Energy cooperative control method and two-split-structure hovercar

Abstract

The invention discloses an energy cooperative control method and a two-split-configuration hovercar. The energy cooperative control method comprises the steps that a starting instruction is received; the combined split state of the two split bodies is obtained, and the land walking body battery pack and the flying body battery pack are selectively controlled to be electrically connected with the voltage adjusting module according to the combined split state of the two split bodies; and acquiring an energy coordination mode, determining an output object according to the energy coordination mode, and selecting and controlling the land walking body battery pack, the flying body battery pack and the voltage regulation module to output a power supply with a corresponding size to the corresponding output object. According to the invention, the problem of poor coordination between the independent energy sources of the existing split-type hovercar can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of two-split vehicles, and in particular to an energy coordination control method and a two-split flying vehicle. Background Art

[0002] With the advancement of science and technology and the development of society, people's living standards have been greatly improved, and their requirements for travel have become higher and higher. However, due to the increasing traffic congestion in cities, especially in large cities, people waste more and more time in traffic jams. In order to make travel more convenient and faster, people have thought of developing flying cars, which can drive on the road like cars and fly in the air, avoiding traffic jams on the road and reaching the destination quickly and conveniently.

[0003] At present, flying cars are mainly integrated flying cars. Whether flying in the air or driving on the ground, the air module and the ground module of the integrated flying car are always integrated, and the overall load burden is relatively large, and the flexibility is poor. Therefore, split flying cars came into being. For split flying cars, the land body and the flying body have independent energy sources, but these two independent energy sources usually work independently, with poor coordination and low flexibility, and cannot meet some special scenarios. Summary of the invention

[0004] The main purpose of the present invention is to propose an energy coordination control method, aiming to solve the problem of poor coordination between independent energy sources of existing split-type flying cars.

[0005] To achieve the above-mentioned purpose, the energy cooperative control method proposed in the present invention is applied to a two-split configuration flying car, wherein the two-split configuration flying car includes a land body battery pack, a flying body battery pack, a voltage regulation module, a land load interface and a flying load interface, wherein the input end of the voltage regulation module is respectively connected to the land body battery pack and the land load interface, and the output end of the voltage regulation module is respectively connected to the flying body battery pack and the flying load interface, and a switch circuit is further provided between the voltage regulation module and the flying body battery pack and the flying load interface. The energy cooperative control method includes:

[0006] Receive a start command;

[0007] Obtaining the states of the two split bodies, and selecting and controlling the land body battery pack and the flying body battery pack to be electrically connected to the voltage regulation module according to the states of the two split bodies, the combination and the separation;

[0008] The energy coordination mode is obtained, and the output object is determined according to the energy coordination mode, and the land-based battery pack, the flying battery pack and the voltage regulation module are selectively controlled to output power of corresponding size to the corresponding output object.

[0009] Optionally, the step of obtaining the state of the two split bodies, and selecting and controlling the land body battery pack and the flying body battery pack to be electrically connected to the voltage regulation module according to the state of the two split bodies, comprises:

[0010] Control the voltage regulation module to stop working;

[0011] Get the status of the two split bodies, combined bodies and split bodies;

[0012] When the acquired split state of the two split bodies is the split state, controlling the land-based battery pack to be electrically connected to the voltage regulating module;

[0013] When the acquired separation state of the two split bodies is the combined state, the land body battery pack and the flying body battery pack are controlled to be electrically connected to the voltage regulating module.

[0014] Optionally, the step of controlling the land-based battery pack and the flying-based battery pack to be electrically connected to the voltage regulating module comprises:

[0015] Controlling the land vehicle battery pack to power on so as to be electrically connected to the voltage regulating module;

[0016] Controlling the switch circuit to be turned on to control the voltage regulation module to be electrically connected to the battery pack of the flying body;

[0017] Control the flying body battery pack to pre-charge the voltage regulation module;

[0018] After the pre-charging is completed, the battery pack of the aircraft is controlled to power on.

[0019] Optionally, the steps of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulation module to output power of corresponding magnitude to the corresponding output object include:

[0020] When the energy acquisition coordination mode is the land-based normal mode, the output object is determined to be the land-based load, and the land-based battery pack is controlled to output a power supply of a corresponding size to the land-based load interface;

[0021] When the energy acquisition coordination mode is the land-based power shortage mode, the output object is determined to be the land-based load, and the voltage regulation module is controlled to output a power supply of corresponding magnitude to the land-based load interface.

[0022] Optionally, when the energy acquisition coordination mode is the land-based normal mode, the step of determining that the output object is a land-based load and controlling the land-based battery pack to output a power supply of a corresponding magnitude to the land-based load interface includes:

[0023] When the energy acquisition coordination mode is the land-based normal mode, determining that the output object is the land-based load, and obtaining the required current of the land-based load;

[0024] The voltage regulation module is controlled to stop working, and the land-based battery pack is controlled to output the required current to the land-based load.

