vehicle.

[0039] Optionally, the arm control system also includes a user instruction management device; the user instruction management device is used to receive user demand operations and send a power distribution request to the power distribution management device according to the demand; after the power distribution management device successfully powers on the form switching control device, it sends an unlocking request to the form switching control device to control the form switching control device to unlock the arm of the flying vehicle when the unlocking conditions are met.

[0040] To achieve the above-mentioned objectives, the present invention also provides a computer-readable storage medium, which stores a flying vehicle arm control program. When the flying vehicle arm control program is executed by a processor, it implements the various steps of the flying vehicle arm control method described above.

[0041] The present invention provides a method, device, system, and storage medium for controlling the arms of an aerial vehicle. When a state switching control device is powered on and receives an unlock request, the device determines first driving state information of the aerial vehicle based on the unlock request. If the first driving state information satisfies an unlock condition, the unlock actuator is controlled to unlock the aerial vehicle's arms. By determining whether the first driving state information of the aerial vehicle satisfies the unlock condition, the unlock actuator is controlled to unlock the aerial vehicle's arms if the unlock condition is satisfied. This accurately controls the timing of arm unlocking, avoids accidents caused by unlocking the arms during a time period when unlocking is not required, and ensures the safety of the aerial vehicle's arms when folding or unfolding. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the hardware structure of the arm control device of the flying vehicle involved in an embodiment of the present invention;

[0043] Figure 2 1. A schematic flow chart of a first embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0044] Figure 3 1. A schematic flow chart of a second embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0045] Figure 4 1 is a flow chart of a third embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0046] Figure 5 1 is a flow chart of a fourth embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0047] Figure 6 1 is a flow chart of a fifth embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0048] Figure 7 This is a schematic structural diagram of the arm control system of the flying vehicle of the present invention;

[0049] Figure 8 1 is a flow chart of a sixth embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0050] Figure 9 This is a schematic structural diagram of the arm control system of the flying vehicle of the present invention;

[0051] Figure 10A schematic flow chart of an embodiment of a method for controlling an arm of a flying vehicle according to the present invention;

[0052] Figure 11 FIG. 4 is a flow chart of an embodiment of a method for controlling an arm of a flying vehicle according to the present invention.

[0053] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] The main solution of an embodiment of the present invention is: when the form switching control device is powered on and receives an unlocking request, the first driving state information of the flying vehicle is determined according to the unlocking request; if the first driving state information meets the unlocking condition, the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0056] By judging whether the first driving state information of the flying vehicle meets the unlocking conditions, the unlocking execution structure is controlled to unlock the arms of the flying vehicle after the unlocking conditions are met, thereby accurately controlling the timing of unlocking the arms, avoiding accidents caused by unlocking the arms during the time period when unlocking is not required, and ensuring the safety of the folding or unfolding of the arms of the flying vehicle.

[0057] As an implementation solution, the aircraft arm control device of the flying vehicle can be as follows Figure 1 shown.

[0058] The embodiments of the present invention relate to an arm control device for an aerial vehicle. The arm control device for an aerial vehicle may be a state switching control device or a power distribution management device. The arm control device for an aerial vehicle includes: a processor 101, such as a CPU; a memory 102; and a communication bus 103. The communication bus 103 is used to enable communication between these components.

[0059] The memory 102 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Figure 1 As shown, the memory 102 as a computer-readable storage medium may include an arm control program for the flying vehicle; and the processor 101 may be used to call the arm control program for the flying vehicle stored in the memory 102 and execute the relevant step operations of the arm control method for the flying vehicle described in the following embodiments.

[0060] Based on the hardware architecture of the above-mentioned flying vehicle arm control device, an embodiment of the flying vehicle arm control method of the present invention is proposed.

[0061] Reference Figure 2 , Figure 2 This is a first embodiment of a method for controlling an arm of a flying vehicle according to the present invention. The method comprises the following steps:

[0062] Step S10 : When the mode switching control device is powered on and receives an unlocking request, the first driving state information of the flying vehicle is determined according to the unlocking request.

[0063] Optionally, the configuration switching control device is used to control an unlocking actuator connected to an arm of the flying vehicle. The configuration switching control device unlocks the arm of the flying vehicle by controlling the unlocking actuator.

[0064] Optionally, the configuration switching control device is used to control a locking actuator connected to an arm of the flying vehicle. The configuration switching control device locks the arm of the flying vehicle by controlling the locking actuator.

