Emergency landing method and system and storage medium

Abstract

The invention relates to an emergency landing method and system and a storage medium, and the method applied to a cloud platform comprises the steps: distributing an emergency landing device for a hovercar based on first position information under the condition of receiving an emergency landing request and first position information sent by the hovercar, and obtaining the second position information of the emergency landing device; acquiring a predetermined flight route of the hovercar, and selecting an optimal landing position from a plurality of standby landing positions of the predetermined flight route based on the first position information and the second position information; and the optimal landing position is sent to the hovercar and the emergency landing device so that the hovercar can land to the emergency landing device at the optimal landing position. Under the condition that the hovercar needs to land emergently, the emergency landing device is provided for the hovercar, the preset flight route of the hovercar is considered, the optimal landing position where the hovercar lands to the emergency landing device is determined, and the flexibility of emergency landing is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flying cars, and in particular to an emergency landing method, system and storage medium. Background Art

[0002] Since flying cars have high requirements for landing scenarios and it is difficult for them to land safely in scenarios such as urban expressways, dense parking lots, and crowded activity areas, flying cars usually fly between fixed locations with takeoff and landing conditions. This makes the landing sites of flying cars less flexible and cannot avoid problems such as sudden illness of personnel, lack of power, mechanical failure, etc. that require emergency landings between non-fixed locations during the flight. Summary of the invention

[0003] One of the purposes of the present invention is to provide an emergency landing method to solve the problem of strong fixity of the landing site of the flying car in the prior art; the second purpose is to provide an emergency landing system.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] An emergency landing method is applied to a cloud platform, the method comprising: upon receiving an emergency landing request and first position information sent by a flying car, allocating an emergency landing device to the flying car based on the first position information, and obtaining second position information of the emergency landing device; obtaining a predetermined flight route of the flying car, and based on the first position information and the second position information, selecting an optimal landing position from a plurality of alternate landing positions along the predetermined flight route; and sending the optimal landing position to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the optimal landing position.

[0006] According to the above technical means, the present invention can allocate an emergency landing device that can provide an emergency landing platform to the flying car when the flying car needs to make an emergency landing, and take into account the planned flight route of the flying car, thereby determining the optimal landing position of the flying car and the emergency landing device based on the planned flight route, thereby ensuring the timeliness of the emergency landing and improving the flexibility of the emergency landing.

[0007] A cloud platform, comprising:

[0008] an allocation module, configured to allocate an emergency landing device to the flying car based on the first position information and obtain second position information of the emergency landing device when receiving an emergency landing request and first position information sent by the flying car;

[0009] a selection module, configured to obtain a predetermined flight route of the flying car, and select an optimal landing position from a plurality of alternative landing positions along the predetermined flight route based on the first position information and the second position information;

[0010] The first sending module is used to send the optimal landing position to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the optimal landing position.

[0011] A cloud platform includes: a first processor, a first memory and a first communication bus; the first communication bus is used to realize the communication connection between the first processor and the first memory; the first processor is used to execute the computer program stored in the first memory to realize the above-mentioned emergency landing method.

[0012] An emergency landing method is applied to a flying car, the method comprising: when the flying car needs to land urgently, sending an emergency landing request and first position information of the flying car to a cloud platform; receiving an optimal landing position determined by the cloud platform based on the first position information; the optimal landing position is determined by the cloud platform based on the first position information and second position information from multiple backup landing positions along the scheduled route of the flying car; the second position information is position information of an emergency landing device used for emergency landing of the flying car; reaching the optimal landing position, and after the emergency landing device reaches the optimal landing position, vertically landing to the landing platform of the emergency landing device.

[0013] A flying car, comprising:

[0014] A second sending module is used to send an emergency landing request and the first position information of the flying car to the cloud platform when the flying car needs to land urgently;

[0015] A first determination module is used to receive the best landing position determined by the cloud platform based on the first position information; the best landing position is determined by the cloud platform based on the first position information and the second position information from a plurality of alternative landing positions along the scheduled route of the flying car; the second position information is the position information of the emergency landing device used for emergency landing of the flying car;

[0016] The first landing module is used to reach the optimal landing position and vertically land to the landing platform of the emergency landing device after the emergency landing device reaches the optimal landing position.

[0017] A flying car comprises: a second processor, a second memory and a second communication bus; the second communication bus is used to realize the communication connection between the second processor and the second memory; the second processor is used to execute the computer program stored in the second memory to realize the above-mentioned emergency landing method.

[0018] An emergency landing method is applied to an emergency landing device, the method comprising: when an emergency landing request forwarded by a cloud platform is received and the emergency landing device is idle, sending an emergency response and second position information to the cloud platform; receiving an optimal landing position determined based on the second position information and sent by the cloud platform; the optimal landing position is determined by the cloud platform based on first position information and second position information from multiple backup landing positions along a predetermined route of an aircraft car; the first position information is position information of the flying car that makes an emergency landing to the emergency landing device; reaching the optimal landing position, and after the flying car reaches the optimal landing position, controlling the flying car to land on a landing platform on the emergency landing device.

[0019] An emergency landing device, comprising:

[0020] A third sending module is used to send an emergency response and second position information to the cloud platform when receiving the emergency landing request forwarded by the cloud platform and the emergency landing device is idle;

[0021] A second determination module is used to receive the best landing position determined based on the second position information and sent by the cloud platform; the best landing position is determined by the cloud platform based on the first position information and the second position information from a plurality of alternative landing positions along the scheduled route of the flying car; the first position information is the position information of the flying car for emergency landing to the emergency landing device;

[0022] The second landing module is used to reach the optimal landing position and control the flying car to land on the landing platform on the emergency landing device after the flying car reaches the optimal landing position.