[0025] Optionally, when the energy acquisition coordination mode is the land power shortage mode, the step of determining that the output object is a land load, and controlling the voltage regulation module to output a power supply of a corresponding magnitude to the land load interface includes:

[0026] When the energy acquisition coordination mode is the land power shortage mode, determining that the output object is the land load, and obtaining the demand current of the land load;

[0027] The voltage regulation module is controlled to output a reverse constant voltage so that the flight body battery pack outputs the required current to the land load through the voltage regulation module.

[0028] Optionally, the step of acquiring the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulation module to output power of corresponding magnitude to the corresponding output object further includes:

[0029] When the energy acquisition coordination mode is the land-based high-power mode, the output object is determined to be the land-based load, and the land-based battery pack and the voltage regulation module are controlled to output the required current to the land-based load interface.

[0030] Optionally, when the energy acquisition coordination mode is the land-based high-power mode, the step of determining that the output object is a land-based load, and controlling the land-based battery pack and the voltage regulation module to output power of corresponding magnitude to the land-based load interface includes:

[0031] When the energy acquisition coordination mode is the land-based high-power mode, the output object is determined to be a land-based load, and the required current of the land-based load is obtained;

[0032] The output of the land-based battery pack is controlled, and the reverse constant current output of the voltage regulating module is controlled, so that the flying-based battery pack outputs the required current to the land-based load together with the land-based battery pack through the voltage regulating module.

[0033] Optionally, the step of acquiring the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulation module to output power of corresponding magnitude to the corresponding output object further includes:

[0034] When the energy acquisition coordination mode is the quasi-flight mode, the output object is determined to be the battery pack of the flying body, and the voltage regulation module is controlled to output power of corresponding magnitude to the battery pack of the flying body;

[0035] Optionally, when the energy acquisition coordination mode is the quasi-flight mode, the step of determining that the output object is a battery pack of the flying object, and controlling the voltage regulation module to output power of corresponding magnitude to the battery pack of the flying object includes:

[0036] When the energy acquisition coordination mode is the quasi-flight mode, determining that the output object is the battery pack of the flying body, and acquiring the charging current of the battery pack of the flying body;

[0037] The voltage regulating module is controlled to output a positive constant voltage so that the land-based battery pack outputs the required current to the flying-based battery pack through the voltage regulating module to charge the flying-based battery pack.

[0038] Optionally, the energy collaborative control method further includes:

[0039] Receive a split request instruction;

[0040] Control the voltage regulation module to stop working;

[0041] Control the power-down of the land-based battery pack and the flying-based battery pack, and control the switch circuit to shut down;

[0042] The output allows the separation command to control the two-split configuration flying car to separate.

[0043] The present invention further proposes a two-part flying car, the two-part flying car comprising:

[0044] Land load interface, used to connect to land load;

[0045] Flight load interface, used to connect the flight load;

[0046] A land-based battery pack, the land-based battery pack being electrically connected to the land-based load interface;

[0047] A voltage regulating module, the input end of which is electrically connected to the land-based load interface and the land-based battery pack respectively;

[0048] A flying body battery pack, the flying body battery pack being electrically connected to the flying load interface and the output end of the voltage regulating module respectively;

[0049] A switch circuit is provided between the voltage regulating module and the flying body battery pack, and is used to control the voltage regulating module to be electrically connected to the flying body battery pack and the flying load interface when it is turned on;

[0050] The vehicle status monitoring module is used to monitor the status of the two split bodies of the vehicle;

[0051] A control module, wherein the control module is electrically connected to the land load interface, the flight load interface, the land body battery pack, the voltage regulation module, the flight body battery pack, the switch circuit and the vehicle status monitoring module respectively, and an energy coordination control program is stored in the control module, and when the energy coordination control program is executed by the control module, the energy coordination control method as described above is implemented.

[0052] In the technical solution of the present invention, when a start command issued by a user is received, the combined and separated states of the two split bodies are obtained, and it is determined whether the two-split configuration flying car is in a combined state or a separated state, and according to the combined and separated states of the two split bodies, the land body battery pack and the flying body battery pack are selected to be electrically connected to the voltage regulation module, and then the energy coordination mode is obtained, the output object is determined, and the land body battery pack, the flying body battery pack and the voltage regulation module are selected to output power of corresponding size to the corresponding output object, so as to realize energy coordinated energy supply, and the flying body energy source can provide emergency power to the land body in the combined state, so that the land body has a stronger endurance, and the land body energy source can replenish the flying body energy source in the combined state, so that the flying body energy source has sufficient energy to fly, thereby improving the coordination and flexibility between the energy sources, being able to meet more application scenarios, and improving the practicality of the two-split configuration flying car. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0054] Figure 1 This is a schematic diagram of the circuit structure of an embodiment of a two-part flying car of the present invention;

[0055] Figure 2 A schematic diagram of a flow chart of an embodiment of an energy collaborative control method of the present invention;

[0056] Figure 3 It is a detailed flow chart of an embodiment of the energy cooperative control method of the present invention;

[0057] Figure 4 A detailed flow chart of another embodiment of the energy cooperative control method of the present invention;

[0058] Figure 5 A detailed flow chart of another embodiment of the energy collaborative control method of the present invention;

[0059] Figure 6 A detailed flow chart of another embodiment of the energy cooperative control method of the present invention;

[0060] Figure 7 A detailed flow chart of another embodiment of the energy cooperative control method of the present invention;

[0061] Figure 8A detailed flow chart of another embodiment of the energy collaborative control method of the present invention;

[0062] Fig. 9 A detailed flow chart of another embodiment of the energy cooperative control method of the present invention;

[0063] Fig.10 This is a detailed flowchart of another embodiment of the energy collaborative control method of the present invention.

