Flying car, docking control method, device, equipment and readable storage medium

Abstract

This application relates to a flying car, docking control method, apparatus, device, and readable storage medium. The flying car includes: a connection device for connecting the aircraft and the cockpit; the connection device includes a horizontal motor, a roll motor, a pitch motor, and a first detection module; the first detection module is used to detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor, and the pitch angle of the pitch motor; a central system including a second detection module and a domain control chip; the second detection module is used to detect the cockpit's operating attitude; the domain control chip is used to acquire the horizontal rotation angle, roll angle, pitch angle, and operating attitude; proportional-integral-derivative control is performed based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to generate control commands, which are then sent to the connection device; the connection device is also used to adjust the angles of the horizontal motor, roll motor, and pitch motor based on the control commands. This method can improve the stability of the flying car.

Description

Technical Field

[0001] This application relates to the field of flying car technology, and in particular to a flying car, docking control method, apparatus, device and readable storage medium. Background Technology

[0002] With the development of technology, people's demands for travel methods are constantly increasing. Split-type flying cars, as a new type of transportation, have advantages such as high speed and flexibility, but they also have some problems. During flight, due to the instability at the connection between the aircraft and the cockpit, the external resistance encountered during flight will cause the flying car's mechanical structure to vibrate. This can range from affecting passenger comfort to seriously endangering passenger safety.

[0003] In traditional split-type flying cars, the docking device between the transport cabin and the main body of the aircraft is often installed using a fixed positioning method. Although the docking device can be quickly detached, its installation position cannot be changed. Therefore, when the weight of the cargo loaded in the transport cabin is uneven, its center of gravity will shift significantly. In this state, when the main body of the aircraft takes off with the cargo, the overall stability and balance of the main body are poor, resulting in low overall safety. Therefore, how to effectively enhance the stability of split-type flying cars has become an urgent problem to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a flying car, docking control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the stability of the flying car in response to the above-mentioned technical problems.

[0005] This application provides a flying car, including:

[0006] A connection device for connecting the aircraft and the cockpit, comprising a horizontal motor, a roll motor, a pitch motor, and a first detection module; the first detection module is used to detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor, and the pitch angle of the pitch motor.

[0007] The central system includes a second detection module and a domain control chip. The second detection module is used to detect the cockpit's operating attitude. The domain control chip is used to acquire 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, as well as the operating attitude sent by the second detection module. Based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle, proportional-integral-derivative control is performed to generate control commands and send them to the connection device.

[0008] The connecting device is also used to adjust the angles of the horizontal motor, roll motor, and pitch motor based on control commands.

[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 a second fixed plate.

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

[0012] In one embodiment, the connection device further includes a roll frame and a connector; the roll frame is connected to the cockpit via the connector; the roll frame is used to connect the horizontal motor and the roll motor.

[0013] This application provides a docking control method applied to the aforementioned flying car, the method comprising:

[0014] The cockpit's operating attitude, 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 are obtained.

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

[0016] In one embodiment, proportional-integral-derivative (PID) control is performed based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to obtain control commands, including:

[0017] Based on the running attitude, horizontal rotation angle, roll angle and pitch angle, proportional-integral-derivative control is performed to obtain the horizontal control quantity, roll adjustment quantity and pitch adjustment quantity.

[0018] Control commands are generated based on horizontal control values, roll adjustment values, and pitch adjustment values.

[0019] This application also provides a docking control device, including:

[0020] The acquisition module is used to acquire the cockpit's operating attitude, 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-derivative control based on the running posture, horizontal rotation angle, roll angle, and pitch angle to obtain control commands; the control commands are used to instruct the connecting device to adjust the angles of the horizontal motor, roll motor, and pitch motor based on the control commands.

[0022] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0023] The cockpit's operating attitude, 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 are obtained.

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

[0025] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0026] The cockpit's operating attitude, 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 are obtained.

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

[0028] This application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0029] The cockpit's operating attitude, 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 are obtained.

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

[0031] The aforementioned flying car, docking control method, device, computer equipment, computer-readable storage medium, and computer program product are described above. The aircraft and cockpit are connected via a connecting device. Since the connecting device includes a horizontal motor, a roll motor, and a pitch motor, the central system can perform precise control of multiple motors, ensuring that the flying car adapts to different operating conditions and improving its stability. Furthermore, 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. The second detection module can detect the cockpit's operating attitude. The new domain control chip in the central system can perform proportional-integral-derivative (PID) control based on the information detected by the first and second detection modules and generate control commands to instruct the connecting device to adjust the angles of the horizontal, roll, and pitch motors. This method of performing PID control by integrating the operating states of the connecting device and the cockpit enables real-time angle adjustment of multiple motors in the connecting device, further improving the flying car's stability. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a structural block diagram of a flying car in one embodiment;