[0023] An emergency landing device comprises: a third processor, a third memory and a third communication bus; the third communication bus is used to realize the communication connection between the third processor and the third memory; the third processor is used to execute the computer program stored in the third memory to realize the above-mentioned emergency landing method.

[0024] A computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the above-mentioned emergency landing method.

[0025] Beneficial effects of the present invention:

[0026] (1) When the flying car needs to make an emergency landing, the present invention can allocate an emergency landing device that can provide an emergency landing platform to the flying car, thereby reducing the fixedness of the landing site of the flying car and improving the flexibility of emergency landing.

[0027] (2) The present invention takes into account the planned flight route of the flying car, thereby determining the optimal landing position of the flying car and the emergency landing device based on the planned flight route, thereby ensuring the timeliness of the emergency landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of an emergency landing method provided by an embodiment of the present invention Figure 1 ;

[0029] Figure 2 A schematic diagram of an exemplary process of allocating emergency landing gear provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of an exemplary process for determining an optimal landing position provided by an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of an exemplary principle of determining an optimal landing position provided by an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of an emergency landing method provided by an embodiment of the present invention Figure 2 ;

[0033] Figure 6 A schematic diagram of an exemplary process of emergency landing to a landing platform provided in an embodiment of the present invention;

[0034] Figure 7 A schematic plan view of an exemplary landing platform provided in an embodiment of the present invention;

[0035] Figure 8 A schematic diagram of an exemplary principle of emergency landing to a landing platform provided by an embodiment of the present invention;

[0036] Fig. 9 A structural schematic diagram of a flying car provided by an embodiment of the present invention;

[0037] Fig.10A schematic diagram of an emergency landing method provided by an embodiment of the present invention Figure 3 ;

[0038] Fig.11 A schematic structural diagram of an exemplary emergency landing device provided in an embodiment of the present invention;

[0039] Fig.12 A schematic structural diagram of an exemplary emergency landing system provided in an embodiment of the present invention;

[0040] Fig.13 A schematic structural diagram of an exemplary emergency landing device provided in an embodiment of the present invention;

[0041] Fig.14 A schematic structural diagram of an exemplary flying car provided by an embodiment of the present invention;

[0042] Fig.15 A schematic diagram of the structure of an exemplary scheduling cloud platform provided in an embodiment of the present invention;

[0043] Fig.16 A schematic diagram of a flow chart of an exemplary emergency landing method provided by an embodiment of the present invention;

[0044] Fig.17 A schematic diagram of a cloud platform structure provided by an embodiment of the present invention Figure 1 ;

[0045] Fig.18 A schematic diagram of a cloud platform structure provided by an embodiment of the present invention Figure 2 ;

[0046] Fig.19 A schematic diagram of a flying car provided by an embodiment of the present invention Figure 1 ;

[0047] Fig. 20 A schematic diagram of a flying car provided by an embodiment of the present invention Figure 2 ;

[0048] Fig.21 A schematic diagram of the structure of an emergency landing device provided in an embodiment of the present invention Figure 1 ;

[0049] Fig. 22 A schematic diagram of the structure of an emergency landing device provided in an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0050] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0051] The present invention provides an emergency landing method, which is implemented by a cloud platform, such as Figure 1 As shown, the steps S101 to S103 are included:

[0052] Step S101: upon receiving an emergency landing request and first position information sent by a flying car, allocating an emergency landing device to the flying car based on the first position information, and acquiring second position information of the emergency landing device.

[0053] In an embodiment of the present invention, if a flying car encounters a sudden illness, low battery, mechanical failure, etc. during flight, it will send an emergency landing request and the first location information of the current location of the flying car to the cloud platform; after receiving the emergency landing request and the first location information sent by the flying car, the cloud platform will allocate an emergency landing device that is close to the first location information and available to the flying car, and after allocating the emergency landing device, obtain the second location information of the current location of the emergency landing device.

[0054] Step S102: obtaining a scheduled flight route of the flying car, and selecting an optimal landing position from a plurality of alternative landing positions along the scheduled flight route based on the first position information and the second position information.

[0055] In an embodiment of the present invention, after acquiring the first position information and the second position information, the cloud platform selects the best landing position from a plurality of alternative landing positions based on the acquired predetermined flight route of the flying car.

[0056] Step S103: sending the best landing position to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the best landing position.

[0057] In an embodiment of the present invention, after determining the optimal landing position, the cloud platform will send the optimal landing position to the flying car so that the flying car can reach the optimal landing position, and send the optimal landing position to the emergency landing device so that the emergency landing device can reach the optimal landing position. Then, after reaching the optimal landing position, the emergency landing device will send a response message to the flying car indicating that it has reached the optimal landing position, so that the flying car knows that the emergency landing device has reached the optimal landing position and can land.

[0058] Compared with the problem of high requirements for landing scenes for flying cars in the prior art, the present invention can provide an emergency landing device for the flying car in real time when an abnormality occurs in the flying car, and will determine the best landing position based on the current positions of the two, which can effectively improve the processing capability of emergency landing, while ensuring the timeliness of emergency landing and improving the flexibility of emergency landing.

