High-voltage interlocking control method, device and equipment and storage medium

Abstract

The invention discloses a high-voltage interlocking control method, device and equipment and a storage medium, and relates to the field of aircrafts, and the method comprises the steps that the vehicle body state of vehicle equipment is detected, and the vehicle body state comprises the combined state and the split state; based on the vehicle body state, detecting a high-voltage interlocking loop through a controller in the vehicle equipment; and if the fault of the high-voltage interlocking loop is detected, corresponding treatment measures are taken based on the state of the vehicle equipment. The safety of the hovercar can be improved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a high-voltage interlock control method, device, equipment and storage medium. Background Art

[0002] At present, there is a high-voltage interlock design in the automotive field. The high-voltage interlock control technology uses low-voltage signals to detect the integrity of the high-voltage circuit and perform fault processing when the integrity of the high-voltage circuit is damaged to improve the safety of the vehicle. The current common solution is to arrange one or more low-voltage interlock circuits in the vehicle to detect the normal connection status of the high-voltage connectors and protective covers of the vehicle. When the high-voltage connector is detected to be disconnected through the low-voltage signal circuit, corresponding safety processing measures will be taken.

[0003] The existing high-voltage interlock control technology is oriented to the integrated vehicle or machine, and the detection circuit is fixed. For high-voltage intercommunication equipment, it is unable to support the high-voltage interlock function. Take the split flying car as an example. It consists of two parts, the land body and the flying body. The land body and the flying body can be used separately, and can be freely switched between the split state and the combined state. The current split flying car cannot support the high-voltage interlock function, which reduces the safety of the flying car. Summary of the invention

[0004] The main purpose of the present invention is to provide a high-voltage interlock control method, device, equipment and storage medium, aiming to solve the problem that the current split flying car cannot support the high-voltage interlock function, thereby reducing the safety of the flying car.

[0005] To achieve the above object, the present invention provides a high-voltage interlock control method, which is applied to a vehicle device having a high-voltage interlock circuit, and comprises:

[0006] Detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state;

[0007] Based on the vehicle body state, a high voltage interlocking circuit is detected by a controller in the vehicle equipment;

[0008] If a high voltage interlock circuit fault is detected, corresponding processing measures are taken based on the status of the vehicle equipment.

[0009] Optionally, the vehicle equipment is a split flying car, the split flying car includes a land body and a flying body, the land body and the flying body are connected via a docking interface, and the high-voltage interlocking circuit includes: a flying body circuit, a land body circuit and a docking interface circuit.

[0010] Optionally, the step of detecting the high-voltage interlocking circuit by a controller in the vehicle equipment based on the vehicle body state includes:

[0011] When the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected;

[0012] The flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface between the terrestrial body and the flying body is disconnected.

[0013] Optionally, if a high-voltage interlock circuit fault is detected, the step of taking corresponding processing measures based on the state of the vehicle equipment includes:

[0014] If a land-based body circuit fault is detected, taking a first processing measure based on the state of the land-based body;

[0015] If a flying object circuit failure is detected, a second processing measure is taken based on the state of the flying object.

[0016] Optionally, the step of taking a first processing measure based on the state of the terrestrial body includes:

[0017] If the state of the land-based body is that the high voltage is not powered on, controlling the land-based body not to power on the high voltage;

[0018] If the state of the land-based body is high voltage powered on and the land-based body is stationary, controlling the land-based body to high voltage powered off;

[0019] If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0020] Optionally, the step of taking a second processing measure based on the state of the flying object includes:

[0021] If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, controlling the flying object not to power on the high voltage;

[0022] If the state of the flying object is that the high voltage is powered on and the flying object has not left the ground, controlling the high voltage to power off the flying object;

[0023] If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land;

[0024] After the flying object lands, the flying object is controlled to be powered down at high voltage.