[0065] Optionally, when the form switching control device is not needed to unlock or lock the machine arm, the form switching control device is in a power-off state. When the form switching control device is needed to unlock or lock the machine arm, the form switching control device is controlled to be powered on and started.

[0066] When the mode switching control device is powered on and receives an unlocking request, the first driving state information of the flying vehicle is determined according to the unlocking request.

[0067] Optionally, the unlock request is generated based on user demand. Optionally, the user instruction management device obtains the user demand, generates the unlock request based on the user demand, and transmits the unlock request to the mode switching control device. The user demand may include switching from land mode to flight mode, or vice versa.

[0068] Alternatively, the first driving state information may be air-ground state information, where the air-ground state information includes whether the flying vehicle is in the air or on the ground. Alternatively, the first driving state information may be ground speed information of the flying vehicle. Alternatively, the first driving state information may be a gear position signal of the flying vehicle. Alternatively, the first driving state information may be the rotational speed of a flight motor of the flying vehicle.

[0069] Step S20: If the first driving state information satisfies an unlocking condition, the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0070] Because the arm structure of a flying vehicle is connected to the vehicle body at one end and the rotor at the other end, if the arm is not properly fixed in its designated position while the vehicle is traveling on the road in the posture of a car, it is very likely that the arm will cause the rotor to swing at high speeds and intrude into the driving space of other vehicles, causing a traffic accident. Furthermore, if the arm is not properly fixed in its designated position while the vehicle is flying, it is very likely that the arm will cause the corresponding rotor to deviate relative to the vehicle, which may cause the vehicle to immediately become unstable and fall, resulting in an accident. In another case, the rotor may directly collide with another rotor or the arm, causing damage and causing an accident. Therefore, it is necessary to determine whether the first driving state of the flying vehicle meets the unlocking conditions. Only when the first driving state information meets the unlocking conditions can the unlocking actuator be controlled to unlock the flying vehicle's arm.

[0071] Optionally, if the first driving state information is air-ground state information, when the flying vehicle is on the ground, it is determined that the first driving state information of the flying vehicle meets the unlocking condition, and the mode switching control device controls the unlocking actuator to unlock the aircraft arm of the flying vehicle. When the flying vehicle is in the air, it is determined that the first driving state information of the flying vehicle does not meet the unlocking condition, the aircraft arm is not unlocked, and a prompt message is output.

[0072] Optionally, if the first driving state information is ground speed information of the flying vehicle, and when the ground speed information is less than a preset speed threshold, for example, when the speed information of the flying vehicle is zero, it is determined that the first driving state information of the flying vehicle meets the unlocking condition, and the mode switching control device controls the unlocking actuator to unlock the aircraft arm of the flying vehicle. If the ground speed information is greater than or equal to the preset speed threshold, it is determined that the first driving state information of the flying vehicle does not meet the unlocking condition, the aircraft arm is not unlocked, and a prompt message is output.

[0073] Alternatively, if the first driving state information is a gear position signal of the flying vehicle, and the gear position signal is P gear, i.e., parking gear, the first driving state information of the flying vehicle is determined to meet the unlocking condition, and the mode switching control device controls the unlocking actuator to unlock the aircraft arm of the flying vehicle. If the gear position signal is not P gear, the first driving state information of the flying vehicle is determined to not meet the unlocking condition, the aircraft arm is not unlocked, and a prompt message is output.

[0074] Optionally, if the first driving state information is the rotational speed of a flight motor of the flying vehicle, when the rotational speed of the flight motor is less than a preset speed threshold, the first driving state information of the flying vehicle is determined to meet a preset unlocking condition, and the mode switching control device controls the unlocking actuator to unlock the aircraft arm of the flying vehicle. If the rotational speed of the flight motor is greater than or equal to the preset speed threshold, the first driving state information of the flying vehicle is determined to not meet the preset unlocking condition, the aircraft arm is not unlocked, and a prompt message is output.

[0075] Optionally, if the first driving state information includes at least two of the following: air-ground state information, ground vehicle speed information, a gear position signal of the flying vehicle, and a rotational speed of the flying motor, and if both of the at least two pieces of information satisfy corresponding conditions or thresholds, the first driving state information of the flying vehicle is determined to satisfy the unlocking condition, and the mode switching control device controls the unlocking actuator to unlock the aircraft arm of the flying vehicle. If any of the at least two pieces of information does not satisfy the corresponding conditions or thresholds, the first driving state information of the flying vehicle is determined to not satisfy the unlocking condition, the aircraft arm is not unlocked, and a prompt message is output.

