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 flying module, a chassis, a docking device and a controller, wherein the flying module comprises an aircraft and a cabin; the chassis comprises a movable platform and a base, and the movable platform comprises a pair of strip-shaped grooves; the top of a first connecting plate and the top of a second connecting plate in the docking device are respectively connected with the cabin; the controller is used for controlling the flight module to descend until the distance between the bottom of the first connecting plate and the center point of the chassis and the distance between the bottom of the second connecting plate and the center point of the chassis are within a preset distance range; determining a control gain parameter of the mobile platform, and performing movement control on the mobile platform based on the control gain parameter; and after the moving platform finishes moving, the bottom of the first connecting plate and the bottom of the second connecting plate are in butt joint with a pair of strip-shaped grooves in the moving platform correspondingly. By adopting the method, accurate docking can be realized, so that the docking safety is 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 rapid development of unmanned driving and flight technology, split flying cars, as a means of transportation that can travel on the ground and fly in the air, are gradually becoming the research focus in the field of flying cars. The structure of a split flying car includes three main parts: the aircraft, the cockpit and the chassis. Its operation mode is flexible and changeable. It can fly in the air or travel on the ground. When flying in the air, the aircraft and the cockpit work together to form a flying module; when traveling on the ground, the cockpit and the chassis are combined into a ground driving module. Compared with the integrated flying car, the design of the split flying car can effectively reduce the overall weight and volume both in the air and on the ground, thereby significantly improving the operating efficiency. Therefore, the docking between the three mechanisms is involved when switching the driving mode.

[0003] When docking the cockpit and chassis, factors such as safety and comfort need to be considered, so the two must be able to dock accurately and quickly. The rationality and reliability of the docking system directly determine whether safe docking and locking between modules can be achieved. Traditional docking technologies such as rotary self-locking and heterogeneous isomorphism cannot be adjusted according to the current working conditions during the docking process, resulting in very high docking accuracy requirements, poor environmental adaptability, and greater safety risks. Summary of the invention

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

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

[0006] The flight module includes the aircraft and the cockpit;

[0007] The chassis comprises a mobile platform and a base, wherein the mobile platform comprises a pair of bar-shaped grooves;

[0008] A docking device, comprising a first connecting plate and a second connecting plate, wherein the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit;

[0009] The controller is used to control the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; determine the control gain parameters of the mobile platform, and control the movement of the mobile platform based on the control gain parameters; after the movement of the mobile platform is completed, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively docked with a pair of strip grooves in the mobile platform.

[0010] In one of the embodiments, the bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure; the controller is also used to open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate after the mobile platform completes the movement; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of strip grooves in the mobile platform through the bottom locking structure.

[0011] In one of the embodiments, the controller is also used to control the chassis to move to a preset docking position when the flight module flies to a preset position range; obtain the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are each within a preset distance range from the center point of the chassis.

[0012] In one of the embodiments, a speed sensor is installed in the chassis, and the speed sensor is used to detect the moving speed of the mobile platform; the controller is also used to obtain the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; according to a preset state feedback control equation and the speed function, a speed gain parameter is determined, and the speed gain parameter is used as a control gain parameter of the mobile platform; based on the speed gain parameter and the speed function, an expected speed function is determined, and the speed of the mobile platform is controlled based on the expected speed function.

[0013] In one of the embodiments, an angle sensor is installed in the chassis, and the angle sensor is used to detect the moving angle of the mobile platform; the controller is also used to obtain the moving angles detected by the angle sensor at multiple time points, and obtain an angle function based on the moving angles at multiple time points; according to a preset state feedback control equation and the angle function, an angle gain parameter is determined, and the angle gain parameter is used as a control gain parameter of the mobile platform; based on the angle gain parameter and the angle function, an expected angle function is determined, and the angle of the mobile platform is controlled based on the expected angle function.

[0014] The present application provides a docking control method, comprising:

[0015] Controlling the flight module to descend until the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0016] Determine a control gain parameter of the mobile platform, and control the movement of the mobile platform based on the control gain parameter;

[0017] After the moving platform is moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

[0018] In one embodiment, after the mobile platform moves, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the mobile platform, including:

[0019] After the mobile platform has completed its movement, the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate are opened; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of strip grooves in the mobile platform through the bottom locking structure.

[0020] The present application also provides a docking control device, comprising:

[0021] A first control module, used for controlling the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0022] A second control module is used to determine a control gain parameter of the mobile platform, and to control the movement of the mobile platform based on the control gain parameter;

[0023] The docking module is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform respectively after the mobile platform has completed its movement.