[0059] In some embodiments, the allocation of emergency landing equipment to the flying car based on the first position information in the above step S101 may include the following steps S201 to S202:

[0060] Step S201: forwarding an emergency landing request to a standby emergency landing device located within a first preset range of first location information.

[0061] In an embodiment of the present invention, the first preset range may be 5 kilometers, 10 kilometers, or any other value. The specific first preset range may be set according to actual scenarios and application requirements, and the present invention is not limited to this.

[0062] In an embodiment of the present invention, after obtaining the first location information, the cloud platform will forward the emergency landing request to the backup emergency landing device located within a first preset range around the first location information.

[0063] Step S202: receiving an emergency response of the standby emergency landing device that responds first to the emergency landing request, and determining the standby emergency landing device that responds first as the emergency landing device.

[0064] In an embodiment of the present invention, after the cloud platform forwards the emergency landing request to the backup emergency landing device located within a first preset range around the first location information, the backup emergency landing device that receives the emergency landing request will send an emergency response to the emergency landing request to the cloud platform if it is idle and available. The cloud platform will determine the backup emergency landing device that first sends an emergency response as the emergency landing device.

[0065] In some embodiments, the cloud platform performs step S102 to select the best landing position from multiple alternative landing positions along the predetermined flight route based on the first position information and the second position information, which may include the following steps S301 to S304:

[0066] Step S301: determine the straight-line distance between the first location information and the second location information as the shortest path.

[0067] In an embodiment of the present invention, the cloud platform determines the straight-line distance between the first location information and the second location information as the shortest path. Figure 4 The following is a schematic diagram of an exemplary method for determining the optimal landing position provided by an embodiment of the present invention. Figure 4 As shown, the five-pointed stars in the figure are the first positioning information (first position information), and the other is the second positioning information (second position information), and the dotted line between the two five-pointed star logos is the shortest path.

[0068] Step S302: Obtain an average flight speed of the flying car and an average driving speed of the emergency landing device, and determine a meeting point of the flying car and the emergency landing device on the shortest path based on the average flight speed and the average driving speed.

[0069] In an embodiment of the present invention, the cloud platform obtains the average flight speed of the flying car and the average driving speed of the emergency landing device, so that the meeting point of the flying car and the emergency landing device on the shortest path can be determined based on the average flight speed and the average driving speed. Figure 4 As shown, the meeting point between the flying car and the emergency landing device on the shortest path is the dot on the dotted line between the two five-pointed star logos (the shortest path point).

[0070] Step S303: Load the alternate landing positions within the second preset range of the first position information and the second position information according to the preset alternate landing position map information, and select the alternate landing positions within the preset distance from the scheduled flight route to obtain multiple alternate landing positions.

[0071] In an embodiment of the present invention, the cloud platform will load the first location information and the second location information within the second preset range of the backup landing position, the second preset range can be set according to the actual situation and application requirements, and the present invention does not limit it. Figure 4 As shown, the triangular mark is the alternate landing position (alternative landing position) within the second preset range of the first position information and the second position information loaded by the cloud platform.

[0072] In an embodiment of the present invention, the cloud platform will screen out alternate landing locations within a preset distance (landing search radius) from the scheduled flight route. Figure 4As shown, the area between the two parallel solid lines is the range within the predetermined distance of the predetermined flight route (landing search radius), and the multiple selected alternative landing positions are triangular marks 1, 2, 3, and 4 in the figure.

[0073] Step S304: Determine the best landing position among the multiple backup landing positions that is closest to the meeting point.

[0074] In an embodiment of the present invention, the cloud platform calculates the distances between the meeting point and multiple alternate landing positions, and determines the alternate landing position with the smallest distance as the optimal landing position. Figure 4 As shown, the distances between triangle markers 1, 2, 3, and 4 and the meeting point are calculated respectively, and finally, triangle marker 2 is selected as the best landing position.

[0075] An embodiment of the present invention provides an emergency landing method, which is applied to a cloud platform. The method includes: when receiving an emergency landing request and first position information sent by a flying car, allocating an emergency landing device to the flying car based on the first position information, and obtaining the second position information of the emergency landing device; obtaining the scheduled flight route of the flying car, and based on the first position information and the second position information, selecting the best landing position from multiple backup landing positions along the scheduled flight route; sending the best landing position to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the best landing position. The present invention provides an emergency landing device for the flying car when the flying car needs to land urgently, and determines the best landing position between the flying car and the emergency landing device in consideration of the scheduled flight route of the flying car, thereby improving the flexibility of emergency landing.

[0076] The embodiment of the present invention provides an emergency landing method, which is implemented by a flying car, such as Figure 5 As shown, the steps S501 to S503 are included:

[0077] Step S501: When the flying car needs to make an emergency landing, an emergency landing request and the first position information of the flying car are sent to the cloud platform.

[0078] In an embodiment of the present invention, if a flying car encounters a sudden illness, low battery, mechanical failure, etc. during flight, it will send an emergency landing request and the current first position information of the flying car to the cloud platform.

[0079] Step S502, receiving the best landing position determined by the cloud platform based on the first position information; the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple backup landing positions along the scheduled route of the flying car; the second position information is the position information of the emergency landing device used for emergency landing of the flying car.