[0064] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0067] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0068] With the advancement of science and technology and the development of society, people's living standards have been greatly improved, and their requirements for travel have become higher and higher. However, due to the increasing traffic congestion in cities, especially in large cities, people waste more and more time in traffic jams. In order to make travel more convenient and faster, people have thought of developing flying cars, which can drive on the road like cars and fly in the air, avoiding traffic jams on the road and reaching the destination quickly and conveniently.

[0069] At present, flying cars are mainly integrated flying cars. Whether flying in the air or driving on the ground, the air module and the ground module of the integrated flying car are always integrated, and the overall load burden is relatively large, and the flexibility is poor. Therefore, split flying cars came into being. For split flying cars, the land body and the flying body have independent energy sources, but these two independent energy sources usually work independently, with poor coordination and low flexibility, and cannot meet some special scenarios.

[0070] In order to solve the above problems, the present invention proposes an energy cooperative control method, which is applied to a two-split configuration flying car, wherein the two-split configuration flying car includes a land body battery pack, a flying body battery pack, a voltage regulation module, a land load interface and a flying load interface, wherein the input end of the voltage regulation module is respectively connected to the land body battery pack and the land load interface, and the output end of the voltage regulation module is respectively connected to the flying body battery pack and the flying load interface, and a switch circuit is further provided between the voltage regulation module and the flying body battery pack and the flying load interface. Figure 1 and Figure 2 In one embodiment, the energy collaborative control method includes:

[0071] Step S100, receiving a start instruction;

[0072] Step S200, obtaining the states of the two split bodies, the combined bodies, and the split bodies, and selecting and controlling the land-based battery pack and the flying battery pack to be electrically connected to the voltage regulating module according to the states of the two split bodies, the combined bodies, and the split bodies;

[0073] Step S300, obtaining an energy coordination mode, and determining an output object according to the energy coordination mode, and selectively controlling the land-based battery pack, the flying battery pack, and the voltage regulating module to output power of corresponding magnitude to the corresponding output object.

[0074] In this embodiment, the two-split configuration flying car includes a land body battery pack, a flying body battery pack, a voltage regulation module, a land load interface and a flying load interface, wherein the land load interface is respectively connected to the land body battery pack and the voltage regulation module for connecting to the land load, and the flying load interface is respectively connected to the flying body battery pack and the voltage regulation module for connecting to the flying load. The output end of the voltage regulation module is connected to the flying body battery pack, and a switching circuit is also provided between the voltage regulation module and the flying body battery pack and the flying load interface for controlling the electrical connection between the voltage regulation module and the flying body battery pack. Corresponding main positive contactors and main negative contactors may be provided inside the land body battery pack and the flying body battery pack for controlling the power on and off of the land body battery pack and the flying body battery pack. Refer to Figure 1 , Figure 1This is a circuit diagram of an embodiment of a two-split flying car. As shown in the figure, the land body battery pack, voltage regulation module and land load interface are arranged in the land body part of the car, and the flying body battery and flying load interface are arranged in the flying body part of the car. Both the land body battery pack and the flying body battery pack include a main positive contactor, a main negative contactor and a pre-charge contactor. When the main positive contactor and the main negative contactor in the battery pack are closed, the battery pack is controlled to be powered on. A land split main positive contactor, a land split main negative contactor, a flying split main positive contactor and a flying split main negative contactor are also arranged between the voltage regulation module and the flying body battery pack to control the electrical connection between the voltage regulation module and the flying body battery pack.

[0075] It is understandable that in the two-part flying car, a control module for receiving the start-up instruction may be provided, and the control module may be composed of a processor, such as an MCU, a DSP (Digital Signal Process), a FPGA (Field Programmable Gate Array), etc., for receiving the start-up instruction issued by the user. It is understandable that the control module for receiving the start-up instruction may be the original central controller in the two-part flying car, or may be an additional control module dedicated to energy control.

[0076] In a two-split flying car, a user can issue a start command through a control panel or other input components. When receiving the start command issued by the user, the two-split flying car is obtained in the combined or separated state, that is, it is determined whether the two-split flying car is in the combined state or the separated state, and the land body battery pack and the flying body battery pack are electrically connected to the voltage regulation module according to the combined or separated state of the two split bodies. It can be understood that when the car is in the split state, since the land body part is separated from the flying body part, it is obviously not necessary to electrically connect the flying body battery pack to the voltage regulation module at this time, and it is only necessary to control the land body battery pack to power on to supply power to the land load.