[0024] 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:

[0025] Controlling the flight module to descend until the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0026] Determine a control gain parameter of the mobile platform, and control the movement of the mobile platform based on the control gain parameter;

[0027] After the moving platform is moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

[0028] 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:

[0029] Controlling the flight module to descend until the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0030] Determine a control gain parameter of the mobile platform, and control the movement of the mobile platform based on the control gain parameter;

[0031] After the moving platform is moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

[0032] The present application also provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0033] Controlling the flight module to descend until the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0034] Determine a control gain parameter of the mobile platform, and control the movement of the mobile platform based on the control gain parameter;

[0035] After the moving platform is moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

[0036] In the above-mentioned flying car, docking control method, device, computer equipment, computer-readable storage medium and computer program product, the flight module is docked with the chassis through a docking device, and the docking device is composed of a first connecting plate and a second connecting plate, and the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit, so that the controller drives the aircraft, the cockpit and the docking device to descend together during the process of controlling the flight module to descend; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis is started, and the mobile platform is controlled to move based on the control gain parameters of the mobile platform during the docking process to achieve adaptive movement of the mobile platform, ensure that the docking device and the strip groove in the mobile platform are accurately docked, and improve the docking accuracy and docking safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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.

[0038] FIG1 is a top view of a chassis in one embodiment;

[0039] FIG2 is a front view of a docking device in one embodiment;

[0040] FIG3 is a schematic diagram of a process flow of docking control in one embodiment;

[0041] FIG4 is a schematic diagram of the overall flow of a docking control method in one embodiment;

[0042] FIG5 is a structural block diagram of a docking control device in one embodiment;

[0043] FIG. 6 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] 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.

[0045] Compared with the integrated flying car, the split flying car design can effectively reduce the overall weight and volume both in the air and on the ground, thereby significantly improving the operating efficiency. Therefore, the docking between the three mechanisms is involved when switching the driving mode.

[0046] For the docking of the cockpit and the chassis, factors such as safety and comfort need to be considered, so the two are required to be able to dock accurately and quickly. The rationality and reliability of the docking system directly determine whether the safe docking and locking between modules can be achieved. In traditional methods, rotary self-locking or heterogeneous isomorphic docking devices are usually used for docking. Among them, the rotary self-locking docking device is used for docking and separation of flying cars. It realizes the tightening and separation of the device by rotating the upper and lower buckles. This docking device has a simple structure and a high degree of lightweight. However, the rotary self-locking docking device usually adopts a complex mechanical structure and precise processing technology, resulting in a relatively high manufacturing cost. Due to the complex structure, maintenance is relatively difficult, and the docking requires high precision and low redundancy, resulting in low reliability. Heterogeneous isomorphism means that the structure of the docking mechanism on the tracking aircraft and the target aircraft is consistent (the "rod-cone" docking mechanism is inconsistent), and there is no distinction between active and passive. After docking, the device has a smooth channel and a large carrying capacity. However, heterogeneous isomorphic technology involves multiple complex fields, including mechanical, electrical, control, etc. The integration and coordination of these technologies requires a high degree of accuracy and reliability, with high technical difficulty and poor environmental adaptability. Therefore, traditional docking technologies such as rotational self-locking and heterogeneous isomorphism cannot be adjusted according to the current working conditions during the docking process, resulting in very high docking accuracy requirements, poor environmental adaptability, and greater safety risks.

[0047] Based on this, an embodiment of the present application proposes a flying car and a docking control method, wherein a flight module is docked with a chassis through a docking device, and the docking device is composed of a first connecting plate and a second connecting plate, wherein the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit, so that when the controller controls the flight module to descend, the aircraft, the cockpit and the docking device are driven to descend together; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis is started, and during the docking process, the mobile platform is controlled to move based on the control gain parameters of the mobile platform to achieve adaptive movement of the mobile platform, thereby ensuring that the docking device and the strip groove in the mobile platform are accurately docked, thereby improving the docking accuracy and docking safety.

[0048] The flying car provided in the embodiment of the present application includes a flying module, a chassis and a docking device. The flying module includes an aircraft and a cockpit; the chassis includes a mobile platform and a base, and the mobile platform includes a pair of strip grooves; the docking device is composed of a first connecting plate and a second connecting plate, and the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit; the controller is used to control the flying module to descend until the bottom of the first connecting plate and the distance between the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; determine the control gain parameter of the mobile platform, and control the movement of the mobile platform based on the control gain parameter; after the mobile platform moves, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively docked with a pair of strip grooves in the mobile platform.