[0080] In an embodiment of the present invention, the flying car will receive the best landing position determined by the cloud platform based on the first position information, wherein the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple alternative landing positions along the scheduled flight route of the flying car; the second position information is the position information of the emergency landing device used for emergency landing of the flying car. In other words, the best landing position of the present invention is determined by combining the first position information of the flying car, the second position information of the emergency landing device, and multiple information such as the scheduled flight route, so that the determined best landing position is more accurate, so that the flying car and the emergency landing device reach the best landing position in the shortest time, and the timeliness of the emergency landing is guaranteed.

[0081] Step S503: reaching the optimal landing position, and after the emergency landing device reaches the optimal landing position, vertically descending to the landing platform of the emergency landing device.

[0082] In an embodiment of the present invention, the flying car reaches the optimal landing position, and after the emergency landing device reaches the optimal landing position, it can vertically land on the landing platform of the emergency landing device.

[0083] Compared with the prior art in which flying cars land at a fixed location, the present invention provides an emergency landing device with a landing platform, which makes the landing scene of the flying car more flexible and takes into account the distance between the flying car and the emergency landing device, as well as the scheduled flight route and backup landing position of the flying car, so that the best landing position is calculated faster and the flying car and the emergency landing device meet in the shortest time, thereby ensuring the timeliness of the emergency landing.

[0084] In some embodiments, the vertical landing of the flying car to the landing platform of the emergency landing device in the above step S503 may include the following steps S601 to S604:

[0085] Step S601: receiving infrared information emitted by an infrared emitting device installed on the landing platform.

[0086] In an embodiment of the present invention, the flying car can receive infrared information emitted by an infrared transmitter installed on the landing platform. Figure 7 As shown, the circular cross mark in the figure is the infrared emitting device (infrared marking device) 1111. It can be seen that the infrared emitting device is located at the four corners and the geometric center of the landing platform. Of course, the specific position of the infrared emitting device can be set according to actual needs and application scenarios, and the present invention is not limited to this.

[0087] Step S602: Determine the platform boundary line and platform center of the landing platform according to the infrared information.

[0088] In an embodiment of the present invention, the flying car can determine the platform boundary line and platform center of the landing platform based on infrared information. Figure 8 As shown, the parallel solid lines on both sides are the platform boundaries, and the cross dotted line in the middle is the center of the platform.

[0089] Step S603: Acquire the chassis boundary line and chassis center of the flying car, and control the chassis boundary line of the flying car to be parallel to and within the platform boundary line.

[0090] In an embodiment of the present invention, the flying car can obtain the chassis boundary line and chassis center of the flying car. Figure 8 As shown, the parallel dashed lines on both sides are the chassis boundary lines, and the cross dashed line in the middle is the center of the chassis. Then, the flying car will control the chassis boundary lines of the flying car to be parallel to and within the platform boundary lines, such as Figure 8 As shown, the parallel dotted lines and solid lines on both sides are also parallel, and the dotted lines on both sides are located inside the solid lines on both sides.

[0091] Step S604: Align the platform center and the chassis center, and vertically descend to the landing platform.

[0092] In an embodiment of the present invention, the flying car will be aligned with the center of the platform and the center of the chassis, such as Figure 8 As shown, the center of the chassis coincides with the center of the platform, which are both dotted lines crossing in the middle. When the center of the chassis of the flying car is aligned with the center of the platform, vertical landing to the landing platform can be achieved.

[0093] Fig. 9 The following is a schematic diagram of an exemplary flying car structure provided by an embodiment of the present invention. Fig. 9 As shown, the flying car 900 includes a rotor mechanism 910, a cockpit 920, a chassis 930, and wheels 940. The wheels 940 will be stuck to the wheel limit fixture 1113 of the landing platform. The specific position of the wheel limit fixture 1113 is as shown in FIG. Fig.11 shown.

[0094] The embodiment of the present invention provides an emergency landing method, which is applied to a flying car. The method includes: when the flying car needs to land urgently, sending an emergency landing request and the first position information of the flying car to the cloud platform; receiving the best landing position determined by the cloud platform based on the first position information; the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple spare landing positions along the scheduled route of the flying car; the second position information is the position information of the emergency landing device used for emergency landing of the flying car; reaching the best landing position, and after the emergency landing device reaches the best landing position, vertically landing to the landing platform of the emergency landing device. The present invention provides an emergency landing device with a landing platform, which makes the landing scene of the flying car more flexible, and takes into account the distance between the flying car and the emergency landing device, as well as the scheduled flight route and spare landing position of the flying car, so that the calculated best landing position is faster, and the flying car and the emergency landing device can meet in the shortest time, thereby ensuring the timeliness of the emergency landing.

[0095] The embodiment of the present invention provides an emergency landing method, which is implemented by an emergency landing device, such as Fig.10 As shown, the steps include steps S1001 to S1003:

[0096] Step S1001: When an emergency landing request forwarded by the cloud platform is received and the emergency landing device is idle, an emergency response and second location information are sent to the cloud platform.

[0097] In an embodiment of the present invention, after receiving the emergency landing request forwarded by the cloud platform, the emergency landing device will send an emergency response and the second current location information to the cloud platform if the emergency landing device is idle.

[0098] Step S1002, receiving the best landing position determined based on the second position information sent by the cloud platform; the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple backup landing positions along the scheduled route of the aircraft car; the first position information is the position information of the flying car for emergency landing to the emergency landing device.

