Aerocar, docking control method, device and equipment and readable storage medium

Abstract

The invention relates to an aerocar, a docking control method, device and equipment and a readable storage medium. The flying car comprises a connecting device used for connecting an aircraft and a cabin, and the connecting device comprises a horizontal motor, a rolling motor, a pitching motor and a first detection module; the first detection module is used for detecting the horizontal rotation angle of the horizontal motor, the rolling angle of the rolling motor and the pitching angle of the pitching motor; the central system comprises a second detection module and a domain control chip; the second detection module is used for detecting the running posture of the cabin; the domain control chip is used for acquiring a horizontal rotation angle, a rolling angle, a pitching angle and a running posture; proportional-integral-derivative control is carried out based on the operation attitude, the horizontal rotation angle, the rolling angle and the pitching angle, and a control instruction is generated and sent to the connecting device; and the connecting device is also used for performing angle adjustment on the horizontal motor, the rolling motor and the pitching motor based on the control instruction. By adopting the method, the stability of the hovercar can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of flying cars, and in particular to a flying car, a docking control method, a device, a equipment and a readable storage medium. Background Art

[0002] With the development of science and technology, people's demand for travel methods is also increasing. As a new type of transportation, split flying cars have the advantages of high speed and high flexibility, but there are also some problems. During the flight of a flying car, due to the instability of the connection between the aircraft and the cabin, the external resistance encountered during the flight will cause the mechanical structure of the flying car itself to vibrate, which will affect the comfort of passengers at the least and the safety of passengers at the worst.

[0003] In traditional split-type flying cars, the docking device between the carrier compartment and the aircraft is usually installed in a fixed position. Although the docking device can be quickly disassembled, its installation position cannot be changed. Therefore, when the weight of the cargo loaded in the carrier compartment is uneven, its center of gravity will change significantly. In this state, when the aircraft takes it into the air, the overall stability and balance of the aircraft will be poor, and the overall safety will be low. Therefore, how to effectively enhance the stability of the split-type flying car has become a problem that needs to be solved urgently. Summary of the invention

[0004] Based on this, it is necessary to provide a flying car, a docking control method, an apparatus, a computer device, a computer-readable storage medium and a computer program product to address the above-mentioned technical problems, which can improve the stability of the flying car.

[0005] The present application provides a flying car, comprising:

[0006] A connecting device, used to connect the aircraft and the cockpit, the connecting device comprising a horizontal motor, a rolling motor, a pitching motor and a first detection module; the first detection module is used to detect the horizontal rotation angle of the horizontal motor, the rolling angle of the rolling motor and the pitching angle of the pitching motor;

[0007] The central system includes a second detection module and a domain control chip; the second detection module is used to detect the operating posture of the cockpit; the domain control chip is used to obtain the horizontal rotation angle, the roll angle of the roll motor and the pitch angle of the pitch motor sent by the first detection module, and the operating posture sent by the second detection module; based on the operating posture, the horizontal rotation angle, the roll angle and the pitch angle, proportional integral differential control is performed to generate a control instruction and send it to the connection device;

[0008] The connecting device is also used to adjust the angles of the horizontal motor, the rolling motor and the pitching motor based on the control instructions.

[0009] In one embodiment, the connecting device further includes a first fixing plate, a second fixing plate and a spring; the first fixing plate is connected to the aircraft; and the spring is located between the first fixing plate and the second fixing plate.

[0010] In one embodiment, the pitch motor is mounted on the second fixing plate.

[0011] In one embodiment, the connecting device further comprises a bent rod; the bent rod is used to connect the pitch motor and the horizontal motor.

[0012] In one of the embodiments, the connecting device further includes a rolling frame and a connecting piece; the rolling frame is connected to the cabin via the connecting piece; and the rolling frame is used to connect the horizontal motor and the rolling motor.

[0013] The present application provides a docking control method, which is applied to the above-mentioned flying car, and the method includes:

[0014] Obtain the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0015] Proportional-integral-differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0016] In one embodiment, proportional-integral-differential control is performed based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to obtain a control instruction, including:

[0017] Proportional-integral-differential control is performed based on the operating attitude, horizontal rotation angle, roll angle and pitch angle to obtain the horizontal control amount, roll adjustment amount and pitch adjustment amount;

[0018] A control command is generated based on the horizontal control amount, the roll adjustment amount, and the pitch adjustment amount.