[0049] Among them, the flight module is composed of an aircraft and a cockpit. When the flying car is flying, the flight module flies in the air. When the flying car is driving on the ground, the cockpit in the flight module needs to be docked with the chassis and combined into a ground driving module.

[0050] FIG1 is a top view of a chassis in one embodiment. The chassis 100 includes a mobile platform 101 and a base 102. The mobile platform 101 is a movable platform on the surface of the base 102. The mobile platform 101 includes a pair of strip grooves 103. Four wheels 104 are installed at the four corners of the base 102.

[0051] As shown in FIG2 , it is a front view of a docking device in an embodiment. The docking device 200 is connected to the bottom of the cabin 300, wherein the docking device 200 is composed of a first connecting plate 201 and a second connecting plate 202, and the top of the first connecting plate 201 and the top of the second connecting plate 202 are respectively connected to the bottom of the cabin 300. In some embodiments, the top of the first connecting plate 201 and the top of the second connecting plate 202 both have a top locking structure. The first connecting plate 201 and the second connecting plate 202 are both connected to the bottom of the cabin 300 through their respective top locking structures, thereby improving the connection safety between the docking device 200 and the cabin 300.

[0052] The preset distance range refers to a semicircular range with the center point of the chassis 100 as the center and the preset distance R as the radius. For example, R is 10 cm. When the distance between the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 and the center point of the chassis 100 are both within the preset distance range, it indicates that the docking error is within the preset distance range. Within this error range, the mobile platform can be adaptively adjusted to reduce the left and right shaking of the cabin in the low air, and the information is more accurate, enhancing comfort, and ensuring that the docking device 200 is fully aligned with the chassis 100.

[0053] The control gain parameters are parameters used to adaptively adjust the speed, angle or displacement of the mobile platform during movement, including speed gain parameters, angle gain parameters, displacement gain parameters, etc. The mobile platform can move in the chassis 300, and the speed, angle and displacement during movement can be adaptively adjusted by the corresponding control gain parameters. Exemplarily, the control gain function of the mobile platform can be determined by using the Lyapunov function.

[0054] In some embodiments, the controller is also used to control the flight module to descend at a preset speed until the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 both contact the chassis 100, and determine the control gain parameters of the mobile platform when the distance between the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 and the center point of the chassis 100 are both within a preset distance range.

[0055] After the movement and adjustment of the mobile platform is completed, the controller controls the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 to dock with a pair of strip grooves in the mobile platform respectively, thereby achieving precise docking of the cabin 300 and the chassis 100.

[0056] In the above-mentioned flying car, the flight module is docked with the chassis through a docking device, and the docking device is composed of a first connecting plate and a second connecting plate, and the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit, so that the controller drives the aircraft, the cockpit and the docking device to descend together during the process of controlling the flight module to descend; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis is started, and the mobile platform is controlled to move based on the control gain parameters of the mobile platform during the docking process to achieve adaptive movement of the mobile platform, ensure that the docking device is accurately docked with the strip groove in the mobile platform, and improve the docking accuracy and docking safety.

[0057] In an exemplary embodiment, the bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure; the controller is also used to open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate after the mobile platform completes the movement; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of bar grooves in the mobile platform through the bottom locking structure.

[0058] Among them, the bottom locking structure is a locking structure installed on the bottom of the first connecting plate and the bottom of the second connecting plate. The bottom locking structure is used to lock and dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform respectively to improve the stability and safety of the docking.

[0059] In some embodiments, the controller opens the bottom locking structure after the mobile platform has completed moving, and closes the corresponding bottom locking structure when the bottom of the first connecting plate and the bottom of the second connecting plate are completely inserted into the corresponding strip grooves to complete the locking docking.

[0060] In this embodiment, the connecting plate of the docking device is locked and docked with a pair of bar-shaped grooves of the mobile platform through a bottom locking structure. The docking device has a simple structure and complete functions, and can quickly achieve accurate docking, reducing energy loss and component wear.

[0061] In an exemplary embodiment, the controller is also used to control the chassis to move to a preset docking position when the flight module flies to a preset position range; obtain the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are each within a preset distance range from the center point of the chassis.

[0062] The preset position range refers to a pre-specified hovering position range of the flight module, and the docking position refers to a pre-specified position where the flight module docks with the chassis. When the flight module flies to within the preset position range, the flight module is controlled to hover, and the chassis is controlled to move to the preset docking position, so that the flight module hovers above the chassis.

[0063] The positioning information refers to the position information of the flight module in the air, and the positioning information of the flight module can be detected by a positioning unit preset in the flight module. The controller determines the descent speed of the flight module according to the positioning information, and descends from the current air position according to the descent speed.