[0099] In an embodiment of the present invention, the emergency landing device will receive the best landing position determined by the cloud platform based on the second position information, wherein the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple alternative landing positions along the scheduled flight route of the aircraft car; the first position information is the position information of the flying car that makes an emergency landing to the emergency landing device. In other words, the best landing position of the present invention is determined by combining the first position information of the flying car, the second position information of the emergency landing device, and multiple information such as the scheduled flight route, so that the determined best landing position is more accurate, so that the flying car and the emergency landing device reach the best landing position in the shortest time, and the timeliness of the emergency landing is ensured.

[0100] Step S1003, reaching the optimal landing position, and after the flying car reaches the optimal landing position, controlling the flying car to land on the landing platform on the emergency landing device.

[0101] In an embodiment of the present invention, after the emergency landing device reaches the optimal landing position, it will send a response message of reaching the optimal landing position to the flying car, so that after the flying car reaches the optimal landing position, the flying car is controlled to land on the landing platform on the emergency landing device.

[0102] In some embodiments, the emergency landing device executing the above step S1003 may include the following steps: controlling the infrared transmitting device installed on the landing platform to transmit infrared information so that the flying car can land on the landing platform based on the infrared information.

[0103] In an embodiment of the present invention, the emergency landing device can control the infrared transmitting device installed on the landing platform to transmit infrared information, so that the flying car can accurately land on the landing platform based on the infrared information.

[0104] Fig.11 The following is a schematic diagram of an exemplary landing platform provided in an embodiment of the present invention. Fig.11 As shown, the emergency landing device 110 includes: an emergency landing platform 111, a cockpit 112, a chassis 113, and a drawer 114. Among them, the emergency landing platform 111 is used for the emergency landing of the flying car, including an infrared marking device 1111 (infrared transmitting device), a lifting device 1112, and a wheel limiting fixture 1113. Among them, the infrared marking device 1111 is five medium and long infrared transmitters installed at the four corners and the geometric center of the emergency landing platform, which are used to assist the flying car to land accurately. The lifting device 1112 is located at the central bottom of the emergency landing platform, which is used to raise the height of the landing platform of the flying car to avoid the rotor from interfering with the surrounding people and vehicles during the landing of the flying car. The wheel limiting fixture 1113 is located at the front wheel stop, which is used to fix the flying car under transportation. The drawer 114 is used for the flying car to leave the emergency landing platform or the passengers to walk off the emergency landing platform.

[0105] In some embodiments, after the emergency landing device executes the above step S1003 to control the flying car to land on the landing platform on the emergency landing device, the following steps may also be included: controlling the drawer on the emergency landing device to load the landing platform and the ground to allow the flying car to drive away.

[0106] In an embodiment of the present invention, the emergency landing device will open the drawer and carry it between the landing platform and the ground, so that the flying car can leave through the drawer after landing on the landing platform. Fig.11 As shown, the flying car drives away via the drawer 114 .

[0107] An embodiment of the present invention provides an emergency landing system, comprising: a flying car, an emergency landing device and a cloud platform;

[0108] The flying car is used to send an emergency landing request and first position information to the cloud platform, and receive an optimal landing position sent by the cloud platform in response to the emergency landing request;

[0109] The cloud platform is used for allocating an emergency landing device to the flying car based on the first location information when receiving the emergency landing request and the first location information, and determining the best landing location from a plurality of alternative landing locations along the predetermined flight route of the flying car based on the first location information and the second location information of the emergency landing device; and sending the best landing location to the flying car and the emergency landing device respectively;

[0110] The emergency landing device is used to receive the best landing position and provide a landing platform at the best landing position for the flying car to land.

[0111] Fig.12 The following is a schematic diagram of an exemplary emergency landing system provided by an embodiment of the present invention. Fig.12 As shown, the emergency landing system includes a dispatching cloud platform (cloud platform) 150, an aircraft and vehicle emergency landing device (emergency landing device) 130, and a flying car 140. Among them, the emergency landing device is as follows Fig.13As shown, the emergency landing device 130 is used for emergency landing of the flying car, and includes a first controller 131, a first communication module 132, and a first positioning module 133. The first communication module 132 and the first positioning module 133 are connected to the first controller 131. Among them, the first communication module 132 includes a cellular communication unit 1321 and a satellite communication unit 1322. When there is no signal in the cellular wireless communication, satellite wireless communication will be used to transmit information. Among them, the first positioning module 133 includes an inertial navigation unit 1331 and a GNSS unit 1332. With the help of the cellular communication unit 1321, real-time kinematic carrier phase differential data (RTK) data is received, and high-precision first positioning information is calculated in the first controller 131 using RTK data, the inertial navigation unit 1331 and the GNSS unit 1332.

[0112] Flying cars, such as Fig.14 As shown, the flying car 140 can land vertically on the emergency landing device, including a second controller 141, a second communication module 142, a second positioning module 143, an altitude measurement module 144, and an identification module 145. Among them, the second communication module 142, the second positioning module 143, the altitude measurement module 144 and the identification module 145 are connected to the second controller 141. Among them, the second communication module 142 includes a cellular communication unit 1421 and a satellite communication unit 1422. When there is no signal in the cellular wireless communication, the satellite wireless communication will be used to transmit information. The second positioning module 143 includes an inertial navigation unit 1431 and a GNSS unit 1432. With the help of the cellular communication unit 1421, RTK data is received, and the high-precision second positioning information is calculated in the second controller 141 using the RTK data, the inertial navigation unit 1431 and the GNSS unit 1432. The altitude measurement module 144 is used to clarify the current flight altitude of the flying car to ensure flight safety. The recognition module 145 is used for precise vertical landing. It is a medium-to-long infrared camera. It detects the infrared lane marking emitted by the infrared marking device 1111 and uses the second controller 141 to obtain the landing platform edge information.