[0019] The present application also provides a docking control device, comprising:

[0020] An acquisition module is used to acquire the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0021] The control module is used to perform proportional integral differential control based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0022] The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0023] Obtain the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0024] Proportional-integral-differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0025] The present application also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0026] Obtain the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0027] Proportional-integral-differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0028] The present application also provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0029] Obtain the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0030] Proportional-integral-differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0031] In the above-mentioned flying car, docking control method, device, computer equipment, computer-readable storage medium and computer program product, the aircraft and the cockpit are connected by a connecting device. Since the connecting device includes a horizontal motor, a roll motor and a pitch motor, the central system can finely control the multiple motors to ensure that the flying car adapts to different working conditions and improve the stability of the flying car; in addition, the first detection module can detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor and the pitch angle of the pitch motor in the connecting device, and the second detection module can detect the operating posture of the cockpit. The new domain control chip in the central system can perform proportional integral differential control based on the information detected by the first detection module and the information detected by the second detection module, and generate control instructions to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor. This method of performing proportional integral differential control based on the operating status of the integrated connecting device and the cockpit can adjust the angles of multiple motors in the connecting device in real time, further improving the stability of the flying car. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] FIG1 is a structural block diagram of a flying car in one embodiment;

[0034] FIG2 is a structural diagram of a docking device in one embodiment;

[0035] FIG3 is a schematic flow chart of a docking control method in one embodiment;

[0036] FIG4 is a structural block diagram of a docking control device in one embodiment;

[0037] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] FIG1 is a block diagram of a flying car in an embodiment. The flying car includes a connecting device 101 and a central system 102. The connecting device 101 is used to connect the aircraft and the cockpit. The connecting device 101 includes a stabilization module 103 and a first detection module 104. The stabilization module 103 includes a horizontal motor, a rolling motor and a pitching motor. The first detection module 104 is used to detect the horizontal rotation angle of the horizontal motor, the rolling angle of the rolling motor and the pitching angle of the pitching motor.

[0040] The central system 102 includes a second detection module 105 and a domain control chip 106; the second detection module 105 is used to detect the operating posture of the cockpit; the domain control chip 106 is used to obtain the horizontal rotation angle, the roll angle of the roll motor and the pitch angle of the pitch motor sent by the first detection module 104, and the operating posture sent by the second detection module 105; proportional integral differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle, control instructions are generated, and sent to the connecting device 101.

[0041] The connection device 101 is also used to adjust the angles of the horizontal motor, the rolling motor and the pitching motor based on the control instructions.

[0042] Among them, the flying car includes an aircraft, a cockpit and a connecting device connecting the aircraft and the cockpit. Since the aircraft and the cockpit can be separated and connected through the connecting device, the flying car is a split flying car.

[0043] The horizontal motor, rolling motor and pitching motor included in the connecting device are motors that rotate around different axes. In some embodiments, referring to the coordinate system in FIG2 , the pitching motor rotates around the X-axis, the horizontal motor rotates around the Y-axis, and the rolling motor rotates around the Z-axis. Since the connecting device has multiple motors that rotate around different axes, the cockpit can be in a relatively static state under the joint action of the horizontal motor, the rolling motor and the pitching motor, thereby improving the stability of the flying car.

[0044] In some embodiments, the stabilization module is not limited to three-axis motors, but can be increased to four, six, nine axes, etc. The number is not limited to three, and more can be added to achieve fine control of the cockpit to adapt to different working conditions.

[0045] The first detection module and the second detection module are respectively composed of multiple sensors, including gyroscopes, accelerometers, encoders, etc. Among them, the first detection module is used to detect the tension, vibration, displacement of the connecting device and the rotation angle of each motor in real time. The pitch angle refers to the angle of rotation of the pitch motor around the X-axis, the horizontal rotation angle refers to the angle of rotation of the horizontal motor around the Y-axis, and the roll angle refers to the angle of rotation of the roll motor around the Z-axis. The second detection module is used to detect the operating posture of the cockpit, and the operating posture includes the operating direction and the operating angle. The detection information of the first detection module and the second detection module is used to correct the output in the central system to accurately control each motor.

[0046] The domain control chip uses a stabilization algorithm to perform real-time analysis and processing on the information sent back by the first detection module and the second detection module. In some embodiments, the stabilization algorithm may use a proportional integral differential control algorithm. The control instruction is generated by performing proportional integral differential control based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle, and the control instruction indicates the adjustment amount of the horizontal rotation angle, roll angle, and pitch angle.