[0025] Optionally, the step of detecting the high-voltage interlocking circuit by a controller in the vehicle equipment based on the vehicle body state includes:

[0026] When the split flying car is in the combined state, the controller of the land body detects the land body circuit and the interface circuit between the land body and the flying body, and closes the land body relay at the interface;

[0027] The flying body circuit is detected by the flying body controller, and the flying body relay at the docking interface is closed;

[0028] Detecting the operating mode of the split-type flying car;

[0029] The step of taking corresponding processing measures based on the status of the vehicle equipment includes:

[0030] Based on the operation mode and the state of the split-type flying car, a combined state fault handling measure is taken.

[0031] Optionally, the step of taking combined state fault processing measures based on the operation mode and the state of the split-type flying car includes:

[0032] When the split flying car is in the land mode, if a land body circuit failure is detected, a third processing measure is taken based on the state of the land body;

[0033] If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0034] After the flying body relay is disconnected, controlling the flying body to power off;

[0035] If a flying body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0036] After the flying body relay is disconnected, the flying body is controlled to be powered off.

[0037] Optionally, the step of taking a third processing measure based on the state of the terrestrial body includes:

[0038] If the state of the land object is that the high voltage is not powered on, controlling the land object and the flying object not to power on the high voltage;

[0039] If the state of the land object is high voltage powered on and the land object is stationary, controlling the land object and the flying object to high voltage powered off;

[0040] If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0041] Optionally, the step of taking combined state fault processing measures based on the operation mode and the state of the split-type flying car further includes:

[0042] When the split flying car is in the flight mode, if a flying body circuit failure is detected, taking a fourth processing measure based on the state of the flying body;

[0043] If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0044] After the land-based body relay is disconnected, controlling the land-based body to be powered off;

[0045] If a land body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body;

[0046] After the land vehicle relay is disconnected, the land vehicle is controlled to be powered off.

[0047] Optionally, the step of taking a fourth processing measure based on the state of the flying object includes:

[0048] If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, the flying object and the land object are controlled not to be powered on with high voltage;

[0049] If the state of the flying object is that the high voltage is on and the flying object has not left the ground, controlling the flying object and the land object to be powered off at high voltage;

[0050] If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land;

[0051] After the flying object lands, the flying object is controlled to be powered down at high voltage.

[0052] The embodiment of the present invention further provides a high voltage interlock control device, the device comprising:

[0053] A state detection module, detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state;

[0054] A circuit detection module detects the high-voltage interlock circuit through a controller in the vehicle equipment based on the vehicle body state;

[0055] The fault processing module takes corresponding processing measures based on the status of the vehicle equipment if a high-voltage interlock circuit fault is detected.

[0056] An embodiment of the present invention further proposes a device, comprising a memory, a processor, and a high-voltage interlock control program stored in the memory and executable on the processor, wherein the high-voltage interlock control program implements the high-voltage interlock control method as described above when executed by the processor.

[0057] An embodiment of the present invention further provides a computer-readable storage medium, on which a high-voltage interlock control program is stored. When the high-voltage interlock control program is executed by a processor, the high-voltage interlock control method as described above is implemented.

[0058] The high-voltage interlock control method, device, equipment and storage medium proposed in the embodiment of the present invention detect the body state of the vehicle equipment, and the body state includes a combined state and a separated state; based on the body state, the high-voltage interlock circuit is detected by the controller in the vehicle equipment; if a high-voltage interlock circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlock circuit by the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlock control circuit under different states of the vehicle equipment. Moreover, if a high-voltage interlock circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlock circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the functional modules of the terminal equipment to which the high-voltage interlocking control device of the present invention belongs;

[0060] Figure 2 It is a flow chart of an exemplary embodiment of a high voltage interlock control method of the present invention;

[0061] Figure 3 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0062] Figure 4 This is a diagram of the high-voltage interlocking system architecture of a split-type flying car in an embodiment of the present invention;

[0063] Figure 5 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0064] Figure 6 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0065] Figure 7 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0066] Figure 8 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0067] Fig. 9 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0068] Fig.10 It is a flow chart of another exemplary embodiment of the high voltage interlock control method of the present invention;

[0069] Fig.11 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0070] 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

[0071] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0072] The main solution of the embodiment of the present invention is: detecting the body state of the vehicle equipment, the body state includes the combined state and the separated state; based on the body state, detecting the high-voltage interlocking circuit through the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, taking corresponding processing measures based on the state of the vehicle equipment. The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. Moreover, if a high-voltage interlocking circuit fault is detected, taking corresponding processing measures based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car.