[0113] Dispatching cloud platform (cloud platform) such as Fig.15 As shown, the scheduling cloud platform 150 is used to manage the emergency landing process of the flying car, including a third controller 151 and a third communication module 152, and the third communication module 152 is connected to the third controller 151. The third controller 151 includes a scheduling calculation unit 1511, which is used to schedule the emergency landing device 130 and the flying car 140 and calculate the best landing position. The emergency landing device 130 and the scheduling cloud platform 150 communicate wirelessly through the first communication module 122 and the third communication module 152, and the flying car 140 and the scheduling cloud platform 150 communicate wirelessly through the second communication module 132 and the third communication module 152.

[0114] Fig.16 A schematic diagram of an exemplary emergency landing method provided by an embodiment of the present invention. Figures 13 to 15 The implementation process of the emergency landing of the flying car to the emergency landing device is discussed in detail, including the following steps S1601 to S1608:

[0115] Step S1601: The flying car uses the second communication module to send an emergency landing request and first positioning information.

[0116] Here, when there is no signal in cellular wireless communication, the flying car will use satellite wireless communication to transmit the emergency landing request and the first positioning information (first location information).

[0117] Step S1602: The third communication module of the scheduling cloud platform receives the emergency landing request and the first positioning information of the flying car. The scheduling cloud platform allocates a relatively close and available emergency landing device according to the first positioning information.

[0118] Here, the dispatching cloud platform (cloud platform) will forward the emergency landing request to the emergency landing devices within a radius of ten kilometers near the first positioning information. The emergency landing device that responds first will receive the emergency landing request. If there is no response within one minute, the forwarding range will be expanded.

[0119] Step S1603: The emergency landing device uses the first communication module to send a first response message and second positioning information.

[0120] Here, when there is no signal in the cellular wireless communication, the emergency landing device will use satellite wireless communication to transmit the emergency landing request and the first positioning information.

[0121] Step S1604: The third communication module of the scheduling cloud platform receives the first response message and the second positioning information of the emergency landing device, and calculates the best landing position according to the first positioning information, the second positioning information, the planned route of the flying car and the map information.

[0122] Here, the best landing position should be located near the scheduled route (scheduled flight route) and ensure that the emergency landing device can easily and quickly drive to the position. For example, the scheduling cloud platform calculates the best landing position based on the first positioning information, the second positioning information, the scheduled flight route of the flying car and the map information. Figure 4, the five-pointed star on the right is the first positioning position, the five-pointed star on the left is the second positioning position, the circle between the first positioning position and the second positioning position is the shortest path point, the dot-dash arrow is the scheduled flight route, the triangle is the alternative landing position, and the dark triangle is the best landing position obtained under this calculation strategy. Among them, the shortest path point is defined as the ratio of the distance between the shortest path point and the first positioning position and the distance between the shortest path point and the second positioning position is equal to the ratio of the average speed of the emergency landing device of the flying car to the average speed of the flying car. This point is the point where the emergency landing device of the flying car and the flying car meet in the shortest path when the actual factors are ignored. In order to ensure flight order and ground safety, the flying car performs flight missions along a fixed route. Therefore, the best landing position should be near the route. The landing search radius (the second preset range) is used to screen the alternative landing positions near the scheduled route, and the size of the radius is determined according to the actual situation. The alternative landing position is the area in the map that the emergency landing device of the flying car can reach and temporarily park. The data is calculated and stored in the scheduling cloud platform. Specifically, the implementation method of the best landing position 93 is to load the alternative landing positions near the first positioning position and the second positioning position offline according to the map information (the preset alternative landing position map information), filter the alternative landing positions within the range according to the predetermined route and landing search radius, calculate the distance between the shortest path point and the alternative landing positions within each search radius, and determine the alternative landing position with the shortest distance as the best landing position.

[0123] Step S1605: The scheduling cloud platform uses the third communication module to send the best landing position.

[0124] Here, when there is no signal in cellular wireless communication, the dispatch cloud platform will use satellite wireless communication to transmit the emergency landing request and the first positioning information.

[0125] Step S1606: The emergency landing device receives the optimal landing position using the first communication module, drives to the optimal landing position, and sends a second response message using the first communication module.

[0126] Here, when there is no signal in the cellular wireless communication, the emergency landing device will use satellite wireless communication to transmit the emergency landing request and the first positioning information.

[0127] Step S1607: The flying car uses the second communication module to receive the best landing position and flies to the air above the best landing position.

[0128] Step S1608: The second communication module of the flying car receives the second response message, starts the landing process, vertically lands to hover above the landing platform, and accurately lands on the landing platform according to the infrared marking information.