[0047] In some embodiments, the domain control chip can perform proportional integral differential control based on the operating attitude, horizontal rotation angle, roll angle and pitch angle to obtain the horizontal control amount, roll adjustment amount and pitch adjustment amount, and then convert the horizontal control amount, roll adjustment amount and pitch adjustment amount into control instructions and send them to the stabilization module in the connection device.

[0048] After receiving the control command sent by the central system, the connecting device analyzes the control command to obtain the horizontal control amount, the roll adjustment amount and the pitch adjustment amount, and adjusts the angle of the horizontal motor according to the horizontal control amount, the roll motor according to the roll adjustment amount, and the pitch motor according to the pitch control amount. By real-time detection of the operating status of the connecting device and the cockpit, the angle of multiple motors is adjusted in real time, achieving precise control of multiple rotation directions, ensuring the stability of the cockpit, and thus helping to improve the safety of the flying car.

[0049] In the above-mentioned flying car, the aircraft and the cockpit are connected by a connecting device. Since the connecting device includes a horizontal motor, a roll motor and a pitch motor, the central system can perform fine control on the multiple motors to ensure that the flying car adapts to different working conditions and improve the stability of the flying car; in addition, the first detection module can detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor and the pitch angle of the pitch motor in the connecting device, and the second detection module can detect the operating posture of the cockpit. The new domain control chip in the central system can perform proportional integral differential control based on the information detected by the first detection module and the information detected by the second detection module, and generate control instructions to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor. This method of performing proportional integral differential control based on the operating status of the integrated connecting device and the cockpit can perform real-time angle adjustment on multiple motors in the connecting device, realize precise control of multiple rotation directions, and further improve the stability of the flying car.

[0050] In an exemplary embodiment, as shown in FIG. 2 , the connection device 101 further includes a first fixing plate 107 , a second fixing plate 108 and a spring 109 ; the first fixing plate 107 is connected to the aircraft 117 ; and the spring 109 is located between the first fixing plate 107 and the second fixing plate 108 .

[0051] There is a spring between the first fixing plate and the second fixing plate, and the spring is filled around. Since the first fixing plate is connected to the aircraft and the second fixing plate is connected to the stabilization module, the spring can be used for shock absorption between the aircraft and the stabilization module.

[0052] The design of the spring should not only consider absorbing vibrations, but also ensure sufficient support for the cabin during high-speed flight to prevent structural fatigue caused by vibrations. The spring can adjust the suspension parameters in real time according to the torque changes between the aircraft and the cabin, thereby reducing the risk of the cabin rolling over during the flight of the flying car. In this way, the connection device can provide sufficient torque and precise control to achieve cabin stability.

[0053] In this embodiment, by filling the shock-absorbing spring between the first fixing plate and the second fixing plate, since the first fixing plate is connected to the aircraft and the second fixing plate is connected to the stabilization module, the shock-absorbing spring can be used for shock absorption between the aircraft and the stabilization module, which is beneficial to improving the stability of the flying car.

[0054] In an exemplary embodiment, referring to FIG. 2 , the pitch motor 116 is mounted on the second fixing plate 108 .

[0055] In this embodiment, the pitch motor is installed on the second fixing plate. Since the second fixing plate is connected to the aircraft through a shock-absorbing spring, it is helpful to reduce the vibration between the pitch motor and the aircraft. In addition, the pitch motor rotates around the X-axis, which is helpful to ensure the stability of the flying car in the X-axis direction.

[0056] In an exemplary embodiment, referring to FIG. 2 , the connection device 101 further includes a bending rod 110 ; the bending rod 110 is used to connect the pitch motor 116 and the horizontal motor 111 .

[0057] In this embodiment, the curved rod serves as a connecting mechanism between the pitch motor and the horizontal motor. Since the pitch motor is connected to the aircraft through the second fixing plate and the shock-absorbing spring, it is helpful to reduce the vibration between the horizontal motor and the aircraft. In addition, the horizontal motor rotates around the Y-axis, which is helpful to ensure the stability of the flying car in the Y-axis direction.

[0058] In an exemplary embodiment, referring to FIG. 2 , the connection device 101 further includes a rolling frame 112 and a connecting member 113 ; the rolling frame 112 is connected to the cabin 114 via the connecting member 113 ; the rolling frame 112 is used to connect the horizontal motor 111 and the rolling motor 115 .

[0059] In this embodiment, the roll motor serves as a connecting mechanism between the horizontal motor and the roll motor, and is connected to the cockpit through a connecting piece, so that the horizontal motor, roll motor and pitch motor in the stabilization device can act on the cockpit together to ensure the stability of the cockpit.