[0073] Technical terms involved in the embodiments of the present invention:

[0074] Split flying car: Split flying car is a vehicle that combines the functions of a ground car and an aircraft. It can drive on the road like a normal car, and can also take off and land vertically and fly in the air. This flying car usually consists of a fuselage and a retractable flying wing or rotor system.

[0075] High-voltage interlock control technology: High-voltage interlock control technology uses low-voltage signals to detect the integrity of the high-voltage circuit and perform fault processing when the integrity of the high-voltage circuit is destroyed, thereby improving vehicle safety.

[0076] Land body: The land body refers to the body part of the flying car when it is driving on the ground, which can also be called the structure in ground mode. The land body of a flying car usually has features similar to those of a traditional car, such as four wheels, a cockpit, seats, a steering wheel, etc. It uses a built-in engine and transmission system to provide power, and contacts the ground through tires, driving on the road in the traditional way of driving a car.

[0077] Flight body: The flight body refers to the body part of the flying car when it is flying in the air, and can also be called the structure in flight mode. The flight body of the flying car will unfold or start the wings, rotors and other flight devices to generate lift and achieve flight. The flight body usually has a lighter structural design and aerodynamic characteristics to provide stable flight performance when operating in the air.

[0078] Relay: A relay is an electrical switch that uses electromagnetic principles to switch high current circuits by controlling small currents. Relays consist of two main parts: a coil and contacts. The coil is usually made of insulated copper wire, and when electricity is passed through the coil, a magnetic field is generated, and the contacts in the relay switch accordingly. The contacts can be open or closed, depending on whether the coil is energized. When the coil is energized, the magnetized chip attracts the contacts, closing them to connect the circuit; when the coil is de-energized, the contacts separate to disconnect the circuit.

[0079] ECU: ECU (Electronic Control Unit) is a microprocessor used to control the functions of a car or other electronic device. ECU receives and processes input signals from various sensors and controls various functions of the vehicle according to pre-set algorithms and programs. Each system, such as the engine management system, brake system, air conditioning system, etc., usually has its own ECU.

[0080] Two-part flying car: Two-part means that the structure of the flying car is divided into two main parts, usually a land body and a flying body. This design allows the flying body and the land body to operate separately and independently, or they can operate in a combined state. In the independent state, the land body can drive on the ground like a car, and the flying body can achieve vertical take-off and landing or taxiing flight alone; in the combined state, there are two operating modes: land mode and flight mode. In the land mode, the land body is the main operating body, carrying the flying body to drive on the ground. At this time, the wings of the flying body are retracted or folded to reduce the width and air resistance of the vehicle. In the flight mode, the flying body is the main operating body, relying on the rotor or wings to provide lift, and carrying the land body to fly in the air together.

[0081] Three-body flying car: Three-body means that the structure of a flying car is divided into three main parts, usually the land chassis, the passenger compartment, and the flying body, which can operate in more combinations than a two-body flying car.

[0082] Multi-split flying car: a flying car is further composed of multiple parts, and the parts can be operated in more combinations to achieve different scene changes such as land / flying, independent operation / cargo operation / passenger operation, etc. "Split" in the above description means that the structure of the flying car is divided into different parts to achieve specific functions and operating requirements.