[0076] After step S20, the method further includes: determining the real-time arm state of the flying vehicle; and if the real-time arm state satisfies the arm state corresponding to the driving mode, controlling the locking actuator to lock the arm of the flying vehicle. For example, when the driving mode is the flying mode, the real-time arm state of the flying vehicle is unfolded, and it is determined that the real-time arm state satisfies the arm state corresponding to the driving mode, the real-time arm state of the flying vehicle changes from a folded state to an unfolded state, and it is determined that the real-time arm state does not satisfy the arm state corresponding to the driving mode; when the driving mode is the land mode, the real-time arm state of the flying vehicle is folded, and it is determined that the real-time arm state satisfies the arm state corresponding to the driving mode, the real-time arm state of the flying vehicle changes from an unfolded state to a folded state, and it is determined that the real-time arm state does not satisfy the arm state corresponding to the driving mode.

[0077] In the technical solution of this embodiment, by judging whether the first driving state information of the flying vehicle meets the unlocking conditions, the unlocking execution structure is controlled to unlock the arms of the flying vehicle after the unlocking conditions are met, thereby accurately controlling the timing of unlocking the arms, avoiding accidents caused by unlocking the arms during a time period when unlocking is not required, and ensuring the safety of the arms of the flying vehicle when they are folded or unfolded.

[0078] Reference Figure 3 , Figure 3 This is a second embodiment of the method for controlling an arm of a flying vehicle according to the present invention. Based on the first embodiment, step S10 includes:

[0079] Step S11, when the unlock request includes switching from the land mode to the flight mode, obtaining air-ground state information of the flying vehicle, the air-ground state information including whether the flying vehicle is in the air or on the ground, and the first driving state information including the air-ground state information;

[0080] The step S20 includes:

[0081] Step S21: If the air-ground state information indicates that the flying vehicle is on the ground, it is determined that the first driving state information meets the unlocking condition, and the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0082] Optionally, after the configuration switching control device is powered on and completes startup, the user command management device sends a request to the configuration switching control device to execute an arm unlock. The configuration switching control device receives the vehicle's ground-to-air status information by communicating with an external flight control device, and determines whether the vehicle's ground-to-air status information satisfies an unlocking condition.

[0083] Optionally, if the air-to-ground state information of the flying vehicle detected by the configuration switching control device indicates that the vehicle is on the ground, the first driving state information is determined to satisfy the unlocking condition, and the unlocking actuator is controlled to perform the unlocking operation. If the air-to-ground state information of the flying vehicle detected by the configuration switching control device indicates that the vehicle is in the air, the first driving state information is determined to not satisfy the unlocking condition. Otherwise, the unlocking operation is not performed, and a prompt message may be simultaneously sent to the user, wherein the prompt message indicates that the unlocking condition is not satisfied.

[0084] In the technical solution of this embodiment, by judging whether the air-ground status information of the flying vehicle meets the unlocking conditions, the unlocking execution structure is controlled to unlock the arms of the flying vehicle after the unlocking conditions are met, thereby accurately controlling the timing of unlocking the arms, avoiding accidents caused by unlocking the arms during the time period when unlocking is not required, and ensuring the safety of the flying vehicle's arms when folding or unfolding.

[0085] Reference Figure 4 , Figure 4 This is a third embodiment of the method for controlling an arm of a flying vehicle according to the present invention. Based on the first or second embodiment, step S10 includes:

[0086] Step S12: when the unlock request includes switching from the flight mode to the land mode, obtaining ground speed information of the flying vehicle, wherein the first driving state includes the ground speed information;

[0087] The step S20 includes:

[0088] Step S22: If the ground vehicle speed information is less than a preset vehicle speed threshold, it is determined that the first driving state information meets the unlocking condition, and the unlocking actuator is controlled to unlock the arm of the flying vehicle.

[0089] Optionally, the mode switching control device receives ground speed information of the flying vehicle by communicating with an external brake control device, and the mode switching control device determines whether the ground speed information meets the unlocking condition.

