Flying car paddle locking method and system, flying car and readable storage medium

Abstract

The invention relates to an aerocar paddle locking method and system, an aerocar and a readable storage medium. The method comprises the steps that after a blade locking function is activated, blades are controlled to rotate, and in-place identification is detected; when the in-place identifier is detected, collecting a first accumulative operation angle of the paddle, and comparing a first deviation between the first accumulative operation angle and a preset target angle value; according to the first deviation, determining a target rotating speed of blade adjustment, and according to the adjusted target rotating speed, controlling the blade to stop to a preset target angle value; after the paddle stops, collecting a second accumulative operation angle of the paddle, and comparing a second deviation between the second accumulative operation angle and the preset target angle value; and when the second deviation meets the preset condition, a locking instruction is generated to control the paddle locking structure to lock the paddle. According to the scheme provided by the invention, the stopping position of the paddle can be accurately controlled, so that accurate locking of the paddle is realized.

Description

Technical Field

[0001] The present application relates to the technical field of flying cars, and in particular to a flying car blade locking method and system, a flying car, and a readable storage medium. Background Art

[0002] With the continuous development of science and technology, flying cars have gradually become a highly anticipated future means of transportation. In the air flight scenario, flying cars obtain the necessary lifting force through the high-speed rotation of the blades.

[0003] In the related technology, since the application scenarios of the flying car such as storage, transportation, fixed or land mode are not taken into consideration, when the flying car is not in the air, the blades are still in an unconstrained free state, which may cause the blades to rotate unnecessary due to external factors (such as airflow, vibration or the movement of the vehicle itself), causing collision accidents with surrounding people and objects, affecting the stability and safety of the flying car. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a flying car blade locking method, system, flying car and readable storage medium, which can accurately control the stop position of the blades, thereby achieving precise locking of the blades, effectively preventing the flying car from being affected by external factors and causing unnecessary rotation when the flying car is in a non-air flight scenario, thereby improving the stability and safety of the flying car.

[0005] In a first aspect, the present application provides a method for locking a blade of a flying car, wherein the flying car comprises: a blade and a blade locking structure, and the method for locking a blade of a flying car comprises: After the propeller lock function is activated, the propellers are controlled to rotate and the position mark is detected; When the in-position mark is detected, a first accumulated running angle of the blade is collected, and a first deviation between the first accumulated running angle and a preset target angle value is compared; determining a target rotation speed for blade adjustment according to the first deviation, so as to control the blade to stop at the preset target angle value according to the adjusted target rotation speed; After the blade stops, collecting a second accumulated operating angle of the blade, and comparing a second deviation between the second accumulated operating angle and a preset target angle value; When the second deviation meets a preset condition, a locking instruction is generated to control the blade locking structure to lock the blade.

[0006] In some embodiments, controlling the rotation of the blades includes: The blades are controlled to keep rotating according to a first motion law.

[0007] In some embodiments, controlling the blade to keep rotating according to the first motion rule includes: The blades are controlled to rotate at a constant speed at a first preset speed.

[0008] In some implementations, determining a target rotation speed for blade adjustment according to the first deviation includes: According to the first deviation, a preset PI table lookup control rule is used to determine the corresponding rotation speed as the adjusted target rotation speed to adjust the rotation speed of the blade.

[0009] In some embodiments, the method of using a preset PI table lookup control rule to determine a corresponding rotation speed as an adjusted target rotation speed to adjust the rotation speed of the blade further includes: A preset PI table lookup control rule is used to determine the corresponding rotation speed within a preset rotation speed range as the adjusted target rotation speed to adjust the rotation speed of the blade.

[0010] In some implementations, when the second deviation satisfies a preset condition, generating a locking instruction to control the blade locking structure to lock the blade includes: When the second deviation is less than a preset threshold and is maintained for a first preset time period, a locking instruction is generated to control the blade locking structure to be inserted into the blade lock fixing point of the blade to achieve locking.

[0011] In some embodiments, the method further comprises: When no locking instruction is generated within a second preset time period, locking of the blades is stopped.

[0012] In some embodiments, the preset target angle value is predetermined by: After the locking learning function is activated, detecting the in-place mark; When the in-position mark is detected, a third accumulated running angle of the blade rotating along a preset direction is collected; receiving a second locking instruction, and locking the blade according to the second locking instruction; After receiving the locking in place signal, the third accumulated running angle is determined to be a preset target angle value.