[0083] The embodiments of the present invention take into account that: currently there is a high-voltage interlock design in the automotive field, and the high-voltage interlock control technology is a technology that uses low-voltage signals to detect the integrity of the high-voltage circuit, and performs fault processing when the integrity of the high-voltage circuit is destroyed, thereby improving the safety of the vehicle. The current common solution is to arrange one or more low-voltage interlock circuits in the vehicle to detect the normal connection state of the high-voltage connectors and protective covers of the vehicle. When the high-voltage connector is detected to be disconnected through the low-voltage signal circuit, corresponding safety processing measures will be taken. At present, the actual application of high-voltage interlock control technology in the aviation industry is not widespread.

[0084] In order to improve product performance and user experience, for split flying cars, the high-voltage electrical energy between the land body and the flying body can be used interchangeably. For example, the flying body can provide energy to the land body during ground driving. Conversely, when stationary or in combined flight, the land body can also use its own battery to recharge the flying body. Therefore, there is a high-voltage wiring harness connection between the flying body and the land body.

[0085] The existing high-voltage interlock control technology is oriented to the integrated vehicle or machine, and the detection circuit is fixed. For high-voltage intercommunication equipment, it is unable to support the high-voltage interlock function. Take the split flying car as an example. It consists of two parts, the land body and the flying body. The land body and the flying body can be used separately, and can be freely switched between the split state and the combined state. The current split flying car cannot support the high-voltage interlock function for the following reasons:

[0086] (1) The range of the detection circuit needs to be changed according to the separation state and the combined state of the flying car. When switching from the separation state to the combined state, in addition to detecting the high-voltage interlocking circuits on the two parts, it is also necessary to detect the high-voltage interlocking circuit at the junction of the two parts; conversely, when switching from the combined state to the separation state, the detection circuit must also be changed accordingly.

[0087] (2) When a high-voltage interlock circuit fails, the handling measures for the flying car in the combined state and the separated state are different;

[0088] (3) When a high-voltage interlock circuit fails, the handling measures for the flying car in the take-off state and the landing state are also different;

[0089] Therefore, the architecture of the split flying car leads to a significant increase in the complexity of high-voltage interlock control, and the current technical solution cannot solve this problem. Since flying cars are a new species, they must meet the safety requirements of both flying and land. As one of the important measures to ensure high-voltage safety, the importance of high-voltage interlock technology is self-evident. Therefore, more complex control technologies must be developed to meet its actual needs.

[0090] Therefore, the embodiment of the present invention proposes a solution, by detecting the body assembly state of the flying car, and detecting the high-voltage interlocking circuit through the controller in the flying car, to achieve the integrity detection of the high-voltage interlocking control circuit under different states of the flying car. In addition, if a circuit interlocking fault is detected, corresponding processing measures are taken based on the state of the flying car. Therefore, the embodiment of the present invention can take corresponding processing measures for different circuit interlocking faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car.

[0091] Specifically, refer to Figure 1 , Figure 1 Schematic diagram of the functional modules of the terminal device to which the high-voltage interlock control device of the present invention belongs. The high-voltage interlock control device can be a device that is independent of the device and can perform data processing, and it can be carried on the device in the form of hardware or software. The device can be a smart mobile terminal with data processing function such as a mobile phone or a tablet computer, or a fixed device or server with data processing function.

[0092] In this embodiment, the equipment to which the high-voltage interlock control device belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0093] The memory 130 stores an operating system and a high-voltage interlock control program; the output module 110 may be a display screen, etc. The communication module 140 may include a WIFI module and a Bluetooth module, etc., and communicates with an external device or server through the communication module 140.

[0094] When the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are implemented:

[0095] Detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state;

[0096] Based on the vehicle body state, a high voltage interlocking circuit is detected by a controller in the vehicle equipment;

[0097] If a high voltage interlock circuit fault is detected, corresponding processing measures are taken based on the status of the vehicle equipment.

[0098] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0099] When the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected;

[0100] The flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface between the terrestrial body and the flying body is disconnected.