[0090] Optionally, if the ground speed information of the flying vehicle detected by the mode switching control device is less than a preset speed threshold, the first driving state information is determined to satisfy the unlocking condition, and the unlocking actuator is controlled to perform the unlocking operation. If the ground speed information of the flying vehicle detected by the mode switching control device is greater than or equal to the preset speed threshold, the first driving state information is determined to not satisfy the unlocking condition. Otherwise, the unlocking operation is not performed, and a prompt message may be simultaneously sent to the user, wherein the prompt message indicates that the unlocking condition is not satisfied.

[0091] In the technical solution of this embodiment, by judging whether the ground speed information of the flying vehicle meets the unlocking conditions, the unlocking execution structure is controlled to unlock the arms of the flying vehicle after the unlocking conditions are met, thereby accurately controlling the timing of unlocking the arms, avoiding accidents caused by unlocking the arms during the time period when unlocking is not required, and ensuring the safety of the flying vehicle's arms when folding or unfolding.

[0092] Reference Figure 5 , Figure 5 This is a fourth embodiment of the method for controlling an arm of a flying vehicle according to the present invention. The method for controlling an arm of a flying vehicle comprises the following steps:

[0093] Step S30, after receiving the power distribution request, obtaining second driving state information of the flying vehicle according to the power distribution request;

[0094] Step S40: After the second driving state information satisfies the power distribution condition, the power distribution device is controlled to supply power to the mode switching control device, so that after the mode switching control device is powered on, the arms of the flying vehicle are unlocked when it is determined that the unlocking condition is met.

[0095] Optionally, when the form switching control device is not needed to unlock or lock the aircraft arm, the power distribution management device controls the form switching control device to power off. When the form switching control device is needed to unlock or lock the aircraft arm, for example, when the flight mode is switched from the land mode, the aircraft arm needs to be unlocked to ensure that the aircraft arm can be folded; when the land mode is switched from the flight mode, the aircraft arm needs to be unlocked to ensure that the aircraft arm can be unfolded; after the aircraft arm is unfolded or folded, the aircraft arm is locked, etc., the power distribution management device controls the form switching control device to power on.

[0096] Optionally, the power distribution request is generated by the user instruction management device based on user demand. Optionally, the user instruction management device obtains the user demand, generates the power distribution request based on the user demand, and transmits the power distribution request to the power distribution management device. The user demand may include switching from land mode to flight mode, or vice versa.

[0097] Optionally, after receiving the power distribution request, second driving state information of the flying vehicle is obtained based on the power distribution request. Optionally, the second driving state information may be air-ground state information, where the air-ground state information includes whether the flying vehicle is in the air or on the ground. Optionally, the second driving state information may be ground speed information of the flying vehicle. Optionally, the second driving state information may be a gear position signal of the flying vehicle.

[0098] Optionally, if the second driving state information is air-ground state information, when the flying vehicle is on the ground, it is determined that the second driving state information of the flying vehicle meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device. When the flying vehicle is in the air, it is determined that the second driving state information of the flying vehicle does not meet the power distribution condition, power is not supplied to the mode switching control device, and a prompt message is output.

[0099] Optionally, if the second driving state information is ground speed information of the flying vehicle, and when the ground speed information is less than a preset speed threshold, for example, when the speed information of the flying vehicle is zero, it is determined that the second driving state information of the flying vehicle meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device. If the ground speed information is less than or equal to the preset speed threshold, it is determined that the second driving state information of the flying vehicle does not meet the power distribution condition, power is not supplied to the mode switching control device, and a prompt message is output.

[0100] Optionally, if the second driving state information is a gear position signal of the flying vehicle, and the gear position signal is P gear, i.e., parking gear, the second driving state information of the flying vehicle is determined to meet the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device. If the gear position signal is not P gear, i.e., parking gear, the second driving state information of the flying vehicle is determined to not meet the power distribution condition, power is not supplied to the mode switching control device, and a prompt message is output.

[0101] Optionally, if the second driving state information is the rotational speed of a flight motor of the flying vehicle, when the rotational speed of the flight motor is less than a preset speed threshold, the second driving state information of the flying vehicle is determined to satisfy a preset power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device. If the rotational speed of the flight motor is greater than or equal to the preset speed threshold, the second driving state information of the flying vehicle is determined to not satisfy the preset power distribution condition, power is not supplied to the mode switching control device, and a prompt message is output.