[0077] After the land-based battery pack and the flying-based battery pack are electrically connected to the voltage regulating module according to the split state of the two split bodies, the energy coordination mode of the vehicle is obtained, and the output object is determined according to the energy coordination mode, and the land-based battery pack, the flying-based battery pack and the voltage regulating module are controlled to output the corresponding power to the corresponding output object. Specifically, the energy coordination mode may include a normal land mode, a high-power land mode, etc. For example, when the energy coordination mode is a high-power land mode, if a single land-based battery pack is used to supply energy, the load on the land-based battery pack is relatively large. At this time, the flying-based battery pack may be electrically connected to the voltage regulating module, and the land-based battery pack and the flying-based battery pack may simultaneously supply the land-based load function to meet the high-power load demand, so that the land-based body has stronger drivability. It can be understood that different energy coordination modes can also realize that the flying-based energy source in the combined state provides emergency power to the land-based body, so that the land-based body has a stronger endurance, and can also realize that the land-based energy source in the combined state replenishes the flying-based energy source, so that the flying-based energy source has sufficient energy to fly.

[0078] In the technical solution of the present invention, when a start command issued by a user is received, the combined and separated states of the two split bodies are obtained, and it is determined whether the two-split configuration flying car is in a combined state or a separated state, and according to the combined and separated states of the two split bodies, the land body battery pack and the flying body battery pack are selected to be electrically connected to the voltage regulation module, and then the energy coordination mode is obtained, the output object is determined, and the land body battery pack, the flying body battery pack and the voltage regulation module are selected to output power of corresponding size to the corresponding output object, so as to realize energy coordinated energy supply, and the flying body energy source can provide emergency power to the land body in the combined state, so that the land body has a stronger endurance, and the land body energy source can replenish the flying body energy source in the combined state, so that the flying body energy source has sufficient energy to fly, thereby improving the coordination and flexibility between the energy sources, being able to meet more application scenarios, and improving the practicality of the two-split configuration flying car.

[0079] Reference Figure 3 In one embodiment, the step of obtaining the state of the two split bodies, and selecting and controlling the electrical connection between the land body battery pack and the flying body battery pack and the voltage regulation module according to the state of the two split bodies, comprises:

[0080] Step S210, controlling the voltage regulation module to stop working;

[0081] Step S220, obtaining the combined and separated states of the two bodies;

[0082] Step S230: When the acquired state of the two split bodies is the split state, controlling the land-based battery pack to be electrically connected to the voltage regulating module;

[0083] Step S240: When the acquired separation state of the two split bodies is the combined state, control the land body battery pack and the flying body battery pack to be electrically connected to the voltage regulating module.

[0084] In this embodiment, when the start command sent by the user is received, the voltage regulation module is first controlled to stop working, so that the high voltage of the land body and the flying body are electrically isolated, and then the two-body combined state is obtained. The two-body combined state can be obtained through the vehicle state monitoring module. When the two-body combined state is obtained to be a separated state, that is, when the land body and the flying body are separated, the land body battery pack is controlled to be powered on, that is, the land body battery pack is controlled to be electrically connected to the voltage regulation module, so that the land body battery pack can supply energy to the land load. When the two-body combined state is obtained to be a combined state, that is, when the land body and the flying body are integrated, the land body battery pack is controlled to be powered on, and the flying body battery pack is controlled to be electrically connected to the voltage regulation module, so that the flying body battery pack and the land body battery pack can supply energy at the same time.

[0085] Reference Figure 4 Optionally, the step of controlling the land-based battery pack and the flying-based battery pack to be electrically connected to the voltage regulating module comprises:

[0086] Step S241, controlling the land vehicle battery pack to be powered on so as to be electrically connected to the voltage regulating module;

[0087] Step S242, controlling the switch circuit to be turned on, so as to control the voltage regulation module to be electrically connected to the battery pack of the flying body;

[0088] Step S243, controlling the battery pack of the flying body to pre-charge the voltage regulating module;

[0089] Step S244: After the pre-charging is completed, control the battery pack of the flying body to power on.

[0090] When the state of the two split bodies is obtained to be the combined state, that is, when the land body and the flying body are combined into one, the main positive contactor and the main negative contactor in the land body battery pack are first controlled to be closed, that is, the land body battery pack is controlled to be powered on, so that the land body battery pack is electrically connected to the land load interface and the voltage regulation module, and then the switch circuit between the voltage regulation module and the flying body battery pack is controlled to be turned on, so that the voltage regulation module is electrically connected to the flying body battery pack. At this time, the pre-charge contactor and the main negative contactor inside the flying body battery pack are first controlled to be closed, so that the flying body battery pack pre-charges the voltage regulation module to avoid high-voltage shock when the flying body battery pack is powered on and damages the high-voltage components. After the pre-charge is completed, the pre-charge contactor inside the flying body battery pack is controlled to be turned off, and the main positive contactor inside the flying body battery pack is controlled to be closed, so that the flying body battery pack is powered on, and the operation of controlling the land body battery pack and the flying body battery pack to be electrically connected to the voltage regulation module is completed. After completing the operation of controlling the electrical connection between the land-based battery pack and the flying-based battery pack and the voltage regulating module, the voltage regulating module can be controlled to perform forward output or reverse output to achieve different energy synergy effects.