[0064] In some embodiments, the two connecting plates of the docking device are in a folded state before the docking operation. During the descent of the flight module, the controller obtains the positioning information of the flight module in real time, and when the flight module descends to a preset height, unfolds the first connecting plate and the second connecting plate of the docking device to prepare for the docking operation.

[0065] After the docking device is deployed, the controller controls the flight module to continue to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0066] In this embodiment, by controlling the flight module to fly to a preset position range and controlling the chassis to move to a preset docking position, it is possible to ensure that the flight module hovers above the chassis and then descends from the hovering position, which is beneficial to improving the docking accuracy; the docking device is usually in a folded state. When the flight module descends to a preset height, the docking device is unfolded, and then the flight module is controlled to descend, avoiding the safety risks brought by unfolding the docking device at high altitudes, which is beneficial to ensuring the safety of the flight module and the docking device.

[0067] In an exemplary embodiment, a speed sensor is installed in the chassis, and the speed sensor is used to detect the moving speed of the mobile platform; the controller is also used to obtain the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; according to a preset state feedback control equation and the speed function, a speed gain parameter is determined, and the speed gain parameter is used as a control gain parameter of the mobile platform; based on the speed gain parameter and the speed function, an expected speed function is determined, and the speed of the mobile platform is controlled based on the expected speed function.

[0068] Among them, the controller adaptively controls the moving speed of the mobile platform according to the moving speed detected by the speed sensor, which is conducive to improving the stability of docking and avoiding the cockpit shaking left and right in the low altitude during the docking process.

[0069] In some embodiments, the state feedback control equation used by the control system is as follows:

[0070]

[0071] in, represents the state vector, Indicates the control output, Represents the system output, Denotes the disturbance vector. Choose an idealized generalized system and avoid other interference factors as much as possible.

[0072] Adjusted by the above-mentioned adaptive control system, the mobile platform can move with a preset accuracy (for example, 10 cm) until the docking device is completely aligned with the strip groove, completing the docking operation.

[0073] The specific control method is as follows: The state feedback controller is first given Definition:

[0074] Given a scalar , the above system is randomly admissible and has performance , if the perturbation vector When , the system is randomly admissible in the zero initial state and satisfies the following stability equation:

[0075]

[0076] The controller form is as follows: For a given , the state feedback controller is , select the following conditional equation for study:

[0077]

[0078] in:

[0079]

[0080]

[0081]

[0082]

[0083]

[0084]

[0085] in ,matrix All are positive definite matrices. Derivative the above conditional equations respectively, and when the derivatives corresponding to each conditional equation are less than 0, determine the corresponding control gain parameter . The control gain parameter and the state vector , and get the control output .

[0086] In some embodiments, the control output Substitute into the stability equation and calculate the performance , by performance Determine the stability of the state feedback controller.

[0087] In the case of speed control of a mobile platform, the speed function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the speed gain parameter. Control output Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0088] In this embodiment, the speed function is used as the state vector, the speed gain parameter is determined by pre-setting the state feedback control equation and the conditional equation, and the expected speed function is determined by the speed gain parameter and the speed function, thereby realizing adaptive stability control of the speed of the mobile platform, enhancing the docking stability and user comfort.

[0089] In an exemplary embodiment, an angle sensor is installed in the chassis, and the angle sensor is used to detect the moving angle of the mobile platform; the controller is also used to obtain the moving angles detected by the angle sensor at multiple time points, and obtain an angle function based on the moving angles at multiple time points; according to a preset state feedback control equation and the angle function, an angle gain parameter is determined, and the angle gain parameter is used as a control gain parameter of the mobile platform; based on the angle gain parameter and the angle function, an expected angle function is determined, and the angle of the mobile platform is controlled based on the expected angle function.

[0090] Among them, the controller adaptively controls the moving angle of the mobile platform according to the moving angle detected by the angle sensor, which is beneficial to improve the docking stability and avoid the cockpit shaking left and right in the low altitude during the docking process.

[0091] In some embodiments, the angle control may use the same state feedback control equation, stability equation, and condition equation as the speed control, and perform the angle control with reference to the speed control method.

[0092] Specifically, in the case of angle control of the mobile platform, the angle function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the angle gain parameter. Control output Expected angle function. The controller controls the angle speed of the mobile platform according to the expected angle function.

[0093] In other embodiments, the controller may also perform displacement control on the mobile platform according to the above method to improve the stability of the displacement control.

[0094] In this embodiment, the angle function is used as the state vector, the angle gain parameter is determined by pre-setting the state feedback control equation and the conditional equation, and the expected angle function is determined by the angle gain parameter and the angle function, thereby realizing adaptive stability control of the angle of the mobile platform, enhancing the docking stability and user comfort.