[0013] A second aspect of the present application provides a flying car blade locking system, wherein the flying car comprises: a blade and a blade locking structure, and the flying car blade locking system comprises: A blade locking control module is used to control the rotation of the blade after the blade locking function is activated and detect an in-place mark; when it is known that the position sensor detection module detects the in-place mark, collect a first cumulative operating angle of the blade, and compare the first cumulative operating angle with a first deviation of a preset target angle value; determine a target speed for blade adjustment according to the first deviation, and send it to a speed control module; after the speed control module controls the blade to stop, collect a second cumulative operating angle of the blade, and compare the second cumulative operating angle with a second deviation of a preset target angle value; when the second deviation meets a preset condition, generate a locking instruction and send it to the blade locking structure control module; A position sensor detection module, used to detect the position mark; A speed control module, used for controlling the blade to rotate according to the adjusted target speed and stop at the preset target angle value; The blade locking structure control module is used to control the blade locking structure to lock the blade according to the locking instruction sent by the blade locking control module.

[0014] In some embodiments, the flying car blade locking system further includes: The locking angle learning module is used to detect the in-place mark after the locking learning function is activated; when the in-place mark is detected, collect the third cumulative operating angle of the blade rotating along the preset direction; receive the locking in-place signal generated by the blade locking structure control module after receiving the second locking instruction and locking the blade according to the second locking instruction, and determine that the third cumulative operating angle is a preset target angle value.

[0015] A third aspect of the present application provides a flying car, comprising: Processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0016] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of a flying car, the processor is caused to execute the method described above.

[0017] The technical solution provided by this application may have the following beneficial effects: The technical solution of the present application controls the rotation of the blades and detects the in-position mark after the blade locking function is activated, collects the first cumulative operating angle of the blades when the in-position mark is detected, compares the first cumulative operating angle with a first deviation of a preset target angle value, determines the target speed for blade adjustment according to the first deviation, controls the blades to stop to the preset target angle value according to the adjusted target speed, collects the second cumulative operating angle after the blades stop, compares the second cumulative operating angle with a second deviation of the preset target angle value, and controls the locking structure to lock the blades when the second deviation meets the preset conditions, thereby achieving precise locking of the blades, effectively preventing the blades from rotating unnecessary due to external factors when the flying car is in non-air flight scenarios, thereby improving the stability and safety of the flying car.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0020] Figure 1 is a schematic flow chart of a method for locking the blades of a flying car shown in an embodiment of the present application; Figure 2 is another schematic flow chart of a method for locking the blades of a flying car shown in an embodiment of the present application; Figure 3 is another schematic flow chart of a method for locking the blades of a flying car shown in an embodiment of the present application; Figure 4 is another schematic flow chart of a method for locking the blades of a flying car shown in an embodiment of the present application; Figure 5 is a schematic structural diagram of a flying car blade locking system shown in an embodiment of the present application; Figure 6 is a schematic structural diagram of a flying car blade locking system shown in an embodiment of the present application; Figure 7 is a schematic structural diagram of a flying car shown in an embodiment of the present application; Figure 8 is a partial structural schematic diagram of a flying car shown in an embodiment of the present application; Fig. 9 is another structural schematic diagram of a flying car shown in an embodiment of the present application; Fig.10 is a schematic diagram of the structure of the flying car shown in the embodiment of the present application when the system detects an arrival mark; Fig.11 is a schematic diagram of the flying car shown in an embodiment of the present application when the propeller blades stop in place; Fig.12 is a schematic diagram of parameters during the learning process of the blade locking angle of the flying car shown in the embodiment of the present application; Fig.13 is a schematic diagram of parameters during the process of automatic locking of the propeller blades of a flying car shown in an embodiment of the present application; Fig.14 It is a schematic diagram of the structure of a flying car shown in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0022] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0023] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] In the related technology, since the application scenarios of the flying car such as storage, transportation, fixed or land mode are not taken into consideration, when the flying car is not in the air, the blades are still in an unconstrained free state, which may cause the blades to rotate unnecessary due to external factors (such as airflow, vibration or the movement of the vehicle itself), causing collision accidents with surrounding people and objects, affecting the stability and safety of the flying car.

[0025] In response to the above problems, an embodiment of the present application provides a flying car blade locking method, which can accurately control the stop position of the blades, thereby achieving precise locking of the blades, effectively preventing the blades from being affected by external factors and causing unnecessary rotation when the flying car is in a non-air flight scenario, thereby improving the stability and safety of the flying car.

[0026] The flying car blade locking method of the present application is mainly applied to flying cars, wherein the flying car includes blades and blade locking structures. The blades may refer to those driven by a motor to rotate so as to provide an upward lift, and the blade locking structure may be composed of a locking pin assembly. Specifically, the locking pin assembly may be fixedly arranged on the flying car. The flying car is also provided with a blade lock fixing point corresponding to the blade locking structure. Specifically, the blade lock fixing point may be composed of a locking assembly. The locking assembly may be fixedly arranged on the outer rotor of the motor, so that the locking assembly rotates with the rotation of the blade. When the blade locking structure locks the blade, the blade locking structure is inserted into the blade lock fixing point of the blade, that is, the locking pin assembly is inserted into the locking assembly, the outer rotor of the motor is constrained and prevented from rotating, thereby achieving the locking of the blade.