[0091] Reference Figure 5 In one embodiment, the steps of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulating module to output power of corresponding magnitude to the corresponding output object include:

[0092] Step S310: when the energy coordination mode is the land-based normal mode, determining that the output object is a land-based load, and controlling the land-based battery pack to output a corresponding amount of power to the land-based load interface;

[0093] When the land body battery pack and the flying body battery pack are electrically connected to the voltage regulation module according to the split state of the two split bodies, the energy coordination mode of the car is obtained, and the output object is determined according to the energy coordination mode, and the land body battery pack, the flying body battery pack and the voltage regulation module are controlled to output power of corresponding size to the corresponding output object.

[0094] Specifically, when the energy coordination mode is the normal land mode, that is, the land load is working at this time and there is no additional energy supply demand, then the output object can be determined as the land load, and the land battery pack can meet the energy supply demand of the land load. At this time, the energy supply demand of the land load can be obtained, and the land battery pack can be controlled to output a corresponding size of power to the land load interface to realize energy supply to the land load.

[0095] Step S320: when the energy coordination mode is the land-based power-deficient mode, determining that the output object is a land-based load, and controlling the voltage regulating module to output a power supply of a corresponding magnitude to the land-based load interface.

[0096] When the energy coordination mode is the land power shortage mode, that is, the land load is working at this time, but the energy of the land battery pack is insufficient and cannot supply energy to the land load, then the output object can be determined to be the land load, and the flying battery pack can meet the energy supply demand of the land load. At this time, the energy supply demand of the land load can be obtained, and the voltage regulation module can be controlled to work in reverse, so that the flying battery pack outputs a corresponding amount of power to the land load interface through the voltage regulation module to realize the energy supply to the land load. In this way, the flying battery pack can be used to provide emergency power to the land load in the combined state, so that the land body has a stronger endurance.

[0097] Reference Figure 6 Optionally, when the energy acquisition coordination mode is the land-based normal mode, the step of determining that the output object is a land-based load and controlling the land-based battery pack to output a power supply of a corresponding size to the land-based load interface includes:

[0098] Step S311: when the energy coordination mode is the land-based normal mode, determining that the output object is a land-based load, and obtaining a required current of the land-based load;

[0099] Step S312: Control the voltage regulation module to stop working, and control the land-based battery pack to output the required current to the land-based load.

[0100] Specifically, when the energy coordination mode is the normal land mode, that is, the land load is working at this time and there is no additional energy supply demand, then the output object can be determined to be the land load, and the land battery pack can meet the energy supply demand of the land load. At this time, the required current of the land load can be obtained, and the voltage regulation module can be controlled to stop working to prevent the output current of the land battery pack from flowing to the flying battery pack. Then the land battery pack is controlled to output the required current to the land load to realize the energy supply to the land load.

[0101] Reference Figure 7 Optionally, when the energy acquisition coordination mode is the land power shortage mode, the step of determining that the output object is a land load and controlling the voltage regulation module to output a power supply of a corresponding size to the land load interface includes:

[0102] Step S321: when the energy coordination mode is the land power shortage mode, determining that the output object is the land load, and obtaining the required current of the land load;

[0103] Step S322, controlling the voltage regulation module to output a reverse constant voltage, so that the flying body battery pack outputs the required current to the land load through the voltage regulation module.

[0104] When the energy coordination mode is the land power shortage mode, that is, the land load is working at this time, but the energy of the land battery pack is insufficient and cannot supply energy to the land load, then the output object can be determined to be the land load, and the flying battery pack can meet the energy supply demand of the land load. At this time, the required current of the land load can be obtained, and the voltage regulation module can be controlled to output reverse constant voltage, so that the flying battery pack outputs the required current to the land load interface through the voltage regulation module to realize the energy supply to the land load. In this way, the flying battery pack can be used to provide emergency power to the land load in the combined state, so that the land body has a stronger endurance.

[0105] Reference Figure 8 In one embodiment, the step of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulation module to output power of corresponding magnitude to the corresponding output object also includes:

[0106] Step S330: when the energy coordination mode is the land-based high-power mode, determine that the output object is the land-based load, and control the land-based battery pack and the voltage regulation module to output the required current to the land-based load interface.

[0107] Optionally, when the energy acquisition coordination mode is the land-based high-power mode, the step of determining that the output object is a land-based load, and controlling the land-based battery pack and the voltage regulation module to output power of corresponding magnitude to the land-based load interface includes:

[0108] Step S331: when the energy coordination mode is the land-based high-power mode, determining that the output object is a land-based load, and obtaining the required current of the land-based load;

[0109] Step S332, control the output of the land-based battery pack, and control the reverse constant current output of the voltage regulating module, so that the flying-based battery pack outputs the required current to the land-based load together with the land-based battery pack through the voltage regulating module.