[0102] Optionally, if the second driving state information comprises ground speed information and a gear position signal of the flying vehicle, and when the ground speed information is less than a preset speed threshold and the gear position signal indicates the P gear, i.e., the parking gear, the second driving state information of the flying vehicle is determined to meet the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device. If the ground speed information is greater than or equal to the preset speed threshold, or the gear position signal is not the P gear, i.e., the parking gear, the second driving state information of the flying vehicle is determined to not meet the preset power distribution condition, power is not supplied to the mode switching control device, and a prompt message is output.

[0103] Optionally, after step S40, it also includes: when receiving a power-off request, determining whether the arm of the flying vehicle is in a locked state; if the arm of the flying vehicle is in a locked state, controlling the power distribution mode to cut off the power to the form switching control device, ensuring that the power is cut off after the arm is locked, thereby ensuring the safety of the flying vehicle arm when folding or unfolding.

[0104] In the technical solution of this embodiment, by judging whether the second driving state information of the flying vehicle meets the power distribution conditions, the power distribution device is controlled to supply power to the form switching control device after the power distribution conditions are met. This greatly reduces the occurrence of accidents caused by the arms being accidentally unlocked and popped out when the flying car is driving on land or flying in the air, ensures the safety of the flying vehicle's arms being folded or unfolded, and ensures the driving safety of the flying vehicle.

[0105] Reference Figure 6 , Figure 6 This is a fifth embodiment of the method for controlling an arm of a flying vehicle according to the present invention. Based on the fourth embodiment, step S30 includes:

[0106] Step S31, when the power distribution request includes switching from a land mode to a flight mode, obtaining ground speed information and a gear position signal of the flying vehicle, wherein the second driving state information includes the ground speed information and the gear position signal;

[0107] The step S40 includes:

[0108] Step S41: When the ground vehicle speed information is less than a preset vehicle speed threshold and the gear signal is the parking gear, it is determined that the second driving state information meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device.

[0109] Alternatively, as Figure 7As shown, the power distribution management device supplies power to the form switching control device by controlling the power distribution device; the power distribution management device is connected to the user instruction management device, the brake control device and the gear control device respectively, the user instruction management device is used to generate an unlocking request or a power distribution request according to user needs, the brake control device is used to obtain the ground speed information of the flying vehicle, and the gear control device is used to obtain the gear signal of the flying vehicle; the power distribution management device is connected to the flight control device, and the flight control device is used to obtain the air-ground status information of the flying vehicle.

[0110] Optionally, the power distribution request includes a request for switching from a land mode to a flight mode, at which point the flying vehicle is about to deploy its arms, obtaining ground speed information and a gear position signal of the flying vehicle. When the ground speed information is less than a preset threshold and the gear position signal indicates the parking position, determining that the second driving state information satisfies a power distribution condition, and controlling the power distribution device to supply power to the mode switching control device. When the ground speed information is greater than or equal to the preset speed threshold, or when the gear position signal indicates a position other than the parking position, determining that the second driving state information does not satisfy the power distribution condition, and not supplying power to the mode switching control device.

[0111] In the technical solution of this embodiment, by judging whether the ground speed information of the flying vehicle and the gear signal of the flying vehicle meet the power distribution conditions, the power distribution device is controlled to supply power to the mode switching control device after the power distribution conditions are met. This greatly reduces the occurrence of accidents caused by the arms being accidentally unlocked and popped out when the flying car is driving on land or flying in the air, ensures the safety of the flying vehicle's arms being folded or unfolded, and ensures the driving safety of the flying vehicle.

[0112] Reference Figure 8 , Figure 8 This is a sixth embodiment of the method for controlling an arm of a flying vehicle according to the present invention, based on the fourth or fifth embodiment, wherein step S30 includes:

[0113] Step S32, when the power distribution request includes switching from the flight mode to the ground mode, obtaining air-ground state information of the flying vehicle and speed information of the flight motor of the flying vehicle, wherein the second driving state information includes the air-ground state information and the speed information;

[0114] The step S40 includes:

[0115] Step S43: When the air-ground state information indicates that the flying vehicle is on the ground and the speed information is less than a preset speed threshold, it is determined that the second driving state information meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device.