[0095] The docking control method provided in the embodiment of the present application is described by taking the method applied to a controller in a flying car as an example. As shown in FIG3 , the docking control method includes the following steps 302 to 306. Among them:

[0096] Step 302, controlling the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0097] Step 304: determine a control gain parameter of the mobile platform, and perform movement control on the mobile platform based on the control gain parameter.

[0098] Step 306: After the moving platform has finished moving, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

[0099] The preset distance range refers to a semicircular range with the center point of the chassis as the center and the preset distance R as the radius. For example, R is 10 cm. When the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within the preset distance range, it indicates that the docking error is within the preset distance range. Within this error range, the mobile platform can be adaptively adjusted to reduce the left and right shaking of the cabin in the low altitude, and the information is more accurate, the comfort is enhanced, and the docking device is ensured to be fully aligned with the chassis.

[0100] The control gain parameter is a parameter used to adaptively adjust the speed, angle or displacement of the mobile platform during movement, including a speed gain parameter, an angle gain parameter, a displacement gain parameter, etc. The mobile platform can move in the chassis, and the speed, angle and displacement during movement can be adaptively adjusted by the corresponding control gain parameters. Exemplarily, the control gain function of the mobile platform can be determined by using a Lyapunov function.

[0101] In some embodiments, the controller is also used to control the flight module to descend at a preset speed until the bottom of the first connecting plate and the bottom of the second connecting plate both contact the chassis, and determine the control gain parameters of the mobile platform when the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0102] After the movement and adjustment of the mobile platform is completed, the controller controls the bottom of the first connecting plate and the bottom of the second connecting plate to dock with a pair of strip grooves in the mobile platform respectively, thereby achieving precise docking of the cockpit and the chassis.

[0103] In the above docking control method, the flight module is docked with the chassis through a docking device, and the docking device is composed of a first connecting plate and a second connecting plate, and the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit, so that when the controller controls the flight module to descend, it drives the aircraft, the cockpit and the docking device to descend together; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis is started, and the mobile platform is controlled to move based on the control gain parameters of the mobile platform during the docking process to achieve adaptive movement of the mobile platform, ensure that the docking device and the strip groove in the mobile platform are accurately docked, and improve the docking accuracy and docking safety.

[0104] In an exemplary embodiment, after the mobile platform completes movement, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively docked with a pair of bar grooves in the mobile platform, including: after the mobile platform completes movement, the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate are opened; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of bar grooves in the mobile platform through the bottom locking structure.

[0105] The controller opens the bottom locking structure after the mobile platform moves, and closes the corresponding bottom locking structure when the bottom of the first connecting plate and the bottom of the second connecting plate completely enter the corresponding strip groove to complete the locking docking.

[0106] In this embodiment, the connecting plate of the docking device is locked and docked with a pair of bar-shaped grooves of the mobile platform through a bottom locking structure. The docking device has a simple structure and complete functions, and can quickly achieve accurate docking, reducing energy loss and component wear.

[0107] In an exemplary embodiment, the flight module is controlled to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, including: when the flight module flies to within a preset position range, controlling the chassis to move to a preset docking position; obtaining positioning information of the flight module, and controlling the flight module to descend based on the positioning information; when the flight module descends to a preset height, controlling the docking device to unfold the first connecting plate and the second connecting plate, and controlling the flight module to continue descending until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0108] The preset position range refers to a pre-specified hovering position range of the flight module, and the docking position refers to a pre-specified position where the flight module docks with the chassis. When the flight module flies to within the preset position range, the flight module is controlled to hover, and the chassis is controlled to move to the preset docking position, so that the flight module hovers above the chassis.

[0109] The positioning information refers to the position information of the flight module in the air, and the positioning information of the flight module can be detected by a positioning unit preset in the flight module. The controller determines the descent speed of the flight module according to the positioning information, and descends from the current air position according to the descent speed.

[0110] In some embodiments, the two connecting plates of the docking device are in a folded state before the docking operation. During the descent of the flight module, the controller obtains the positioning information of the flight module in real time, and when the flight module descends to a preset height, unfolds the first connecting plate and the second connecting plate of the docking device to prepare for the docking operation.

[0111] After the docking device is deployed, the controller controls the flight module to continue to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0112] In this embodiment, by controlling the flight module to fly to a preset position range and controlling the chassis to move to a preset docking position, it is possible to ensure that the flight module hovers above the chassis and then descends from the hovering position, which is beneficial to improving the docking accuracy; the docking device is usually in a folded state. When the flight module descends to a preset height, the docking device is unfolded, and then the flight module is controlled to descend, avoiding the safety risks brought by unfolding the docking device at high altitudes, which is beneficial to ensuring the safety of the flight module and the docking device.