[0110] When the energy coordination mode is the land high-power mode, that is, the land load is working at this time, but the power required by the land load is large, then the output object can be determined to be the land load. At this time, if a single land-based battery pack is used to supply energy, the load of the land-based battery pack is large, then the land-based battery pack and the flying body battery pack can simultaneously supply energy to the land load to meet the high-power demand of the land-based load. Specifically, the required current of the land load can be obtained first, the land-based battery pack can be controlled to power on, and the voltage regulation module can be controlled to output a reverse constant current, so that the flying body battery pack can output the required current to the land load through the voltage regulation module and the land-based battery pack to meet the high-power demand of the land-based load. With this arrangement, in the combined state, the flying body battery pack and the land-based battery pack can be used to jointly supply the land load function to meet the high-power demand of the land-based load, so that the land-based body has stronger drivability.

[0111] Reference Fig. 9 In one embodiment, the step of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulation module to output power of corresponding magnitude to the corresponding output object also includes:

[0112] Step S340: when the energy acquisition coordination mode is the quasi-flight mode, determining that the output object is the battery pack of the flying object, and controlling the voltage regulation module to output power of corresponding magnitude to the battery pack of the flying object;

[0113] Optionally, when the energy acquisition coordination mode is the quasi-flight mode, determining that the output object is a flying body battery pack, and controlling the voltage regulation module to output a corresponding amount of power to the flying body battery pack includes:

[0114] Step S341: when the energy coordination mode is the quasi-flight mode, determining that the output object is a battery pack of the flying object, and obtaining the charging current of the battery pack of the flying object;

[0115] Step S342, controlling the voltage regulating module to output a positive constant voltage, so that the land-based battery pack outputs the required current to the flying-based battery pack through the voltage regulating module, so as to charge the flying-based battery pack.

[0116] When the energy coordination mode is the land-based pseudo-flight mode, that is, the flying body battery pack has insufficient energy at this time, and it is necessary to supplement the flying body battery pack so that the flying body battery pack can have sufficient energy to supply the flying load for flight during flight, then the land-based battery pack can be controlled to supplement the flying body battery pack through the voltage regulation module so that the flying body battery pack can have sufficient energy to supply the flying load for flight during flight. Specifically, the charging current of the flying body battery pack can be obtained first, the land-based battery pack can be controlled to power on, and the voltage regulation module can be controlled to output a positive constant voltage so that the land-based battery pack outputs the required current to the flying body battery pack through the voltage regulation module to charge the flying body battery pack and supplement the energy of the flying body battery pack so that the flying body battery pack can have sufficient energy to supply the flying load for flight during flight. With this arrangement, the land-based battery pack can be used to supplement the flying body battery pack in the combined state to ensure that the flying body battery pack has sufficient energy and can have sufficient energy supply during flight.

[0117] Reference Fig.10 In one embodiment, the energy collaborative control method further includes:

[0118] Step S400, receiving a split request instruction;

[0119] Step S500, controlling the voltage regulation module to stop working;

[0120] Step S600, controlling the land-based battery pack and the flying-based battery pack to power down, and controlling the switch circuit to shut down;

[0121] Step S700: output a separation permission instruction to control the two-split configuration flying car to separate.

[0122] In a two-split configuration flying car, a user can send a split request instruction through a control panel or other input components. When receiving the split request instruction sent by the user, the voltage regulation module is first controlled to enter the standby mode and stop working, and then the main positive contactor and the main negative contactor inside the land body battery pack and the flying body battery pack are controlled to be turned off, so that the land body battery pack and the flying body battery pack are powered off, and the switch circuit is controlled to be turned off to disconnect the electrical connection between the flying body battery pack and the voltage regulation module. Only after the electrical connection between the land body and the flying body is disconnected, can the separation permission instruction be output to the vehicle's status monitoring module, thereby controlling the two-split configuration flying car to split, otherwise the separation is not allowed, so that the separation and combination interface is prevented from being disconnected under load, and at the same time, the exposed high-voltage interface after the split is prevented from being energized, causing damage to equipment or personnel, thereby improving the safety of the two-split configuration flying car.

[0123] The present invention further proposes a two-part flying car, the two-part flying car comprising:

[0124] Land load interface, used to connect to land load;

[0125] Flight load interface, used to connect the flight load;

[0126] A land-based battery pack, the land-based battery pack being electrically connected to the land-based load interface;

[0127] A voltage regulating module, the input end of which is electrically connected to the land-based load interface and the land-based battery pack respectively;

[0128] A flying body battery pack, the flying body battery pack being electrically connected to the flying load interface and the output end of the voltage regulating module respectively;

[0129] A switch circuit is provided between the voltage regulating module and the flying body battery pack, and is used to control the voltage regulating module to be electrically connected to the flying body battery pack and the flying load interface when it is turned on;

[0130] The vehicle status monitoring module is used to monitor the status of the two split bodies of the vehicle;

[0131] A control module, wherein the control module is electrically connected to the land load interface, the flight load interface, the land body battery pack, the voltage regulation module, the flight body battery pack, the switch circuit and the vehicle status monitoring module respectively, and an energy coordination control program is stored in the control module, and when the energy coordination control program is executed by the control module, the energy coordination control method as described above is implemented.