[0116] Alternatively, as Figure 9As shown, the power distribution management device supplies power to the form switching control device by controlling the power distribution device; the power distribution management device is connected to the user instruction management device, the flight control device and the flight motor control device respectively, the user instruction management device is used to generate an unlocking request or a power distribution request according to user needs, the flight control device is used to obtain the air-ground status information of the flying vehicle, and the flight motor control device is used to obtain the speed information of the flight motor of the flying vehicle; the power distribution management device is connected to the brake control device, and the brake control device is used to obtain the ground speed information of the flying vehicle.

[0117] Optionally, the power distribution request includes switching from flight mode to land mode, at which time the flying car is about to fold its arms, obtaining the air-ground status information of the flying vehicle and the speed information of the flying motor of the flying vehicle. When the air-ground status information indicates that the flying vehicle is on the ground and the speed information is less than a preset speed threshold, it is determined that the second driving status information meets the power distribution condition, and the power distribution device is controlled to supply power to the form switching control device; when the air-ground status information indicates that the flying vehicle is in the air, or the speed information is greater than or equal to the preset speed threshold, it is determined that the second driving status information does not meet the power distribution condition, and the form switching control device is not supplied with power.

[0118] In the technical solution of this embodiment, by judging whether the air-ground state information and speed information of the flying vehicle meet the power distribution conditions, the power distribution device is controlled to supply power to the form switching control device after the power distribution conditions are met. This greatly reduces the occurrence of accidents caused by the arms being accidentally unlocked and popped out when the flying car is driving on land or flying in the air, ensures the safety of the flying vehicle's arms being folded or unfolded, and ensures the driving safety of the flying vehicle.

[0119] In one embodiment, referring to Figure 10When the flying vehicle is in the land mode, the user inputs the command of switching from the land mode to the flight mode through the command collection entrance of the user command management device; the user command management device requests the power distribution management device to distribute power to the mode switching control device; the power distribution management device detects the vehicle gear information and the vehicle ground speed information respectively by communicating with the external gear control device and the brake control device, and determines whether the power distribution conditions for powering on the mode switching control device are met; if the power distribution management device detects that the vehicle gear information is P gear and the vehicle ground speed is 0, the result of the determination is that the vehicle is in a stationary state on the ground, it is determined that the power distribution conditions are met, and the power distribution operation is performed on the mode switching control device; if the vehicle gear information is not detected as P gear, or the ground speed is not equal to 0, the result of the determination is that the vehicle is not in a stationary state on the ground, it is determined that the power distribution conditions are not met, and the power distribution operation is not performed on the mode switching control device, but the user will be informed that the mode switching conditions are not met. When the mode switching control device is powered on, starts up and runs, the user instruction management device sends a request to the mode switching control device to execute the arm unlocking; the mode switching control device receives the vehicle's air-ground status information by communicating with the external flight control device, and determines whether the unlocking conditions before executing the mode switching are met; if the vehicle's air-ground status information detected by the mode switching control device is on the ground, the judgment result is that the vehicle is on the ground, and it is determined that the unlocking conditions are met, and the unlocking actuator is controlled to execute the unlocking operation; otherwise, it is determined that the unlocking conditions are not met, and the unlocking operation is not executed, but the user will be informed at the same time that the mode switching conditions are not met.

[0120] In one embodiment, referring to Figure 11When the flying vehicle is in flight mode, a user inputs a command to switch from flight mode to ground mode through the command collection input of the user command management device. The user command management device requests the power distribution management device to distribute power to the configuration switching control device. The power distribution management device communicates with the external flight motor control device and the flight control device to detect the flight motor speed information and the vehicle's air-ground status information, respectively, and determines whether the power distribution conditions for powering the configuration switching control device are met. If the power distribution management device detects that the speed information of all flight motors is 0 and the vehicle's air-ground status information is "on the ground," it determines that the vehicle is on the ground and all rotors are stationary. The power distribution conditions are determined to be met, and the configuration switching control device is powered on. If the speed information of any flight motor is not 0, or the vehicle's air-ground status information is not "on the ground," it determines that the vehicle's rotors are not stationary, or even that the flying vehicle is not on the ground. The power distribution conditions are determined to be unmet, and the configuration switching control device is not powered on. The user is notified that the configuration switching conditions are unmet. When the mode switching control device completes the startup and operation normally, the user instruction management device sends an execution arm unlocking request to the mode switching control device; the mode switching control device receives the vehicle's ground speed information by communicating with the external brake control device, and determines whether the unlocking conditions before executing the mode switching are met; if the vehicle's ground speed detected by the mode switching control device is 0, the judgment result is that the vehicle is in a stationary state on the ground, and it is determined that the unlocking conditions are met, and the unlocking actuator is controlled to perform the unlocking operation; otherwise, it is determined that the unlocking conditions are not met, and the unlocking operation is not performed, but the user will be informed at the same time that the mode switching conditions are not met.