[0113] In an exemplary embodiment, the control gain parameters of the mobile platform are determined, including: obtaining the moving speed detected by the speed sensor at multiple time points, and obtaining a speed function based on the moving speed at the multiple time points; determining the speed gain parameters according to a preset state feedback control equation and the speed function, and using the speed gain parameters as the control gain parameters of the mobile platform; accordingly, the movement of the mobile platform is controlled based on the control gain parameters, including: determining an expected speed function based on the speed gain parameters and the speed function, and speed controlling the mobile platform based on the expected speed function.

[0114] Among them, the controller adaptively controls the moving speed of the mobile platform according to the moving speed detected by the speed sensor, which is conducive to improving the stability of docking and avoiding the cockpit shaking left and right in the low altitude during the docking process.

[0115] In some embodiments, the state feedback control equation used by the control system is as follows:

[0116]

[0117] in, represents the state vector, Indicates the control output, Represents the system output, Denotes the disturbance vector. Choose an idealized generalized system and avoid other interference factors as much as possible.

[0118] Adjusted by the above-mentioned adaptive control system, the mobile platform can move with a preset accuracy (for example, 10 cm) until the docking device is completely aligned with the strip groove, completing the docking operation.

[0119] The specific control method is as follows: The state feedback controller is first given Definition:

[0120] Given a scalar , the above system is randomly admissible and has performance , if the perturbation vector When , the system is randomly admissible in the zero initial state and satisfies the following stability equation:

[0121]

[0122] The controller form is as follows: For a given , the state feedback controller is , select the following conditional equation for study:

[0123]

[0124] in:

[0125]

[0126]

[0127]

[0128]

[0129]

[0130]

[0131] in ,matrix All are positive definite matrices. Derivative the above conditional equations respectively, and when the derivatives corresponding to each conditional equation are less than 0, determine the corresponding control gain parameter . The control gain parameter and the state vector , and get the control output .

[0132] In some embodiments, the control output Substitute into the stability equation and calculate the performance , by performance Determine the stability of the state feedback controller.

[0133] In the case of speed control of a mobile platform, the speed function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the speed gain parameter. Control output Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0134] In this embodiment, the speed function is used as the state vector, the speed gain parameter is determined by pre-setting the state feedback control equation and the conditional equation, and the expected speed function is determined by the speed gain parameter and the speed function, thereby realizing adaptive stability control of the speed of the mobile platform, enhancing the docking stability and user comfort.

[0135] In an exemplary embodiment, the control gain parameters of the mobile platform are determined, including: obtaining the moving angles detected by the angle sensor at multiple time points, and obtaining an angle function based on the moving angles at the multiple time points; determining the angle gain parameters according to a preset state feedback control equation and the angle function, and using the angle gain parameters as the control gain parameters of the mobile platform; accordingly, the movement of the mobile platform is controlled based on the control gain parameters, including: determining the expected angle function based on the angle gain parameter and the angle function, and performing angle control on the mobile platform based on the expected angle function.

[0136] Among them, the controller adaptively controls the moving angle of the mobile platform according to the moving angle detected by the angle sensor, which is beneficial to improve the docking stability and avoid the cockpit shaking left and right in the low altitude during the docking process.

[0137] In some embodiments, the angle control may use the same state feedback control equation, stability equation, and condition equation as the speed control, and perform the angle control with reference to the speed control method.

[0138] Specifically, in the case of angle control of the mobile platform, the angle function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the angle gain parameter. Control output Expected angle function. The controller controls the angle speed of the mobile platform according to the expected angle function.

[0139] In other embodiments, the controller may also perform displacement control on the mobile platform according to the above method to improve the stability of the displacement control.

[0140] In this embodiment, the angle function is used as the state vector, the angle gain parameter is determined by pre-setting the state feedback control equation and the conditional equation, and the expected angle function is determined by the angle gain parameter and the angle function, thereby realizing adaptive stability control of the angle of the mobile platform, enhancing the docking stability and user comfort.

[0141] 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.