[0132] The specific structure of the charging control method refers to the above embodiments. Since the two-split configuration flying car adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0133] In this embodiment, the two-split configuration flying car includes a land body battery pack, a flying body battery pack, a voltage regulating module, a switching circuit, a land load interface, a flying load interface, a vehicle status monitoring module and a control module, wherein the land load interface is used to connect to a land load, and the flying load interface is used to connect to a flying load, the land load interface is respectively connected to the input ends of the land body battery pack and the voltage regulating module, and the output end of the voltage regulating module is respectively connected to the flying load interface and the flying body battery pack through the switching circuit, and corresponding main positive contactors and main negative contactors can be provided inside the land body battery pack and the flying body battery pack to control the power-on and power-off of the land body battery pack and the flying body battery pack, and the switching circuit is used to control the electrical connection between the voltage regulating module and the flying body battery pack. The vehicle status monitoring module is used to monitor the two-body combined and split states of the vehicle. When the vehicle is in the combined state, a signal is sent to the control module indicating that the two-body combined and split states are combined states. When the vehicle is in the split state, a signal is sent to the control module indicating that the two-body combined and split states are split states, so that the control module can obtain the two-body combined and split states of the vehicle. At the same time, the vehicle status monitoring module can also be used to monitor whether the user has the operation of controlling the separation of the land body and the flying body. When it is detected that the user has the operation of controlling the separation of the land body and the flying body, a split request instruction is sent to the control module. It can be understood that the control module can be one, and one control module realizes the control of the land part and the flying part. The control module can also be divided into two, one is a land body control module for realizing the control of the land part, and the other is a flying body control module for realizing the control of the flying part. In addition, the vehicle status monitoring module can also be integrated inside the control module, and the control module completes the monitoring function of the vehicle. Refer to Figure 1 , Figure 1 This is a circuit diagram of an embodiment of a two-split flying car. As shown in the figure, the land body battery pack, voltage regulation module and land load interface are arranged in the land body part of the car, and the flying body battery and flying load interface are arranged in the flying body part of the car. Both the land body battery pack and the flying body battery pack include a main positive contactor, a main negative contactor and a pre-charge contactor. When the main positive contactor and the main negative contactor in the battery pack are closed, the battery pack is controlled to be powered on. A land split main positive contactor, a land split main negative contactor, a flying split main positive contactor and a flying split main negative contactor are also arranged between the voltage regulation module and the flying body battery pack to control the electrical connection between the voltage regulation module and the flying body battery pack.

[0134] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An energy synergistic control method, applied to a two-split configuration flying car, the two-split configuration flying car includes a land body battery pack, a flying body battery pack, a voltage regulation module, a land load interface and a flying load interface, the input end of the voltage regulation module is respectively connected to the land body battery pack and the land load interface, the output end of the voltage regulation module is respectively connected to the flying body battery pack and the flying load interface, and a switch circuit is further provided between the voltage regulation module and the flying body battery pack and the flying load interface, characterized in that: The energy collaborative control method comprises: Receive a start command; Obtaining the states of the two split bodies, and selecting and controlling the land body battery pack and the flying body battery pack to be electrically connected to the voltage regulation module according to the states of the two split bodies, the combination and the separation; The energy coordination mode is obtained, and the output object is determined according to the energy coordination mode, and the land-based battery pack, the flying battery pack and the voltage regulation module are selectively controlled to output power of corresponding size to the corresponding output object.

2. The energy collaborative control method according to claim 1, characterized in that: The steps of obtaining the states of the two split bodies, the combined bodies, and the split bodies, and selecting and controlling the land-based battery pack and the flying-based battery pack to be electrically connected to the voltage regulating module according to the states of the two split bodies, the combined bodies, and the split bodies include: Control the voltage regulation module to stop working; Get the status of the two split bodies, fusion and split bodies; When the acquired split state of the two split bodies is the split state, controlling the land-based battery pack to be electrically connected to the voltage regulating module; When the acquired separation state of the two split bodies is the combined state, the land body battery pack and the flying body battery pack are controlled to be electrically connected to the voltage regulating module.

3. The energy collaborative control method according to claim 2, characterized in that: The step of controlling the electrical connection between the land-based battery pack and the flying-based battery pack and the voltage regulating module comprises: Controlling the land vehicle battery pack to power on so as to be electrically connected to the voltage regulating module; Controlling the switch circuit to be turned on to control the voltage regulation module to be electrically connected to the battery pack of the flying body; Control the flying body battery pack to pre-charge the voltage regulation module; After the pre-charging is completed, the battery pack of the aircraft is controlled to power on.