[0101] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0102] If a land-based body circuit fault is detected, taking a first processing measure based on the state of the land-based body;

[0103] If a flying object circuit failure is detected, a second processing measure is taken based on the state of the flying object.

[0104] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0105] If the state of the land-based body is that the high voltage is not powered on, controlling the land-based body not to power on the high voltage;

[0106] If the state of the land-based body is high voltage powered on and the land-based body is stationary, controlling the land-based body to high voltage powered off;

[0107] If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0108] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0109] If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, controlling the flying object not to power on the high voltage;

[0110] If the state of the flying object is that the high voltage is powered on and the flying object has not left the ground, controlling the high voltage to power off the flying object;

[0111] If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land;

[0112] After the flying object lands, the flying object is controlled to be powered down at high voltage.

[0113] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0114] When the split flying car is in the combined state, the controller of the land body detects the land body circuit and the interface circuit between the land body and the flying body, and closes the land body relay at the interface;

[0115] The flying body circuit is detected by the flying body controller, and the flying body relay at the docking interface is closed;

[0116] Detecting the operating mode of the split-type flying car;

[0117] Based on the operation mode and the state of the split-type flying car, a combined state fault handling measure is taken.

[0118] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0119] When the split flying car is in the land mode, if a land body circuit failure is detected, a third processing measure is taken based on the state of the land body;

[0120] If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0121] After the flying body relay is disconnected, controlling the flying body to power off;

[0122] If a flying body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0123] After the flying body relay is disconnected, the flying body is controlled to be powered off.

[0124] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0125] If the state of the land object is that the high voltage is not powered on, controlling the land object and the flying object not to power on the high voltage;

[0126] If the state of the land object is high voltage powered on and the land object is stationary, controlling the land object and the flying object to high voltage powered off;

[0127] If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0128] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0129] When the split flying car is in the flight mode, if a flying body circuit failure is detected, taking a fourth processing measure based on the state of the flying body;

[0130] If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body;

[0131] After the land-based body relay is disconnected, controlling the land-based body to be powered off;

[0132] If a land body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body;

[0133] After the land vehicle relay is disconnected, the land vehicle is controlled to be powered off.

[0134] Furthermore, when the high voltage interlock control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0135] If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, the flying object and the land object are controlled not to be powered on with high voltage;

[0136] If the state of the flying object is that the high voltage is on and the flying object has not left the ground, controlling the flying object and the land object to be powered off at high voltage;

[0137] If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land;

[0138] After the flying object lands, the flying object is controlled to be powered down at high voltage.

[0139] This embodiment uses the above scheme, specifically by detecting the body state of the vehicle equipment, the body state includes the combined state and the separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit by the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. And, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car.

[0140] Based on the above device architecture but not limited to the above architecture, an embodiment of the method of the present invention is proposed.

[0141] The execution subject of the method of this embodiment may be a high-voltage interlock control device, which may be a device independent of the device and capable of data processing, and may be carried on the device in the form of hardware or software.

[0142] Reference Figure 2 , Figure 2 The figure is a flow chart of an exemplary embodiment of a high-voltage interlock control method of the present invention. The method is applied to a vehicle device having a high-voltage interlock circuit, and the high-voltage interlock control method comprises:

[0143] Step S10, detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state.

[0144] The vehicle equipment with high-voltage interlocking circuits includes vehicle equipment whose high-voltage interlocking circuits cannot communicate with each other at high voltage and vehicle equipment whose high-voltage interlocking circuits can communicate with each other at high voltage.

[0145] Among them, vehicle equipment that can communicate with each other at high voltage between high-voltage interlocking circuits includes split-type flying cars that can be separated and combined.

[0146] Among them, the split flying cars include two-split flying cars, three-split flying cars and multi-split flying cars.

[0147] Then, based on the specific detailed split flying car, its body state is obtained, and based on its body state, the high-voltage interlocking circuit is detected through the controller in the split flying car.