[0027] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0028] Figure 1 It is a flow chart of a method for locking the blades of a flying car shown in an embodiment of the present application.

[0029] See also Figure 1 The flying car blade locking method of the present application includes: S110, after the blade locking function is activated, the blades are controlled to rotate, and a positioning mark is detected.

[0030] In this step, after the propeller locking function is activated, the propeller is controlled by the motor to rotate in a preset direction, and the in-position mark is detected.

[0031] The preset direction of blade rotation may refer to the forward rotation direction when the motor drives the blade to work.

[0032] The in-place mark can be generated by the sensor detecting a preset detection point fixed relative to the blade. For example, at a detection point fixed on the electronic outer rotor, the in-place mark is generated when the sensor detects the detection point at another preset fixed position.

[0033] Among them, the automatic propeller locking command sent by the host computer can be received, and the automatic propeller locking function can be activated according to the automatic propeller locking command.

[0034] After the blade locking function is activated, the blade rotation can be controlled according to a preset first target speed. Specifically, the blade can enter a uniform rotation state after the speed reaches the first target speed.

[0035] S120, when the in-position mark is detected, collecting a first accumulated operating angle of the blade, and comparing the first accumulated operating angle with a first deviation of a preset target angle value.

[0036] In this step, when the in-position mark is detected, the first accumulated running angle of the blade is collected, and a first deviation between the first accumulated running angle and a preset target angle value is compared.

[0037] The preset target angle value may be predetermined by learning. Specifically, the preset target angle value corresponds to the position of the blade when it is locked.

[0038] S130, determining a target rotation speed for blade adjustment according to the first deviation, so as to control the blade to stop at a preset target angle value according to the adjusted target rotation speed.

[0039] In this step, the target speed for blade adjustment is determined based on a first deviation obtained by comparing the first accumulated operating angle and a preset target angle value, and the motor driving the blade to rotate is controlled by the determined target speed so that the blade is controlled to stop at a position corresponding to the preset target angle value.

[0040] Among them, a preset PI table lookup control rule can be used to determine the corresponding speed as the target speed for adjustment to adjust the rotation speed of the blade according to the first deviation. It should be understood that the PI table lookup can refer to determining the target speed for blade adjustment according to a predetermined parameter combination, such as different combinations of the first deviation and the target speed, using a predetermined parameter combination.

[0041] S140, after the blade stops, collecting a second accumulated operating angle of the blade, and comparing the second accumulated operating angle with a second deviation of a preset target angle value.

[0042] In this step, after the blade is stopped by controlling the blade through the adjusted target rotation speed, a second accumulated operating angle of the blade is collected, and a second deviation between the second accumulated operating angle and a preset target angle value is compared.

[0043] S150: When the second deviation meets a preset condition, a locking instruction is generated to control the blade locking structure to lock the blade.

[0044] In this step, when it is detected that the acquired second deviation meets the preset condition, it is considered that the condition for locking the blade is met, and a locking instruction is generated to control the blade locking structure to lock the blade.

[0045] When the second deviation is smaller than a preset threshold and is maintained for a first preset time period, a locking instruction may be generated to control the blade locking structure to be inserted into a blade lock fixing point of the blade to achieve locking.

[0046] In this embodiment, the flying car blade locking method of the present application controls the rotation of the blade and detects the in-position mark after the blade locking function is activated. When the in-position mark is detected, the first cumulative running angle of the blade is collected, and the first deviation of the first cumulative running angle and the preset target angle value is compared. The target speed of the blade adjustment is determined according to the first deviation, so as to control the blade to stop to the preset target angle value according to the adjusted target speed, and the second cumulative running angle is collected after the blade stops, and the second cumulative running angle is compared with the second deviation of the preset target angle value. When the second deviation meets the preset condition, the locking structure is controlled to lock the blade, thereby achieving precise locking of the blade, effectively avoiding unnecessary rotation of the blade due to external factors when the flying car is in a non-air flight scene, thereby improving the stability and safety of the flying car; in addition, the flying car blade locking method of the present application guides the locking operation by collecting the deviation value obtained by comparing the cumulative running angle with the preset angle value, which can effectively improve the control accuracy of the blade position, thereby reducing the error when locking the blade, and effectively improving the accuracy of locking the blade.

[0047] Figure 2 It is another flow chart of the flying car blade locking method shown in the embodiment of the present application.

[0048] See also Figure 2 The flying car blade locking method of the present application includes: S210, receiving an automatic propeller locking instruction sent by a host computer, and activating an automatic propeller locking function according to the automatic propeller locking instruction.