[0034] Figure 2 This is a structural diagram of the docking device in one embodiment;

[0035] Figure 3 This is a flowchart illustrating the docking control method in one embodiment;

[0036] Figure 4 This is a structural block diagram of the docking control device in one embodiment;

[0037] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] like Figure 1The diagram shows a structural block diagram of a flying car in one embodiment. The flying car includes a connection device 101 and a central system 102. The connection device 101 connects the aircraft and the cockpit, and includes a stability enhancement module 103 and a first detection module 104. The stability enhancement module 103 includes a horizontal motor, a roll motor, and a pitch motor. The first detection module 104 detects the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor, and the pitch angle of the pitch 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 cockpit's operating attitude. The domain control chip 106 is used to acquire 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, as well as the operating attitude sent by the second detection module 105. Based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle, proportional-integral-derivative control is performed to generate control commands and send them to the connection device 101.

[0041] The connecting device 101 is also used to adjust the angles of the horizontal motor, roll motor and pitch motor based on control commands.

[0042] The flying car includes an aircraft, a cockpit, and a connecting device that connects 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-type flying car.

[0043] The horizontal motor, roll motor, and pitch motor included in the connecting device are motors that rotate about different axes. In some embodiments, reference is made to... Figure 2 In the coordinate system, the pitch motor rotates around the X-axis, the horizontal motor around the Y-axis, and the roll motor around the Z-axis. Because the connecting device has multiple motors rotating around different axes, the cockpit can remain relatively stationary under the combined action of the horizontal, roll, and pitch motors, thus improving the stability of the flying car.

[0044] In some embodiments, the stability enhancement module is not limited to a three-axis motor, but can be increased to a four-axis, six-axis, nine-axis, etc., and the number is not limited to three, but can be increased to multiple, so as to achieve precise control of the cockpit to adapt to different working conditions.

[0045] The first and second detection modules each consist of multiple sensors, including gyroscopes, accelerometers, and encoders. The first detection module monitors the tension, vibration, displacement of the connecting device, and the rotation angles of each motor in real time. Pitch angle refers to the angle of rotation of the pitch motor around the X-axis, horizontal rotation angle refers to the angle of rotation of the horizontal motor around the Y-axis, and roll angle refers to the angle of rotation of the roll motor around the Z-axis. The second detection module detects the cockpit's operating attitude, including the direction and angle of travel. The detection information from both modules is used to correct the output of the central control system for precise control of each motor.

[0046] The domain controller chip employs a stabilization algorithm to perform real-time analysis and processing of the information returned by the first and second detection modules. In some embodiments, the stabilization algorithm may employ a proportional-integral-derivative (PID) control algorithm. Control commands are generated by performing PID control based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle. The control commands indicate the adjustment amounts for each of the horizontal rotation angle, roll angle, and pitch angle.

[0047] In some embodiments, the domain control chip can perform proportional-integral-derivative control based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to obtain horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity. Then, the horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity are converted into control commands and sent to the stabilization module in the connection device.

[0048] After receiving control commands from the central system, the connecting device parses the commands to obtain horizontal control, roll adjustment, and pitch adjustment values. It then adjusts the angle of the horizontal motor according to the horizontal control value, the roll motor according to the roll adjustment value, and the pitch motor according to the pitch control value. By real-time monitoring of the connecting device and cockpit's operational status, and by adjusting the angles of multiple motors in real time, precise control of multiple rotational directions is achieved, ensuring cockpit stability and thus improving the safety of the flying car.

[0049] The aforementioned flying car connects the aircraft and cockpit via a connecting device. Since this device includes horizontal, roll, and pitch motors, the central system can precisely control multiple motors, ensuring the flying car adapts to different operating conditions and improving its stability. Furthermore, the first detection module detects 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. The second detection module detects the cockpit's attitude. The new domain control chip in the central system performs proportional-integral-derivative (PID) control based on the information detected by the first and second detection modules, generating control commands to instruct the connecting device to adjust the angles of the horizontal, roll, and pitch motors. This method of PID control, which integrates the operating states of the connecting device and the cockpit, enables real-time angle adjustments to multiple motors in the connecting device, achieving precise control of multiple rotational directions and further improving the flying car's stability.

[0050] In one exemplary embodiment, such as Figure 2 As shown, the connecting device 101 also 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; the spring 109 is located between the first fixing plate 107 and the second fixing plate 108.