[0129] Here, the flying car uses the mid-range and long-range infrared camera in the recognition module 145 to detect the infrared parking space mark emitted by the infrared marking device 1111, and uses the second controller 141 to obtain the edge information of the landing platform to ensure that the flying car lands within the edge range of the landing platform and achieves accurate landing. Figure 7 The emergency landing platform 111 includes five infrared marking devices 1111, which are respectively located at the four corners and the geometric center of the emergency landing platform to mark the parking space boundary information and calibrate the geometric center to assist the precise landing process. Figure 7 After the flying car flies to the air above the best landing position, the identification module 145 receives the infrared information emitted by the infrared marking device 1111 at the four corners and the geometric center of the emergency landing platform 111. The second controller 141 calculates the boundaries on both sides of the emergency landing platform according to the infrared information and simulates the boundaries and the geometric center of the chassis of the flying car. The information is transmitted to the display through the second controller 141, and the boundaries and geometric center of the emergency landing platform on both sides and the flying car chassis are displayed on the display. The second controller controls the rotor so that the boundary line of the flying car chassis is located within the boundary lines on both sides of the landing platform and adjusts the boundary lines to be parallel, and then aligns the geometric center of the emergency landing platform with the geometric center of the flying car chassis. After the alignment is completed, the second controller controls the flying car to land vertically, and the center alignment is maintained during the process to achieve precise landing.

[0130] The embodiment of the present invention provides a cloud platform, such as Fig.17 As shown, including:

[0131] The allocation module 1701 is used to allocate an emergency landing device to the flying car based on the first position information and obtain the second position information of the emergency landing device when receiving the emergency landing request and the first position information sent by the flying car;

[0132] A selection module 1702 is used to obtain a predetermined flight route of the flying car, and select an optimal landing position from a plurality of alternative landing positions along the predetermined flight route based on the first position information and the second position information;

[0133] The first sending module 1703 is used to send the best landing position to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the best landing position.

[0134] In one embodiment of the present invention, the allocation module 1701 is also used to forward the emergency landing request to the backup emergency landing equipment located within the first preset range of the first location information; receive the emergency response of the backup emergency landing equipment that responds first to the emergency landing request, and determine the backup emergency landing equipment that responds first as the emergency landing equipment.

[0135] In one embodiment of the present invention, the selection module 1702 is also used to determine the straight-line distance between the first position information and the second position information as the shortest path; obtain the average flight speed of the flying car and the average driving speed of the emergency landing device, and determine the meeting point of the flying car and the emergency landing device on the shortest path based on the average flight speed and the average driving speed; load the alternate landing position within the second preset range of the first position information and the second position information according to the preset alternate landing position map information, and screen out the alternate landing positions within the preset distance from the predetermined flight route to obtain multiple alternate landing positions; determine the alternate landing position closest to the meeting point among the multiple alternate landing positions as the best landing position.

[0136] The embodiment of the present invention provides a cloud platform, such as Fig.18 As shown, the cloud platform includes: a first processor 1801, a first memory 1802 and a first communication bus 1803;

[0137] A first communication bus 1803, used to implement a communication connection between the first processor 1801 and the first memory 1802;

[0138] The first processor 1801 is used to execute the computer program stored in the first memory 1802 to implement the above-mentioned emergency landing method.

[0139] An embodiment of the present invention provides a flying car, such as Fig.19 As shown, including:

[0140] The second sending module 1901 is used to send an emergency landing request and the first position information of the flying car to the cloud platform when the flying car needs to land urgently;

[0141] The first determination module 1902 is used to receive the best landing position determined by the cloud platform based on the first position information; the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple alternative landing positions along the scheduled route of the flying car; the second position information is the position information of the emergency landing device used for emergency landing of the flying car;

[0142] The first landing module 1903 is used to reach the optimal landing position and vertically land to the landing platform of the emergency landing device after the emergency landing device reaches the optimal landing position.

[0143] In one embodiment of the present invention, the first landing module 1903 is also used to receive infrared information emitted by an infrared transmitting device installed on the landing platform; determine the platform boundary line and platform center of the landing platform according to the infrared information; obtain the chassis boundary line and chassis center of the flying car, and control the chassis boundary line of the flying car to be parallel to and within the platform boundary line; align with the platform center and the chassis center, and land vertically to the landing platform.

[0144] An embodiment of the present invention provides a flying car, such as Fig. 20 As shown, it includes: a second processor 2001, a second memory 2001 and a second communication bus 2003;

[0145] The second communication bus 2003 is used to realize the communication connection between the second processor 2001 and the second memory 2002;

[0146] The second processor 2001 is used to execute the computer program stored in the second memory 2002 to implement the above-mentioned emergency landing method.

[0147] The embodiment of the present invention provides an emergency landing device, such as Fig.21 As shown, including:

[0148] The third sending module 2101 is used to send an emergency response and second position information to the cloud platform when receiving the emergency landing request forwarded by the cloud platform and the emergency landing device is idle;

[0149] The second determination module 2102 is used to receive the best landing position determined based on the second position information sent by the cloud platform; the best landing position is determined by the cloud platform based on the first position information and the second position information from multiple alternative landing positions along the scheduled route of the aircraft car; the first position information is the position information of the flying car for emergency landing to the emergency landing device;

[0150] The second landing module 2103 is used to reach the optimal landing position, and after the flying car reaches the optimal landing position, control the flying car to land on the landing platform on the emergency landing device.

[0151] In one embodiment of the present invention, the second landing module 2103 is also used to control the infrared transmitting device installed on the landing platform to transmit infrared information so that the flying car can land on the landing platform based on the infrared information.

[0152] In one embodiment of the present invention, the second landing module 2103 is also used to control the drawer on the emergency landing device to carry the landing platform and the ground, so that the flying car can drive away.