[0049] In this step, the automatic propeller lock command sent by the host computer is received by wired communication or wireless communication, and the automatic propeller lock function of the flying car is activated according to the automatic propeller lock command. It can be understood that the automatic propeller lock function can be for some or all propeller blades on the flying car.

[0050] For example, if a flying car has six propeller blades symmetrically arranged, of which four propeller blades at the corners work to provide flying power, and two propeller blades at the middle do not work, the automatic propeller lock function can be activated to lock the two propeller blades that are not working. For another example, if a flying car has six propeller blades symmetrically arranged, of which all six propeller blades do not work, the automatic propeller lock function can be activated to lock all the propeller blades that are not working.

[0051] S220, after the blade locking function is activated, the blade rotation is controlled according to a preset first target speed, and a positioning mark is detected.

[0052] In this step, after the blade locking function is activated, the blades are controlled to accelerate according to a preset first target rotation speed, and the in-position mark is detected at the same time.

[0053] In the process of controlling the rotation of the blades according to the preset first target speed, the rotational acceleration of the blades can remain unchanged, that is, before the rotational speed of the blades reaches the first target speed, the blades can rotate with the same rotational acceleration or different rotational acceleration.

[0054] For example, before the rotation speed of the blade reaches the first target rotation speed, the rotation acceleration of the blade may remain unchanged, and when the rotation speed of the blade reaches the first target rotation speed, the rotation acceleration of the blade is zero. For another example, before the rotation speed of the blade reaches the first target rotation speed, the rotation acceleration of the blade increases first and then decreases, and when the rotation speed of the blade reaches the first target rotation speed, the rotation acceleration of the blade is zero.

[0055] It should be understood that when the in-position mark is detected, the rotation speed of the blade is less than or equal to the first target rotation speed, that is, when the in-position mark is detected, the rotation speed of the blade can reach the first target rotation speed or not reach the first target rotation speed. Further, before the in-position mark is detected, the maximum rotation speed of the blade is the first target rotation speed, that is, when the rotation speed of the blade reaches the first target rotation speed, the in-position mark is still not detected, and the blade keeps rotating at the first target rotation speed.

[0056] S230, when the in-position mark is detected, collecting a first accumulated operating angle of the blade, and comparing the first accumulated operating angle with a first deviation of a preset target angle value.

[0057] In this step, when the in-position mark is detected, the first accumulated running angle of the blade is collected, and a first deviation between the first accumulated running angle and a preset target angle value is compared.

[0058] The initial angle of the first accumulated running angle is zero, that is, the first accumulated running angle corresponding to the blade is zero when the in-position mark is detected.

[0059] Furthermore, the first accumulated running angle can be collected in the following ways: After checking the in-place mark, the accumulated resolver angle of the motor that drives the blade to rotate per unit time is accumulated, and the actual running angle of the blade corresponding to the in-place mark is obtained by dividing the accumulated resolver angle by the resolver pole pair number, that is, the first accumulated running angle.

[0060] S240, based on the first deviation, a preset PI table lookup control rule is used to determine a corresponding second target speed as an adjusted target speed to adjust the rotation speed of the blade, so as to control the blade to stop at a preset target angle value according to the adjusted target speed.

[0061] In this step, the real-time second target speed of the blade is determined as the adjusted target speed according to the preset PI table lookup control rule related to the first deviation, and the blade is adjusted in real time using the determined adjusted target speed, so that the blade finally stops at the position corresponding to the preset target angle value. It can be understood that the second target speed can be the same or different at different times. In the present application, the preset PI table lookup control rule can be implemented by relevant technologies, which will not be repeated here.

[0062] The initial value of the second target speed may be the same as the first target speed.

[0063] Among them, the second target speed can be taken from a preset speed range. That is to say, a preset PI lookup table control rule can be used to determine the corresponding speed within the preset speed range as the adjusted target speed to adjust the rotation speed of the blade. In other words, by presetting a speed range, wherein the speed range includes a maximum speed and a minimum speed, and determining the adjusted target speed from the preset speed range, the stability of the control process can be further improved. Specifically, the second target speed may be less than or equal to the maximum speed in the speed range, and the second target speed may be greater than or equal to the minimum speed in the speed range. Among them, the minimum speed may be zero or a negative value. It should be understood that the second target speed may be a positive value or a negative value, wherein when the second target speed is a negative value, the blades rotate in the opposite direction.

[0064] S250, after the blade stops, collecting a second accumulated operating angle of the blade, and comparing the second accumulated operating angle with a second deviation of a preset target angle value.

[0065] In this step, after the blade is stopped by controlling the blade through the adjusted target rotation speed, a second accumulated operating angle of the blade is collected, and a second deviation between the second accumulated operating angle and a preset target angle value is compared.