[0142] To explain the method and effect of the flying car and docking control in this solution in detail, a most detailed embodiment is described below:

[0143] The flying car includes a flight module, a chassis, a docking device and a controller. The flight module includes an aircraft and a cockpit; the chassis includes a mobile platform and a base, and the mobile platform includes a pair of bar-shaped grooves; at least one of a speed sensor and an angle sensor is also installed in the chassis; the speed sensor is used to detect the moving speed of the mobile platform; the angle sensor is used to detect the moving angle of the mobile platform; the docking device consists of a first connecting plate and a second connecting plate, the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit; the top of the first connecting plate and the top of the second connecting plate both have a top locking structure; the bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure;

[0144] The controller is used to execute the docking control method. FIG4 is a schematic diagram of the overall process of the docking control method in one embodiment. The controller controls the cockpit to hover above the chassis, the chassis skid guides the cockpit to descend, and the mobile platform in the chassis performs adaptive calibration. After the calibration is completed, the cockpit and the chassis are locked and docked.

[0145] Specifically, when the flight module flies to a preset position range, the controller controls the chassis to move to a preset docking position; obtains positioning information of the flight module, and controls the flight module to descend according to the positioning information; when the flight module descends to a preset height, the controller controls the docking device to unfold the first connecting plate and the second connecting plate, and controls the flight module to continue to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are each within a preset distance range from the center point of the chassis; determines the control gain parameters of the mobile platform, and controls the movement of the mobile platform based on the control gain parameters; after the movement of the mobile platform is completed, opens the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate; and locks and docks the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of bar grooves in the mobile platform through the bottom locking structure.

[0146] Among them, the state feedback control equation used by the control system is as follows:

[0147]

[0148] in, represents the state vector, Indicates the control output, Represents the system output, Denotes the disturbance vector. Choose an idealized generalized system and avoid other interference factors as much as possible.

[0149] Adjusted by the above-mentioned adaptive control system, the mobile platform can move with a preset accuracy (for example, 10 cm) until the docking device is completely aligned with the strip groove, completing the docking operation.

[0150] The specific control method is as follows: The state feedback controller is first given Definition:

[0151] Given a scalar , the above system is randomly admissible and has performance , if the perturbation vector When , the system is randomly admissible in the zero initial state and satisfies the following stability equation:

[0152]

[0153] The controller form is as follows: For a given , the state feedback controller is , select the following conditional equation for study:

[0154]

[0155] in:

[0156]

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] in ,matrix All are positive definite matrices. Derivative the above conditional equations respectively, and when the derivatives corresponding to each conditional equation are less than 0, determine the corresponding control gain parameter . The control gain parameter and the state vector , and get the control output .

[0163] In some embodiments, the control output Substitute into the stability equation and calculate the performance , by performance Determine the stability of the state feedback controller.

[0164] In the case of speed control of a mobile platform, the speed function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the speed gain parameter. Control output Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0165] In some embodiments, the angle control may use the same state feedback control equation, stability equation, and condition equation as the speed control, and perform the angle control with reference to the speed control method.

[0166] Specifically, in the case of angle control of the mobile platform, the angle function can be used as the state vector , from the above state feedback control equation and state vector , determine the control gain parameters , which is the angle gain parameter. Control output Expected angle function. The controller controls the angle speed of the mobile platform according to the expected angle function.

[0167] In other embodiments, the controller may also perform displacement control on the mobile platform according to the above method to improve the stability of the displacement control.

[0168] In addition, the above stability control system adopts a relatively simple generalized system, and we can try to consider more factors, such as nonlinearity, uncertainty, Markov, fuzziness, etc., and we can also design dissipative control, Control and other controllers for more precise control.

[0169] In the above-mentioned flying car and docking control method, the flying module is docked with the chassis through a docking device, which is composed of a first connecting plate and a second connecting plate. The top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit. In this way, the controller drives the aircraft, the cockpit and the docking device to descend together during the process of controlling the flight module to descend; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis is within the preset distance range, the docking between the flying module and the chassis begins. During the docking process, the mobile platform is controlled to move based on the control gain parameters of the mobile platform to achieve adaptive movement of the mobile platform, ensuring that the docking device and the strip groove in the mobile platform are accurately docked, thereby improving the docking accuracy and docking safety. At the same time, the docking device has a simple structure and complete system functions, and can quickly achieve accurate docking, reducing energy loss and component wear.

[0170] 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.

[0171] In an exemplary embodiment, as shown in FIG5 , a docking control device 500 is provided, comprising: a first control module 520, a second control module 540 and a docking module 560, wherein:

[0172] A first control module 520, used for controlling the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range;

[0173] A second control module 540 is used to determine a control gain parameter of the mobile platform, and to control the movement of the mobile platform based on the control gain parameter;

[0174] The docking module 560 is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the moving platform respectively after the moving platform has completed its movement.