[0121] To control the arm release of the flying vehicle, two independent control programs are implemented to ensure a single arm release operation. The first control program is the power distribution control program, and the second is the release control program. The two control programs are independent of each other, both in terms of the devices executing the programs and the sources of the external signals received by each program during operation. No two programs are designed to simultaneously utilize information from the same external device. This design avoids both common cause failures due to the same external input and single point failures that can arise from using the same control system for all control programs. This significantly reduces the risk of catastrophic accidents caused by unexpected arm release while the flying vehicle is driving on land or in flight. By utilizing input sources from distinct, already highly reliable external nodes, such as air-ground status information provided by the flight control unit, the reliability of arm release control is significantly improved.

[0122] The present invention also provides a form switching control device, wherein the flying vehicle arm control device includes a memory, a processor, and a flying vehicle arm control program stored in the memory and executable on the processor. When the flying vehicle arm control program is executed by the processor, the various steps of the flying vehicle arm control method described in the above embodiment are implemented.

[0123] The present invention also provides a power distribution management device, wherein the flying vehicle arm control device includes a memory, a processor, and a flying vehicle arm control program stored in the memory and executable on the processor. When the flying vehicle arm control program is executed by the processor, the various steps of the flying vehicle arm control method described in the above embodiment are implemented.

[0124] The present invention also provides an arm control system for a flying vehicle, the arm control system of the flying vehicle comprising: a form switching control device as described in the above embodiment, and a power distribution management device as described in the above embodiment; the power distribution management device supplies power to the form switching control device by controlling the power distribution device.

[0125] Optionally, the arm control system further includes a brake control device and a gear control device respectively connected to the power distribution management device, the brake control device being used to obtain ground speed information of the flying vehicle, and the gear control device being used to obtain a gear signal of the flying vehicle;

[0126] The arm control system further includes a flight control device connected to the form switching control device, and the flight control device is used to obtain air-ground status information of the flying vehicle.

[0127] Optionally, the arm control system further includes a flight control device and a flight motor control device respectively connected to the power distribution management device, the flight control device being used to obtain air-ground state information of the flying vehicle, and the flight motor control device being used to obtain speed information of the flight motor of the flying vehicle;

[0128] The arm control system further includes a brake control device connected to the form switching control device, and the brake control device is used to obtain ground speed information of the flying vehicle.

[0129] Optionally, the arm control system also includes a user instruction management device; the user instruction management device is used to receive user demand operations and send a power distribution request to the power distribution management device according to the demand; after the power distribution management device successfully powers on the form switching control device, it sends an unlocking request to the form switching control device to control the form switching control device to unlock the arm of the flying vehicle when the unlocking conditions are met.

[0130] The present invention also provides a computer-readable storage medium, which stores a flying vehicle arm control program. When the flying vehicle arm control program is executed by a processor, the various steps of the flying vehicle arm control method described in the above embodiment are implemented.

[0131] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0132] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, system, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, system, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, system, article, or device comprising the element.

[0133] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment system can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the existing technology, can be embodied in the form of a software product. The computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, parking management equipment, air conditioner, or network equipment, etc.) to execute the system described in each embodiment of the present invention.

[0134] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling an arm of a flying vehicle, characterized in that: Applied to a form switching control device, the form switching control device is used to control an unlocking actuator, the unlocking actuator is connected to an arm of a flying vehicle, and the method includes: When the state switching control device is powered on and receives an unlock request, determining first driving state information of the flying vehicle according to the unlock request, wherein the unlock request is generated according to user demand; When the unlock request includes switching from a land mode to a flight mode, obtaining air-ground state information of the flying vehicle, the air-ground state information including whether the flying vehicle is in the air or on the ground, and the first driving state information including the air-ground state information; If the air-ground state information indicates that the flying vehicle is on the ground, determining that the first driving state information satisfies an unlocking condition, and controlling the unlocking actuator to unlock the arm of the flying vehicle; When the unlock request includes switching from the flight mode to the land mode, obtaining ground speed information of the flying vehicle, wherein the first driving state includes the ground speed information; If the ground vehicle speed information is less than a preset vehicle speed threshold, it is determined that the first driving state information meets the unlocking condition, and the unlocking actuator is controlled to unlock the arm of the flying vehicle.