[0066] S260: When the second deviation is less than a preset threshold and is maintained for a first preset time period, a locking instruction is generated to control the blade locking structure to insert into a blade lock fixing point of the blade to achieve locking.

[0067] In this step, when it is detected that the acquired second deviation is less than a preset threshold value (e.g., ±1°) and is maintained for a first preset time length (e.g., 5 seconds), it is considered that the conditions for locking the blades are met, and a locking instruction is generated to control the blade locking structure to lock the blades. It should be understood that the combination of the preset threshold value and the first preset time length can be used to determine whether the state of the blades when stopped is stable, thereby ensuring that the blade locking structure can be inserted into the blade lock fixing point of the blade to fit more accurately.

[0068] Figure 3 It is another flow chart of the flying car blade locking method shown in the embodiment of the present application.

[0069] See also Figure 3 , this application may further execute step S270 after step S250.

[0070] S270: When no locking instruction is generated within a second preset time period, locking of the blades is stopped.

[0071] In this step, if the locking instruction is not generated within a second preset time (e.g., 30 seconds), the locking process of the blades is stopped. It should be understood that when the locking instruction is not generated within the second preset time, it can be considered that the conditions for locking the blades are not met.

[0072] After stopping locking the blades, a blade locking failure signal may also be fed back.

[0073] Figure 4 It is another flow chart of the flying car blade locking method shown in the embodiment of the present application.

[0074] See also Figure 4 , the preset target angle value in this application is predetermined by: S310, after the locking learning function is activated, detecting the in-position mark.

[0075] In this step, after the locking learning function is activated, the blades are controlled to rotate in a preset direction and the positioning mark is detected.

[0076] The propeller blades can be manually moved to rotate in a preset direction. The propeller blades can be controlled to rotate in a preset direction at a lower speed by a motor.

[0077] Among them, the locking learning function can be activated by receiving the locking learning instruction sent by the host computer.

[0078] S320: When the in-position mark is detected, a third accumulated running angle of the blade rotating along the preset direction is collected.

[0079] In this step, when the in-position mark is detected, the third cumulative running angle of the blade rotating in a preset direction (for example, the forward direction of rotation when the blade is working) is collected. It should be understood that the third cumulative running angle is collected in the same manner as the first cumulative running angle, which will not be repeated here.

[0080] S330: Receive a second locking instruction, and lock the blades according to the second locking instruction.

[0081] In this step, a second locking instruction sent by the host computer is received, and the blade is locked according to the second locking instruction. It should be understood that when it is determined that the blade rotates to the locking position, the second locking instruction is sent by the host computer.

[0082] The blade is locked by inserting the blade lock fixing point through the blade locking structure according to the second locking instruction.

[0083] S340: After receiving the locking in place signal, determine that the third accumulated operating angle is a preset target angle value.

[0084] In this step, after receiving the locking signal indicating that the blade locking structure is locked in place, the third accumulated operating angle is determined to be the preset target value. It should be understood that when the blade locking structure is locked, even if the blade is slightly offset, the third accumulated operating angle will still change accordingly, thereby ensuring the accuracy of the preset target angle value.

[0085] For example, a correction structure may be provided on the blade lock fixing point. When the blade locking structure is inserted into the blade lock fixing point, the correction structure drives the blade to follow the deflection, so that the center of the blade locking structure and the blade lock fixing point remains consistent, thereby improving the accuracy of the preset target angle value obtained.

[0086] Among them, the preset target value can be stored locally or in the cloud.

[0087] In this step, the flying car blade locking method of the present application controls the rotation of the blades by the first target speed before the in-place mark is detected, so that the blades can effectively enter the working state smoothly. After the in-place mark is detected, the blades are controlled to rotate by the second target speed determined by the preset PI table lookup control rule, so that the rotation speed of the blades can be adjusted more precisely. By adopting different rotation control rules to control the rotation of the blades at different operating stages, the locking accuracy of the blades can be effectively improved.

[0088] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a flying car blade locking system, a flying car and corresponding embodiments.

[0089] Figure 5: is a structural schematic diagram of a flying car blade locking system shown in an embodiment of the present application. The flying car blade locking system of the present application is mainly applied to a flying car, wherein the flying car comprises: a blade and a blade locking structure. The blade may refer to a blade driven to rotate by a motor to provide an upward lift, and the blade locking structure may be composed of a locking pin assembly. Specifically, the locking pin assembly may be fixedly arranged on the flying car. A blade lock fixing point corresponding to the blade locking structure is also provided on the flying car. Specifically, the blade lock fixing point may be composed of a locking assembly. The locking assembly may be fixedly arranged on the outer rotor of the motor, so that the locking assembly rotates with the rotation of the blade. When the blade locking structure locks the blade, the blade locking structure is inserted into the blade lock fixing point of the blade, that is, the locking pin assembly is inserted into the locking assembly, the outer rotor of the motor is constrained and prevented from rotating, thereby achieving the locking of the blade.