[0060] In an exemplary embodiment, as shown in FIG3 , a docking control method is provided, which is described by taking the method applied to the domain control chip 106 in FIG1 as an example, and includes the following steps 302 to 306. Among them:

[0061] Step 302, obtaining the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0062] The running posture includes the running direction and the running angle, and the running posture of the cockpit can be detected by the second detection module in the central system.

[0063] Referring to the coordinate system in FIG2 , the pitch angle refers to the angle of rotation of the pitch motor around the X-axis, the horizontal rotation angle refers to the angle of rotation of the horizontal motor around the Y-axis, and the roll angle refers to the angle of rotation of the roll motor around the Z-axis. The horizontal rotation angle of the horizontal motor, the roll angle of the roll motor, and the pitch angle of the pitch motor can be detected by the first detection module. The first detection module and the second detection module are respectively composed of a plurality of sensors, including a gyroscope, an accelerometer, an encoder, and the like.

[0064] The domain control chip obtains the operating posture of the cockpit through the second detection module, and obtains the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor, and the pitch angle of the pitch motor through the first detection module.

[0065] Step 304, proportional integral differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0066] Among them, the design of proportional integral differential control can comprehensively consider the dynamic characteristics of the aircraft and the cockpit as well as the reliability requirements of the connection device. The attitude and direction that each motor needs to adjust are calculated by real-time analysis and processing of the detection data of each detection module. The proportional integral differential control can calculate the appropriate adjustment amount based on the set target attitude and current attitude.

[0067] The control instruction indicates the adjustment amount of the horizontal rotation angle, roll angle and pitch angle. In this way, after receiving the control instruction sent by the domain control chip, the connection device parses the control instruction, obtains the horizontal control amount, roll adjustment amount and pitch adjustment amount, and adjusts the angle of the horizontal motor according to the horizontal control amount, the roll motor according to the roll adjustment amount, and the pitch motor according to the pitch control amount. By real-time detection of the operating status of the connection device and the cockpit, the angle of multiple motors is adjusted in real time, achieving precise control of multiple rotation directions and ensuring the stability of the cockpit.

[0068] In the above docking control method, the aircraft and the cockpit are connected through a connecting device. Since the connecting device includes a horizontal motor, a roll motor and a pitch motor, the central system can perform fine control of multiple motors to ensure that the flying car adapts to different working conditions and improve the stability of the flying car; in addition, the first detection module can detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor and the pitch angle of the pitch motor in the connecting device, and the second detection module can detect the operating posture of the cockpit. The new domain control chip in the central system can perform proportional integral differential control based on the information detected by the first detection module and the information detected by the second detection module, and generate control instructions to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor. This method of performing proportional integral differential control based on the operating status of the integrated connecting device and the cockpit can perform real-time angle adjustment on multiple motors in the connecting device, further improving the stability of the flying car.

[0069] In an exemplary embodiment, proportional-integral-differential control is performed based on the operating attitude, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction, including: performing proportional-integral-differential control based on the operating attitude, horizontal rotation angle, roll angle and pitch angle to obtain a horizontal control amount, a roll adjustment amount and a pitch adjustment amount; generating a control instruction based on the horizontal control amount, the roll adjustment amount and the pitch adjustment amount.

[0070] Among them, the domain control chip takes the running attitude, horizontal rotation angle, roll angle and pitch angle as the real-time attitude, and obtains the set attitude, inputs the real-time attitude and the set attitude into the proportional integral differential controller, obtains the horizontal control amount, roll adjustment amount and pitch adjustment amount, and then converts the horizontal control amount, roll adjustment amount and pitch adjustment amount into corresponding control instructions, and sends them to the stabilization module in the connection device.

[0071] The conversion method of the control instruction can be determined according to the communication protocol between the domain control chip and the connection device.

[0072] In this embodiment, the operating posture of the cockpit and the posture of each motor in the connecting device are comprehensively considered, and the adjustment amount of each motor is calculated through the proportional integral differential control method, which is conducive to precise control of each motor and ensures the stability of the cockpit.

[0073] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0074] Based on the same inventive concept, the embodiment of the present application also provides a docking control device for implementing the docking control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more docking control device embodiments provided below can refer to the limitations of the docking control method above, and will not be repeated here.