[0051] A spring is located between the first and second fixed plates, and the spring is filled around the perimeter. Since the first fixed plate is connected to the aircraft and the second fixed 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 springs must not only absorb vibrations but also ensure sufficient support for the cockpit during high-speed flight to prevent structural fatigue caused by vibrations. The springs can adjust suspension parameters in real time based on changes in torque between the aircraft and the cockpit, thereby reducing the risk of the cockpit tipping over during flight. This connection device provides sufficient torque and precise control to achieve cockpit stability.

[0053] In this embodiment, by filling the space between the first fixed plate and the second fixed plate with a damping spring, since the first fixed plate is connected to the aircraft and the second fixed plate is connected to the stability enhancement module, the damping spring can be used for damping between the aircraft and the stability enhancement module, which is beneficial to improving the stability of the flying car.

[0054] In one exemplary embodiment, reference is made to Figure 2 The pitch motor 116 is mounted on the second fixed plate 108.

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

[0056] In one exemplary embodiment, reference is made to Figure 2 The connecting device 101 also includes a crank 110; the crank 110 is used to connect the pitch motor 116 and the horizontal motor 111.

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

[0058] In one exemplary embodiment, reference is made to Figure 2 The connecting device 101 also includes a roll frame 112 and a connector 113; the roll frame 112 is connected to the cockpit 114 via the connector 113; the roll frame 112 is used to connect the horizontal motor 111 and the roll motor 115.

[0059] In this embodiment, the roll motor serves as the connection mechanism between the horizontal motor and the roll motor, and is connected to the cockpit via a connector. In this way, the horizontal motor, roll motor, and pitch motor in the stabilization device can work together on the cockpit to ensure the stability of the cockpit.

[0060] In one exemplary embodiment, such as Figure 3 As shown, a docking control method is provided, which can be applied to... Figure 1 Taking the domain controller chip 106 as an example, the explanation includes steps 302 to 306. Wherein:

[0061] Step 302: Obtain the cockpit's operating attitude, 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 operating attitude includes the operating direction and operating angle, and the operating attitude of the cockpit can be detected by the second detection module in the central system.

[0063] refer to Figure 2In the coordinate system, 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 and second detection modules are each composed of multiple sensors, including gyroscopes, accelerometers, encoders, etc.

[0064] The domain control chip obtains the cockpit's operating attitude 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: Perform proportional-integral-derivative control based on the running posture, horizontal rotation angle, roll angle, and pitch angle to obtain control commands; the control commands are used to instruct the connecting device to adjust the angles of the horizontal motor, roll motor, and pitch motor based on the control commands.

[0066] The design of proportional-integral-derivative (PID) control can comprehensively consider the dynamic characteristics of the aircraft and cockpit, as well as the reliability requirements of the connecting devices. By analyzing and processing the detection data from each detection module in real time, the attitude and direction adjustments required for each motor can be calculated. Using PID control, appropriate adjustment amounts can be calculated based on the set target attitude and the current attitude.

[0067] The control commands specify the adjustment amounts for the horizontal rotation angle, roll angle, and pitch angle. Upon receiving the control commands from the domain controller chip, the connecting device parses them to obtain the horizontal control amount, roll adjustment amount, and pitch adjustment amount. It then adjusts the horizontal motor angle according to the horizontal control amount, the roll motor angle according to the roll adjustment amount, and the pitch motor angle according to the pitch control amount. By real-time monitoring of the connecting device and the cockpit's operating status, and by adjusting the angles of multiple motors in real time, precise control of multiple rotation directions is achieved, ensuring cockpit stability.

[0068] In the aforementioned docking control method, the aircraft and cockpit are connected via a connecting device. Since the connecting device includes horizontal motors, roll motors, and pitch motors, the central system can precisely control multiple motors, ensuring the flying car adapts to different operating conditions and improving its stability. Furthermore, the first detection module can detect the horizontal rotation angle of the horizontal motors, the roll angle of the roll motors, and the pitch angle of the pitch motors in the connecting device. The second detection module can detect the cockpit's operating attitude. The new domain control chip in the central system can perform proportional-integral-derivative (PID) control based on the information detected by the first and second detection modules, and generate control commands to instruct the connecting device to adjust the angles of the horizontal, roll, and pitch motors. This method of performing PID control by integrating the operating states of the connecting device and the cockpit enables real-time angle adjustments to multiple motors in the connecting device, further improving the flying car's stability.

[0069] In an exemplary embodiment, proportional-integral-derivative (PID) control is performed based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to obtain control commands, including: performing PID control based on the operating attitude, horizontal rotation angle, roll angle, and pitch angle to obtain horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity; and generating control commands based on the horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity.

[0070] The domain control chip uses the running attitude, horizontal rotation angle, roll angle, and pitch angle as the real-time attitude, and obtains the set attitude. It inputs the real-time attitude and the set attitude into the proportional-integral-derivative controller to obtain the horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity. Then, it converts the horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity into the corresponding control commands and sends them to the stabilization module in the connection device.