2. The method for controlling an arm of a flying vehicle according to claim 1, wherein: The state switching control device is used to control a locking actuator, wherein the locking actuator is connected to an arm of the flying vehicle. After the step of controlling the unlocking actuator to unlock the arm of the flying vehicle if the first driving state information satisfies an unlocking condition, the method further includes: Determine the real-time arm status of the flying vehicle; If the real-time arm state meets the arm state corresponding to the driving mode, the locking actuator is controlled to lock the arm of the flying vehicle.

3. A method for controlling an arm of a flying vehicle, characterized in that: Applied to a power distribution management device, the power distribution management device is connected to a power distribution device and a mode switching control device respectively, and the method includes: After receiving the power distribution request, obtaining second driving state information of the flying vehicle according to the power distribution request; The power distribution request includes obtaining ground speed information and a gear position signal of the flying vehicle when the land mode is switched to the flight mode, and the second driving state information includes the ground speed information and the gear position signal; When the ground vehicle speed information is less than a preset vehicle speed threshold and the gear signal indicates the parking gear, determining that the second driving state information satisfies a power distribution condition, and controlling the power distribution device to supply power to the mode switching control device; The power distribution request includes obtaining air-ground state information of the flying vehicle and speed information of the flying motor of the flying vehicle when the flight mode is switched to the ground mode, and the second driving state information includes the air-ground state information and the speed information; When the air-ground state information indicates that the flying vehicle is on the ground and the speed information is less than a preset speed threshold, it is determined that the second driving state information meets the power distribution condition, and the power distribution device is controlled to supply power to the mode switching control device.

4. The method for controlling an arm of a flying vehicle according to claim 3, wherein: After the second driving state information satisfies the power distribution condition, after the step of controlling the power distribution device to supply power to the mode switching control device, the method further includes: Upon receiving a power-off request, determining whether an arm of the flying vehicle is in a locked state; If the arm of the flying vehicle is in a locked state, the power distribution device is controlled to cut off power to the mode switching control device.

5. A mode switching control device, characterized in that: The form switching control device includes a memory, a processor, and an arm control program of a flying vehicle stored in the memory and executable on the processor. When the arm control program of the flying vehicle is executed by the processor, the various steps of the arm control method of the flying vehicle as described in any one of claims 1-2 are implemented.

6. A power distribution management device, characterized in that: The power distribution management device includes a memory, a processor, and an arm control program for a flying vehicle stored in the memory and executable on the processor. When the arm control program for a flying vehicle is executed by the processor, the various steps of the arm control method for a flying vehicle as described in any one of claims 3-4 are implemented.

7. A flying vehicle arm control system, characterized in that: The arm control system of the flying vehicle includes: the form switching control device as described in claim 5, and the power distribution management device as described in claim 6; the power distribution management device supplies power to the form switching control device by controlling the power distribution device.

8. The machine arm control system according to claim 7, characterized in that: The arm control system further includes a brake control device and a gear control device respectively connected to the power distribution management device, the brake control device being used to obtain ground speed information of the flying vehicle, and the gear control device being used to obtain a gear signal of the flying vehicle; The arm control system further includes a flight control device connected to the form switching control device, the flight control device being used to obtain air-ground state information of the flying vehicle; The arm control system further includes a flight control device and a flight motor control device respectively connected to the power distribution management device, wherein the flight control device is used to obtain air-ground status information of the flying vehicle, and the flight motor control device is used to obtain speed information of the flying motor of the flying vehicle; The arm control system further includes a brake control device connected to the form switching control device, and the brake control device is used to obtain ground speed information of the flying vehicle.

9. The machine arm control system according to claim 8, characterized in that: The arm control system also includes a user instruction management device; the user instruction management device is used to receive user demand operations and send a power distribution request to the power distribution management device according to the demand; after the power distribution management device successfully powers on the form switching control device, it sends an unlocking request to the form switching control device to control the form switching control device to unlock the arm of the flying vehicle when the unlocking conditions are met.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a flying vehicle arm control program, and when the flying vehicle arm control program is executed by a processor, each step of the flying vehicle arm control method according to any one of claims 1 to 4 is implemented.

Images