[0153] The embodiment of the present invention provides an emergency landing device, such as Fig. 22 As shown, it includes: a third processor 2201, a third memory 2201 and a third communication bus 2203;

[0154] A third communication bus 2203, used to realize the communication connection between the third processor 2201 and the third memory 2202;

[0155] The third processor 2201 is used to execute the computer program stored in the third memory 2202 to implement the above-mentioned emergency landing method.

[0156] An embodiment of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the above-mentioned vehicle giving way method. The computer-readable storage medium can be a volatile memory (volatile memory), such as a random access memory (Random-Access Memory, RAM); or a non-volatile memory (non-volatile memory), such as a read-only memory (Read-Only Memory, ROM), a flash memory (flash memory), a hard disk (Hard Disk Drive, HDD) or a solid-state drive (SSD); or it can be a respective device including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.

[0157] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0158] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0159] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0160] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0161] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An emergency landing method, characterized in that: Applied to a cloud platform, the method includes: Upon receiving an emergency landing request and first position information sent by a flying car, allocating an emergency landing device to the flying car based on the first position information, and acquiring second position information of the emergency landing device; Acquire a scheduled flight route of the flying car, and select an optimal landing position from a plurality of alternative landing positions along the scheduled flight route based on the first position information and the second position information; The optimal landing position is sent to the flying car and the emergency landing device respectively, so that the flying car can land on the emergency landing device at the optimal landing position.

2. The method according to claim 1, characterized in that: The allocating an emergency landing device to the flying car based on the first position information includes: forwarding the emergency landing request to a standby emergency landing device located within a first preset range of the first location information; An emergency response to the emergency landing request from a standby emergency landing device that responds first is received, and the standby emergency landing device that responds first is determined as the emergency landing device.

3. The method according to claim 1, characterized in that The selecting the best landing position from a plurality of alternative landing positions along the predetermined flight route based on the first position information and the second position information includes: Determine the straight-line distance between the first location information and the second location information as the shortest path; Obtaining an average flight speed of the flying car and an average travel speed of the emergency landing device, and determining a meeting point of the flying car and the emergency landing device on the shortest path based on the average flight speed and the average travel speed; Loading the alternate landing positions within a second preset range of the first position information and the second position information according to the preset alternate landing position map information, and screening out the alternate landing positions within a preset distance from the predetermined flight route to obtain the plurality of alternate landing positions; The backup landing position among the plurality of backup landing positions, which is closest to the meeting point, is determined as the optimal landing position.

4. An emergency landing method, characterized in that: Applied to a flying car, the method comprises: When the flying car needs to make an emergency landing, sending an emergency landing request and the first position information of the flying car to the cloud platform; receiving an optimal landing position determined by the cloud platform based on the first position information; the optimal landing position is determined by the cloud platform based on the first position information and the second position information from a plurality of alternative landing positions along the scheduled route of the flying car; the second position information is position information of an emergency landing device for emergency landing of the flying car; Reach the optimal landing position, and after the emergency landing device reaches the optimal landing position, vertically descend to the landing platform of the emergency landing device.

5. The method according to claim 4, characterized in that The landing platform for vertically descending to the emergency landing device includes: receiving infrared information emitted by an infrared transmitting device installed on the landing platform; Determine the platform boundary line and the platform center of the landing platform according to the infrared information; Acquire a chassis boundary line and a chassis center of the flying car, and control the chassis boundary line of the flying car to be parallel to and within the platform boundary line; Align the center of the platform and the center of the chassis, and vertically descend to the landing platform.

6. An emergency landing method, characterized in that: Applied to an emergency landing device, the method comprises: When receiving the emergency landing request forwarded by the cloud platform and the emergency landing device is idle, sending an emergency response and second location information to the cloud platform; receiving an optimal landing position determined based on the second position information and sent by the cloud platform; the optimal landing position is determined by the cloud platform based on the first position information and the second position information from a plurality of alternative landing positions along the scheduled route of the flying car; the first position information is position information of the flying car for emergency landing to the emergency landing device; Arriving at the optimal landing position, and after the flying car reaches the optimal landing position, controlling the flying car to land on the landing platform on the emergency landing device.

7. The method according to claim 6, characterized in that The controlling the flying car to land on the landing platform on the emergency landing device includes: The infrared transmitting device installed on the landing platform is controlled to transmit infrared information so that the flying car can land on the landing platform based on the infrared information.

8. The method according to claim 6 or 7, characterized in that: After controlling the flying car to land on the landing platform on the emergency landing device, the method further includes: The drawer on the emergency landing device is controlled to carry the landing platform and the ground, so that the flying car can drive away.

9. An emergency landing system, characterized in that: include: flying cars, emergency landing gear, and cloud platforms; The flying car is used to send an emergency landing request and first position information to the cloud platform, and receive an optimal landing position sent by the cloud platform in response to the emergency landing request; The cloud platform is used for, upon receiving the emergency landing request and the first position information, allocating an emergency landing device to the flying car based on the first position information, and determining an optimal landing position from a plurality of alternative landing positions along a predetermined flight route of the flying car based on the first position information and the second position information of the emergency landing device; and sending the optimal landing position to the flying car and the emergency landing device respectively; The emergency landing device is used to receive the optimal landing position and provide a landing platform at the optimal landing position for the flying car to land.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the emergency landing method according to any one of claims 1 to 9.

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