[0148] Among them, the vehicle equipment whose high-voltage interlocking circuits cannot communicate with each other at high voltage includes vehicle equipment having a flying body and a land body, but the flying body and the land body cannot communicate with each other at high voltage.

[0149] Then, based on a vehicle device having a flying body and a land body, but the flying body and the land body cannot communicate with each other at high voltage, the body state of the vehicle device is obtained, and based on the body state, the high-voltage interlocking circuit is detected by a controller in the vehicle device.

[0150] As an implementation method, the body state of the vehicle equipment may include a separate state and a combined state.

[0151] Step S20: Based on the vehicle body state, a high voltage interlocking circuit is detected by a controller in the vehicle equipment.

[0152] The controller in the vehicle equipment may be any computer device for controlling the vehicle equipment, including but not limited to ECU, computer, microprocessor, PLC, etc.

[0153] Among them, the high-voltage interlocking circuit can be divided into different types of high-voltage interlocking circuits according to the split conditions of vehicle equipment.

[0154] Specifically, in a split-type flying car, the high-voltage interlocking circuit may include a land body circuit, a flying body circuit, and a docking interface circuit.

[0155] Among them, if the split flying car includes multiple splits, the high-voltage interlocking circuit can also include circuits of the multiple splits and a docking interface circuit.

[0156] Among them, under different vehicle body conditions, the controller will detect and control the high-voltage interlocking circuit to ensure that the high-voltage interlocking circuit can work normally.

[0157] Specifically, one high-voltage interlocking circuit can be detected and controlled by one controller, or multiple high-voltage interlocking circuits can be detected and controlled by one controller; one high-voltage interlocking circuit can be detected and controlled by multiple controllers, or multiple high-voltage interlocking circuits can be detected and controlled by multiple controllers.

[0158] It should be noted that the adaptation relationship between the controller and the high-voltage interlocking circuit can be formulated according to business requirements and actual needs.

[0159] Step S30: If a high-voltage interlock circuit fault is detected, corresponding processing measures are taken based on the status of the vehicle equipment.

[0160] Among them, since high-voltage interlocking circuits are divided into different types, high-voltage interlocking circuit failures are also divided into different types, corresponding processing measures need to be taken based on the status of vehicle equipment.

[0161] Among them, in the split flying car, the high-voltage interlock circuit failure can be judged by one or more combinations of the low-voltage communication status, high-voltage connection status, position sensor, etc. between the flying body and the land body.

[0162] Among them, as an implementation, in a split flying car, the state of the vehicle equipment may include the state of the land body and the state of the flying body. For example, the state of the land body may be that the high voltage is not powered on, the high voltage is powered on and the land body is stationary, the high voltage is powered on and the land body is moving, etc.; the state of the flying body may be that the high voltage is not powered on and has not left the ground, the high voltage is powered on and has not left the ground, the high voltage is powered on and has left the ground, etc.

[0163] This embodiment, through the above scheme, detects the body state of the vehicle equipment, and the body state includes a combined state and a separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. And, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car.

[0164] Reference Figure 3 , Figure 3 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0165] Based on the above Figure 2 In the embodiment shown, the vehicle device is a split flying car, the split flying car includes a land body and a flying body, the land body and the flying body are connected via a docking interface, and the high-voltage interlocking circuit includes: a flying body circuit, a land body circuit, and a docking interface circuit. The step S20, based on the vehicle body state, detecting the high-voltage interlocking circuit through the controller in the vehicle device includes:

[0166] Step S21, when the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected.

[0167] Reference Figure 4 , Figure 4 This is a diagram of the high-voltage interlocking system architecture of a split-type flying car in an embodiment of the present invention.

[0168] Among them, the split flying car includes a flying body and a land body.

[0169] The flying body includes one or more flying body loops, and the flying body loop is composed of a flying body controller (detection ECU), a high-voltage connector and a loop.

[0170] As an implementation method, based on hardware resources, one or more flying object controllers may be responsible for multiple flying object loops, that is, multiple flying object loops may be arranged on one or more flying object controllers.