[0090] See also Figure 5 The flying car blade locking system 400 of the present application includes a blade locking control module 410 , a position sensor detection module 420 , a speed control module 430 , and a blade locking structure control module 440 .

[0091] The blade locking control module 410 is used to control the rotation of the blade through the speed control module 430 after the blade locking function is activated, and obtain the result of the position sensor detection module 420 detecting the in-place mark; when it is known that the position sensor detection module 420 detects the in-place mark, collect the first cumulative operating angle of the blade, and compare the first cumulative operating angle and the first deviation of the preset target angle value; determine the target speed of the blade adjustment according to the first deviation, and send it to the speed control module 430; after the speed control module 430 controls the blade to stop, collect the second cumulative operating angle of the blade, and compare the second cumulative operating angle and the second deviation of the preset target angle value; when the second deviation meets the preset condition, generate a locking command and send it to the blade locking structure control module 440.

[0092] The position sensor detection module 420 is used to detect the position mark.

[0093] After the blade locking function is activated, blade locking control module 410 may control the blade rotation according to a preset first target speed through speed control module 430 .

[0094] Among them, the blade locking control module 410 can use a preset PI table lookup control rule to determine the corresponding second target speed as the adjusted target speed according to the first deviation to adjust the rotation speed of the blade through the speed control module 430.

[0095] The blade locking control module 410 may generate a locking instruction and send it to the blade locking structure control module when the second deviation is less than a preset threshold and is maintained for a first preset time period.

[0096] The blade locking control module 410 may also stop locking the blades when no locking instruction is generated for a second preset time period.

[0097] The speed control module 430 is used to control the blades to rotate according to the adjusted target speed and stop at a preset target angle value.

[0098] The blade locking structure control module 440 is used to control the blade locking structure to lock the blade according to the locking instruction sent by the blade locking control module 410 .

[0099] Figure 6 It is a structural schematic diagram of a flying car blade locking system shown in an embodiment of the present application.

[0100] See also Figure 6 The flying car blade locking system 400 of the present application includes a blade locking control module 410, a position sensor detection module 420, a speed control module 430, a blade locking structure control module 440, a locking angle learning module 450, and a locking angle storage module 460.

[0101] The locking angle learning module 450 is used to obtain the result of the position sensor detection module 420 detecting the in-position mark after the locking learning function is activated; when it is known that the position sensor detection module 420 detects the in-position mark, collect the third cumulative operating angle of the blade rotating along the preset direction; receive the locking in-position signal generated by the blade locking structure control module 440 after receiving the second locking instruction and controlling the blade locking structure to lock the blade according to the second locking instruction, and determine that the third cumulative operating angle is the preset target angle value.

[0102] The locking angle storage module 460 is used to store the preset target angle value determined by the locking angle learning module 450 , so that in the subsequent locking control process of the blades, it is convenient for the blade locking control module 410 to call the preset target angle value.

[0103] In this embodiment, the flying car blade locking system of the present application controls the rotation of the blade and detects the in-position mark after the blade locking function is activated. When the in-position mark is detected, the first cumulative operating angle of the blade is collected, and a first deviation between the first cumulative operating angle and a preset target angle value is compared. The target speed of blade adjustment is determined according to the first deviation, so as to control the blade to stop to the preset target angle value according to the adjusted target speed, and the second cumulative operating angle is collected after the blade stops, and a second deviation between the second cumulative operating angle and the preset target angle value is compared. When the second deviation meets the preset condition, the locking structure is controlled to lock the blade, thereby achieving precise locking of the blade, effectively preventing the blade from being affected by external factors and rotating unnecessary when the flying car is in a non-air flight scenario, thereby improving the stability and safety of the flying car.

[0104] Figure 7 is a schematic structural diagram of a flying car shown in an embodiment of the present application; Figure 8 is a partial structural schematic diagram of a flying car shown in an embodiment of the present application; Fig. 9 is another structural schematic diagram of a flying car shown in an embodiment of the present application; Fig.10 is a schematic diagram of the structure of the flying car shown in the embodiment of the present application when the system detects an arrival mark; Fig.11 is a schematic diagram of the flying car shown in an embodiment of the present application when the propeller blades stop in place; Fig.12 is a schematic diagram of parameters during the learning process of the blade locking angle of the flying car shown in the embodiment of the present application; Fig.13 It is a schematic diagram of parameters during the process of automatic locking of the propeller blades of a flying car shown in an embodiment of the present application.

[0105] For reference Figures 7 to 13 shown.

[0106] In order to further understand the flying car blade locking method of the present application, the following is combined with the flying car blade locking system, taking the flying car starting the blade locking angle learning function and the blade automatic locking function as an example, the flying car's blade locking angle learning process and the blade automatic locking process are described in detail.