[0175] The above-mentioned docking control device, the flight module is docked with the chassis through the docking device, the docking device is composed of a first connecting plate and a second connecting plate, the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cockpit, so that when the controller controls the flight module to descend, it drives the aircraft, the cockpit and the docking device to descend together; when the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis is started, and during the docking process, the mobile platform is controlled to move based on the control gain parameters of the mobile platform to achieve adaptive movement of the mobile platform, ensure that the docking device and the strip groove in the mobile platform are accurately docked, and improve the docking accuracy and docking safety.

[0176] In one embodiment, after the mobile platform completes movement, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively docked with a pair of bar grooves in the mobile platform, and the docking module 560 is also used for: after the mobile platform completes movement, opening the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate; and locking and docking the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of bar grooves in the mobile platform through the bottom locking structure.

[0177] In one embodiment, the flight module is controlled to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range. The first control module 520 is also used to: when the flight module flies to within a preset position range, control the chassis to move to a preset docking position; obtain the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue descending until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range.

[0178] In one embodiment, the control gain parameters of the mobile platform are determined, and the second control module 540 is also used to: obtain the moving speed detected by the speed sensor at multiple time points, and obtain the speed function according to the moving speed at multiple time points; determine the speed gain parameters according to the preset state feedback control equation and the speed function, and use the speed gain parameters as the control gain parameters of the mobile platform; accordingly, the movement of the mobile platform is controlled based on the control gain parameters, and the second control module 540 is also used to: determine the expected speed function based on the speed gain parameters and the speed function, and control the speed of the mobile platform based on the expected speed function.

[0179] In one embodiment, the control gain parameters of the mobile platform are determined, and the second control module 540 is also used to: obtain the moving angles detected by the angle sensor at multiple time points, and obtain the angle function according to the moving angles at the multiple time points; determine the angle gain parameters according to the preset state feedback control equation and the angle function, and use the angle gain parameters as the control gain parameters of the mobile platform; accordingly, the movement of the mobile platform is controlled based on the control gain parameters, and the second control module 540 is also used to: determine the expected angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the expected angle function.

[0180] 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.

[0181] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG6. 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.

[0182] Those skilled in the art will understand that the structure shown in FIG. 6 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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: The flight module includes the aircraft and the cockpit; The chassis comprises a mobile platform and a base, wherein the mobile platform comprises a pair of strip-shaped grooves; A docking device, comprising a first connecting plate and a second connecting plate, wherein the top of the first connecting plate and the top of the second connecting plate are respectively connected to the cabin; A controller is used to control the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; determine the control gain parameters of the mobile platform, and control the movement of the mobile platform based on the control gain parameters; after the movement of the mobile platform is completed, respectively dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform.

2. The flying car according to claim 1, characterized in that: The bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure; the controller is also used to open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate after the mobile platform completes moving; through the bottom locking structure, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of strip grooves in the mobile platform.

3. The flying car according to claim 1, characterized in that: The controller is also used to control the chassis to move to a preset docking position when the flight module flies to a preset position range; obtain positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are each within a preset distance range from the center point of the chassis.

4. The flying car according to any one of claims 1 to 3, characterized in that: A speed sensor is installed in the chassis, and the speed sensor is used to detect the moving speed of the mobile platform; the controller is also used to obtain the moving speed detected by the speed sensor at multiple time points, and obtain a speed function according to the moving speed at multiple time points; According to a preset state feedback control equation and the speed function, a speed gain parameter is determined, and the speed gain parameter is used as a control gain parameter of the mobile platform; based on the speed gain parameter and the speed function, an expected speed function is determined, and the speed of the mobile platform is controlled based on the expected speed function.

5. The flying car according to any one of claims 1 to 3, characterized in that: An angle sensor is installed in the chassis, and the angle sensor is used to detect the moving angle of the mobile platform; the controller is also used to obtain the moving angles detected by the angle sensor at multiple time points, and obtain an angle function according to the moving angles at multiple time points; determine an angle gain parameter according to a preset state feedback control equation and the angle function, and use the angle gain parameter as a control gain parameter of the mobile platform; determine an expected angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the expected angle function.

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: Controlling the flight module to descend until the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; Determining a control gain parameter of the mobile platform, and performing movement control on the mobile platform based on the control gain parameter; After the moving platform is moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the moving platform.

7. The method according to claim 6, characterized in that After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively connected to a pair of strip grooves in the mobile platform, including: After the mobile platform completes its movement, the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate are opened; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of strip grooves in the mobile platform through the bottom locking structure.

8. A docking control device, characterized in that: The device comprises: A first control module, used for controlling the flight module to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; A second control module, used for determining a control gain parameter of the mobile platform, and controlling the movement of the mobile platform based on the control gain parameter; The docking module is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform respectively after the mobile platform has completed its movement.

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.

Images