4. The energy cooperative control method according to claim 1, characterized in that: The steps of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulating module to output power of corresponding magnitude to the corresponding output object include: When the energy acquisition coordination mode is the land-based normal mode, the output object is determined to be the land-based load, and the land-based battery pack is controlled to output a power supply of a corresponding size to the land-based load interface; When the energy acquisition coordination mode is the land-based power shortage mode, the output object is determined to be the land-based load, and the voltage regulation module is controlled to output a power supply of corresponding magnitude to the land-based load interface.

5. The energy cooperative control method according to claim 4, characterized in that: The step of determining that the output object is a land load when the energy acquisition coordination mode is the land normal mode and controlling the land battery pack to output a power supply of a corresponding magnitude to the land load interface comprises: When the energy acquisition coordination mode is the land-based normal mode, determining that the output object is the land-based load, and obtaining the required current of the land-based load; The voltage regulation module is controlled to stop working, and the land-based battery pack is controlled to output the required current to the land-based load.

6. The energy cooperative control method according to claim 4, characterized in that: The step of determining that the output object is a land load when the energy acquisition coordination mode is a land power shortage mode and controlling the voltage regulation module to output a power supply of a corresponding magnitude to the land load interface includes: When the energy acquisition coordination mode is the land power shortage mode, determining that the output object is the land load, and obtaining the demand current of the land load; The voltage regulation module is controlled to output a reverse constant voltage so that the flight body battery pack outputs the required current to the land load through the voltage regulation module.

7. The energy cooperative control method according to claim 4, characterized in that: The step of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulating module to output power of corresponding magnitude to the corresponding output object also includes: When the energy acquisition coordination mode is the land-based high-power mode, the output object is determined to be the land-based load, and the land-based battery pack and the voltage regulation module are controlled to output the required current to the land-based load interface.

8. The energy cooperative control method according to claim 7, characterized in that: The step of determining that the output object is a land load when the energy acquisition coordination mode is a land high power mode, and controlling the land battery pack and the voltage regulation module to output a corresponding amount of power to the land load interface includes: When the energy acquisition coordination mode is the land-based high-power mode, the output object is determined to be a land-based load, and the required current of the land-based load is obtained; The output of the land-based battery pack is controlled, and the reverse constant current output of the voltage regulating module is controlled, so that the flying-based battery pack outputs the required current to the land-based load together with the land-based battery pack through the voltage regulating module.

9. The energy cooperative control method according to claim 4, characterized in that: The step of obtaining the energy coordination mode, determining the output object according to the energy coordination mode, and selecting and controlling the land-based battery pack, the flying battery pack, and the voltage regulating module to output power of corresponding magnitude to the corresponding output object also includes: When the energy acquisition coordination mode is the quasi-flight mode, the output object is determined to be the battery pack of the flying body, and the voltage regulation module is controlled to output power of corresponding size to the battery pack of the flying body.

10. The energy cooperative control method according to claim 9, characterized in that: When the energy acquisition coordination mode is the quasi-flight mode, the step of determining that the output object is the battery pack of the flying object, and controlling the voltage regulation module to output power of corresponding magnitude to the battery pack of the flying object comprises: When the energy acquisition coordination mode is the quasi-flight mode, determining that the output object is the battery pack of the flying body, and acquiring the charging current of the battery pack of the flying body; The voltage regulating module is controlled to output a positive constant voltage so that the land-based battery pack outputs the required current to the flying-based battery pack through the voltage regulating module to charge the flying-based battery pack.

11. The energy cooperative control method according to claim 1, characterized in that: The energy collaborative control method further includes: Receive a split request instruction; Control the voltage regulation module to stop working; Control the power-down of the land-based battery pack and the flying-based battery pack, and control the switch circuit to shut down; The output allows the separation command to control the two-split configuration flying car to separate.

12. A two-part flying car, characterized in that: The two-part flying car comprises: Land load interface, used to connect to land load; Flight load interface, used to connect the flight load; A land-based battery pack, the land-based battery pack being electrically connected to the land-based load interface; A voltage regulating module, the input end of which is electrically connected to the land-based load interface and the land-based battery pack respectively; A flying body battery pack, the flying body battery pack being electrically connected to the flying load interface and the output end of the voltage regulating module respectively; A switch circuit is provided between the voltage regulating module and the flying body battery pack, and is used to control the voltage regulating module to be electrically connected to the flying body battery pack and the flying load interface when it is turned on; The vehicle status monitoring module is used to monitor the status of the two split bodies of the vehicle; A control module, wherein the control module is electrically connected to the land load interface, the flight load interface, the land body battery pack, the voltage regulation module, the flight body battery pack, the switch circuit and the vehicle status monitoring module respectively, and an energy collaborative control program is stored in the control module, and when the energy collaborative control program is executed by the control module, the energy collaborative control method as described in any one of claims 1 to 11 is implemented.

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