[0107] 1. Structural setting of flying car: The flying car may include a blade 510 , a motor 520 , a blade locking structure 530 , a position sensor 540 , a blade lock fixing point 550 , and a position sensor detection point 560 .

[0108] Among them, the blade 510, the blade lock fixing point 550 and the position sensor detection point 560 are fixed on the outer rotor of the motor 520, and the motor 520 drives the blade 510 to rotate; it can be understood that the relative positions of the blade 510, the blade lock fixing point 550 and the position sensor detection point 560 are fixed; the blade locking structure 530 and the position sensor 540 are fixed on the propeller arm connected to the blade 510 on the flying car; it can be understood that the positions of the blade locking structure 530 and the position sensor 540 relative to the flying car are fixed.

[0109] 2. The learning process of the flying car for blade locking angle: S410a, sending a locking angle learning instruction to the locking angle learning module 450 via the host computer to activate the blade locking angle learning function of the locking angle learning module 450.

[0110] Among them, when the controller power supply of the flying car is in a low-voltage activation state, it meets the conditions for receiving the locking angle learning instruction and activating the blade locking angle learning function of the locking angle learning module 450.

[0111] S420a, rotating the blade 510 according to the rotation direction of the motor 520, so as to drive the outer rotor of the motor 520 to rotate.

[0112] S430a, when the position sensor 540 detects that the position sensor detection point 560 on the outer rotor of the motor 520 enters the detection range, the position sensor detection module 420 sends a position mark to the locking angle learning module 450. At this time, the positions between the components of the flying car are as follows: Fig.10 As shown, the parameters between the components correspond to Fig.12 Point A in the.

[0113] S440a, when the locking angle learning module 450 detects the in-position mark, the accumulated running angle θ0 of the blade rotating along the rotation direction of the motor 520 is collected.

[0114] S450a, continue to rotate the blade 510 so that the blade lock fixing point 550 is aligned with the center point of the lock pin of the blade locking structure 530, and send a locking instruction to the locking angle learning module 450 through the host computer.

[0115] S460a, after receiving the locking instruction, the locking angle learning module 450 controls the blade locking structure 530 through the blade locking structure control module 440 according to the locking instruction to allow the locking pin to be inserted into the blade lock fixing point 550.

[0116] S470a, after the blade locking structure 530 is locked in place, the blade locking structure control module 440 feeds back a locking in place signal to the locking angle learning module 450, so that the locking angle learning module 450 determines that the blade locking angle learning is successful and feeds back a learning success signal to the host computer, determines the current cumulative running angle θ0 as the final blade locking angle and saves it to the locking angle storage module 460. At this time, the positions between the components of the flying car are as follows: Fig.11 As shown, the parameters between the components correspond to Fig.12 It should be understood that the cumulative running angle θ0 can be obtained by calculating the cumulative resolver angle per unit time between the position of point A and the position of point B and dividing it by the number of resolver pole pairs of the motor.

[0117] 3. The process of the flying car automatically locking the propeller blades: S410b: The host computer sends an automatic propeller locking instruction to the blade locking control module 410 to activate the automatic propeller locking function of the blade locking control module 410.

[0118] S420b, the blade locking control module 410 sends a corresponding speed instruction to the speed control module 430 according to the preset target speed, and the speed control module 430 controls the rotation of the motor 520.

[0119] S430b, when the position sensor 540 detects that the position sensor detection point 560 on the outer rotor of the motor 520 enters the detection range, the position sensor detection module 420 sends a position flag to the blade locking control module 410.

[0120] S440b, when the blade locking control module 410 detects the in-position mark, it starts to collect the actual blade running angle θ1, and the blade locking angle obtained from the locking angle storage module 460 is used as the target position, and the deviation Err from the actual blade running angle θ1 is used to perform a PI table lookup to control the target speed of the motor 520 to stop the blade position at the target position. At this time, the positions between the components of the flying car are as follows Fig.10 As shown, the parameters between the components correspond to Fig.13 The position of point C in .

[0121] The target speed is maintained between a preset maximum speed and a preset minimum speed.

[0122] S450b, when the deviation between the target position and the actual position is less than a preset threshold and lasts for a preset time, it is determined that the blades have stopped in place, and the blade locking control module 410 sends a locking instruction to the blade locking structure control module 440, so that the blade locking structure control module 440 controls the blade locking structure 530 to insert the locking pin into the blade lock fixing point 550. At this time, the positions between the components of the flying car are as follows Fig.11As shown, the parameters between the components correspond to Fig.13 The D point position in .

[0123] S460b, after the blade locking structure 530 is locked in place, the blade locking structure control module 440 feeds back a locking in place signal to the blade locking control module 410, so that the blade locking control module 410 determines that the automatic locking is completed and feeds back a success result to the host computer.