[0075] In an exemplary embodiment, as shown in FIG. 4 , a docking control device 400 is provided, including: an acquisition module 420 and a control module 440, wherein:

[0076] An acquisition module 420 is used to acquire the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connection device, the roll angle of the roll motor, and the pitch angle of the pitch motor;

[0077] The control module 440 is used to perform proportional integral differential control based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angle of the horizontal motor, roll motor and pitch motor based on the control instruction.

[0078] In the above-mentioned docking control device, the aircraft and the cockpit are connected by a connecting device. Since the connecting device includes a horizontal motor, a roll motor and a pitch motor, the central system can perform fine control on multiple motors to ensure that the flying car adapts to different working conditions and improve the stability of the flying car; in addition, the first detection module can detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor and the pitch angle of the pitch motor in the connecting device, and the second detection module can detect the operating posture of the cockpit. The new domain control chip in the central system can perform proportional integral differential control based on the information detected by the first detection module and the information detected by the second detection module, and generate control instructions to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor. This method of performing proportional integral differential control based on the operating status of the integrated connecting device and the cockpit can perform real-time angle adjustment on multiple motors in the connecting device, further improving the stability of the flying car.

[0079] In one embodiment, proportional-integral-differential control is performed based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain control instructions. The control module 440 is also used to: perform proportional-integral-differential control based on the operating posture, horizontal rotation angle, roll angle and pitch angle to obtain the horizontal control amount, roll adjustment amount and pitch adjustment amount; generate control instructions based on the horizontal control amount, roll adjustment amount and pitch adjustment amount.

[0080] Each module in the above docking control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0081] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a docking control method is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0082] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0084] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0085] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0086] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0087] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0088] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0089] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A flying car, characterized in that: The flying car comprises: A connecting device, used to connect the aircraft and the cockpit, the connecting device comprising a horizontal motor, a rolling motor, a pitching motor and a first detection module; the first detection module is used to detect the horizontal rotation angle of the horizontal motor, the rolling angle of the rolling motor and the pitching angle of the pitching motor; A central system, comprising a second detection module and a domain control chip; the second detection module is used to detect the operating posture of the cockpit; the domain control chip is used to obtain the horizontal rotation angle, the roll angle of the roll motor and the pitch angle of the pitch motor sent by the first detection module, and the operating posture sent by the second detection module; based on the operating posture, the horizontal rotation angle, the roll angle and the pitch angle, proportional integral differential control is performed to generate a control instruction, and the control instruction is sent to the connection device; The connecting device is also used to adjust the angles of the horizontal motor, the rolling motor and the pitching motor based on the control instruction.

2. The flying car according to claim 1, characterized in that: The connecting device further comprises a first fixing plate, a second fixing plate and a spring; the first fixing plate is connected to the aircraft; and the spring is located between the first fixing plate and the second fixing plate.

3. The flying car according to claim 2, characterized in that: The pitch motor is mounted on the second fixing plate.

4. The flying car according to claim 1, characterized in that: The connecting device also includes a bent rod; the bent rod is used to connect the pitch motor and the horizontal motor.

5. The flying car according to claim 1, characterized in that: The connecting device also includes a rolling frame and a connecting piece; the rolling frame is connected to the cabin through the connecting piece; the rolling frame is used to connect the horizontal motor and the rolling motor.

6. A docking control method, characterized in that: Applied to the flying car according to any one of claims 1 to 5, the method comprising: Acquire the operating posture of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor; Proportional-integral-differential control is performed based on the operating posture, the horizontal rotation angle, the roll angle and the pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor based on the control instruction.

7. The method according to claim 6, characterized in that The performing proportional-integral-differential control based on the running posture, the horizontal rotation angle, the roll angle and the pitch angle to obtain a control instruction includes: Proportional-integral-differential control is performed based on the operating posture, the horizontal rotation angle, the roll angle, and the pitch angle to obtain a horizontal control amount, a roll adjustment amount, and a pitch adjustment amount; A control command is generated based on the horizontal control amount, the roll adjustment amount, and the pitch adjustment amount.

8. A docking control device, characterized in that: The device comprises: An acquisition module is used to acquire the operating attitude of the cockpit, the horizontal rotation angle of the horizontal motor in the connecting device, the roll angle of the roll motor, and the pitch angle of the pitch motor; A control module is used to perform proportional-integral-differential control based on the operating posture, the horizontal rotation angle, the roll angle and the pitch angle to obtain a control instruction; the control instruction is used to instruct the connecting device to adjust the angles of the horizontal motor, the roll motor and the pitch motor based on the control instruction.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 6 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 6 to 7 are implemented.

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