[0071] The method for converting control commands can be determined based on the communication protocol between the domain controller chip and the connected device.

[0072] In this embodiment, considering the overall operating attitude of the cockpit and the attitude of each motor in the connecting device, the adjustment amount of each motor is calculated using the proportional-integral-derivative control method. This facilitates precise control of each motor and ensures the stability of the cockpit.

[0073] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0074] Based on the same inventive concept, this application also provides a docking control device for implementing the docking control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more docking control device embodiments provided below can be found in the limitations of the docking control method described above, and will not be repeated here.

[0075] In one exemplary embodiment, such as Figure 4 As shown, a docking control device 400 is provided, including: an acquisition module 420 and a control module 440, wherein:

[0076] The acquisition module 420 is used to acquire the cockpit's operating attitude, 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.

[0077] The control module 440 is used to perform proportional-integral-derivative control based on the running posture, horizontal rotation angle, roll angle and pitch angle to obtain control commands; the control commands are used to instruct the connecting device to adjust the angles of the horizontal motor, roll motor and pitch motor based on the control commands.

[0078] The aforementioned docking control device connects the aircraft and the cockpit via a connecting device. Since this connecting device includes horizontal, roll, and pitch motors, the central system can precisely control multiple motors, ensuring the flying car adapts to different operating conditions and improving its stability. Furthermore, 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. The second detection module can detect the cockpit's operating attitude. The new domain control chip in the central system can perform proportional-integral-derivative (PID) control based on the information detected by the first and second detection modules, generating control commands to instruct the connecting device to adjust the angles of the horizontal, roll, and pitch motors. This method of using PID control, which integrates the operating states of the connecting device and the cockpit, enables real-time angle adjustments to multiple motors in the connecting device, further improving the flying car's stability.

[0079] In one embodiment, proportional-integral-derivative (PID) control is performed based on the running attitude, horizontal rotation angle, roll angle, and pitch angle to obtain control commands. The control module 440 is further configured to: perform PID control based on the running attitude, horizontal rotation angle, roll angle, and pitch angle to obtain horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity; and generate control commands based on the horizontal control quantity, roll adjustment quantity, and pitch adjustment quantity.

[0080] Each module in the aforementioned docking control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0081] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a docking control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

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

[0083] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0084] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

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

[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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0087] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A flying car, characterized in that, The flying car includes: A connection device for connecting an aircraft and a cockpit, the connection device including a horizontal motor, a roll motor, a pitch motor and a first detection module; the first detection module is used to detect the horizontal rotation angle of the horizontal motor, the roll angle of the roll motor and the pitch angle of the pitch motor. The central system includes a second detection module and a domain control chip; the second detection module is used to detect the cockpit's operating attitude; the domain control chip is used to acquire 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, as well as the operating attitude sent by the second detection module; based on the operating attitude, the horizontal rotation angle, the roll angle, and the pitch angle, it performs proportional-integral-derivative control, generates control commands, and sends them to the connection device; The connecting device is also used to adjust the angles of the horizontal motor, the roll motor and the pitch motor based on the control command.

2. The flying car according to claim 1, characterized in that, 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; 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 fixed plate.

4. The flying car according to claim 1, characterized in that, The connecting device also includes a crank; the crank 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 further includes a roll frame and a connector; the roll frame is connected to the cockpit via the connector; the roll frame is used to connect the horizontal motor and the roll motor.

6. A docking control method, characterized in that, The method, applied to any one of claims 1 to 5, comprises: The cockpit's operating attitude, 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 are obtained. Based on the operating posture, the horizontal rotation angle, the roll angle, and the pitch angle, proportional-integral-derivative control is performed to obtain control commands; the control commands are 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 commands.

7. The method according to claim 6, characterized in that, The proportional-integral-derivative (PID) control based on the operating posture, the horizontal rotation angle, the roll angle, and the pitch angle yields control commands, including: Proportional-integral-derivative control is performed based on the operating posture, the horizontal rotation angle, the roll angle, and the pitch angle to obtain the horizontal control quantity, the roll adjustment quantity, and the pitch adjustment quantity; Control commands are generated based on the horizontal control amount, the roll adjustment amount, and the pitch adjustment amount.

8. A docking control device applied to the docking control method of claim 6, characterized in that, The device includes: The acquisition module is used to acquire the cockpit's operating attitude, 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. The control module is used to perform proportional-integral-derivative control based on the running posture, the horizontal rotation angle, the roll angle, and the pitch angle to obtain control commands; the control commands are 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 commands.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 6 to 7.

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

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