[0124] Regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0125] Fig.14 It is a schematic diagram of the structure of a flying car shown in an embodiment of the present application.

[0126] See also Fig.14 , the flying car 1000 includes a memory 1010 and a processor 1020 .

[0127] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0128] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0129] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0130] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0131] Alternatively, the present application can also be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) on which an executable code (or a computer program or a computer instruction code) is stored. When the executable code (or a computer program or a computer instruction code) is executed by a processor of a flying car (or a server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0132] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for locking blades of a flying car, characterized in that: The flying car comprises: a blade and a blade locking structure, and the flying car blade locking method comprises: After the propeller lock function is activated, the propellers are controlled to rotate and the position mark is detected; When the in-position mark is detected, a first accumulated running angle of the blade is collected, and a first deviation between the first accumulated running angle and a preset target angle value is compared; determining a target rotation speed for blade adjustment according to the first deviation, so as to control the blade to stop at the preset target angle value according to the adjusted target rotation speed; After the blade stops, collecting a second accumulated operating angle of the blade, and comparing a second deviation between the second accumulated operating angle and a preset target angle value; When the second deviation meets a preset condition, a locking instruction is generated to control the blade locking structure to lock the blade.

2. The method according to claim 1, characterized in that: The blade lock function is activated, including: Receive an automatic propeller locking instruction sent by a host computer, and activate the automatic propeller locking function according to the automatic propeller locking instruction.

3. The method according to claim 1, characterized in that The controlling the rotation of the blades comprises: The blades are controlled to rotate according to a preset first target rotation speed.

4. The method according to claim 1, characterized in that: The step of determining a target rotation speed for blade adjustment according to the first deviation includes: According to the first deviation, a preset PI table lookup control rule is adopted to determine a corresponding second target speed as an adjusted target speed to adjust the rotation speed of the blade.

5. The method according to claim 4, characterized in that The method of using a preset PI table lookup control rule to determine a corresponding rotation speed as the adjusted second target rotation speed to adjust the rotation speed of the blade includes: A preset PI table lookup control rule is used to determine the corresponding rotation speed within a preset rotation speed range as the adjusted target rotation speed to adjust the rotation speed of the blade.

6. The method according to claim 1, characterized in that When the second deviation meets a preset condition, generating a locking instruction to control the blade locking structure to lock the blade includes: When the second deviation is less than a preset threshold and is maintained for a first preset time period, a locking instruction is generated to control the blade locking structure to be inserted into the blade lock fixing point of the blade to achieve locking.

7. The method according to claim 6, characterized in that The method further includes: When no locking instruction is generated within a second preset time period, locking of the blades is stopped.

8. The method according to any one of claims 1 to 7, characterized in that: The preset target angle value is predetermined by: After the locking learning function is activated, detecting the in-place mark; When the in-position mark is detected, a third accumulated running angle of the blade rotating along a preset direction is collected; receiving a second locking instruction, and locking the blade according to the second locking instruction; After receiving the locking in place signal, the third accumulated running angle is determined to be a preset target angle value.

9. A flying car blade locking system, characterized in that: The flying car comprises: a blade and a blade locking structure, and the flying car blade locking system comprises: A blade locking control module is used to control the rotation of the blade through the speed control module after the blade locking function is activated, and obtain the result of the position sensor detection module detecting the in-place mark; when it is known that the position sensor detection module detects the in-place mark, collect the first cumulative operating angle of the blade, and compare the first cumulative operating angle with a first deviation of a preset target angle value; determine the target speed of blade adjustment according to the first deviation, and send it to the speed control module; after the speed control module controls the blade to stop, collect the second cumulative operating angle of the blade, and compare the second cumulative operating angle with a second deviation of the preset target angle value; when the second deviation meets the preset condition, generate a locking instruction and send it to the blade locking structure control module; A position sensor detection module, used to detect the position mark; A speed control module, used to control the rotation of the blades, and to control the rotation of the blades according to the adjusted target speed and to stop at the preset target angle value; The blade locking structure control module is used to control the blade locking structure to lock the blade according to the locking instruction sent by the blade locking control module.

10. The system according to claim 9, characterized in that The flying car blade locking system also includes: The locking angle learning module is used to detect the in-place mark after the locking learning function is activated; when it is known that the position sensor detection module detects the in-place mark, collect the third cumulative operating angle of the blade rotating along the preset direction; receive the locking in-place signal generated by the blade locking structure control module after receiving the second locking instruction and controlling the blade locking structure to lock the blade according to the second locking instruction, and determine that the third cumulative operating angle is a preset target angle value.

11. A flying car, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 8.

12. A computer-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of the flying car, the processor is caused to execute the method as described in any one of claims 1 to 8.

Images