[0171] The land vehicle includes one or more land vehicle loops, and the land vehicle loop is composed of a land vehicle controller (detection ECU), a high-voltage connector and a loop.

[0172] As an implementation method, based on hardware resources, one or more land-based body controllers may be responsible for multiple land-based body loops, that is, multiple land-based body loops may be arranged on one or more land-based body controllers.

[0173] The detection structures of the terrestrial body and the flying body interact with each other through the CAN communication mode, that is, the controllers in the terrestrial body and the flying body exchange data and transmit information through the CAN bus.

[0174] In addition, there is an interface circuit between the flying body and the land body, and the interface circuit includes a low voltage detection circuit, a controller (detection ECU), a flying body relay 1 and a land body relay 1.

[0175] Among them, the controller of one or more flying bodies is combined with the flying body relay 1 at the interface, and the flying body relay 1 is controlled by the flying body; the controller of one or more land bodies is combined with the land body relay 1, and the land body relay 1 is controlled by the land body.

[0176] The interface loop can constitute a loop independently or be connected in series with the loops of other connectors.

[0177] Among them, the docking loop can be configured on a flying body or on a land body.

[0178] Among them, an independent controller can be set for the interface loop to be responsible for detecting the interface loop; the interface loop can also be detected by using the controller of the terrestrial body or the controller of the flying body.

[0179] Step S21, when the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected.

[0180] Among them, since the split flying car is in a split state, the land body and the flying body do not need to be interconnected through the high voltage of the interface circuit, so it is necessary to disconnect the land body relay at the interface between the land body and the flying body.

[0181] Step S22: The flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface between the terrestrial body and the flying body is disconnected.

[0182] Among them, since the split flying car is in a split state, the land body and the flying body do not need to be interconnected through the high voltage of the interface circuit, so it is necessary to disconnect the flying body relay at the interface between the land body and the flying body.

[0183] Among them, by detecting the body state of the split flying car, the high-voltage interlocking circuit is detected respectively based on the split flying car in the split state and the combined state. When switching between the split and combined states, the detection range and interaction content can be changed. The detection circuit can be adjusted according to the split flying car architecture, so as to support both high-voltage intercommunication cars and high-voltage independent split flying cars.

[0184] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface between the land body and the flying body is disconnected.

[0185] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car in the split state and the combined state. When switching between the split and combined states, the detection range and interaction content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars.

[0186] Reference Figure 5 , Figure 5 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0187] Based on the above Figure 2 In the embodiment shown, the vehicle device is a split flying car, the split flying car includes a land body and a flying body, the land body and the flying body are connected via a docking interface, and the high-voltage interlock circuit includes: a flying body circuit, a land body circuit and a docking interface circuit. In step S30, if a high-voltage interlock circuit fault is detected, the steps of taking corresponding processing measures based on the state of the vehicle device include:

[0188] Step S31: if a land vehicle circuit fault is detected, a first processing measure is taken based on the state of the land vehicle.

[0189] The state of the land vehicle can be divided into the state where the high voltage is not powered on, the high voltage is powered on and the land vehicle is stationary, the high voltage is powered on and the land vehicle is moving, etc.

[0190] Step S32: if a flying object circuit failure is detected, a second processing measure is taken based on the state of the flying object.

[0191] Among them, the status of the flying object can be divided into high voltage not powered on and not off the ground, high voltage powered on and not off the ground, high voltage powered on and flying off the ground, etc.

[0192] Among them, since the split flying car is divided into a land body and a flying body, targeted treatment is carried out according to the status of the land body and the flying body, which can quickly identify and solve problems, reduce maintenance time and reduce maintenance costs; and, corresponding treatment measures are provided for different parts, so that even if the split flying car fails, the operating capabilities of some functions can still be maintained, thereby avoiding the whole vehicle from being unusable; and the split design makes the maintenance of the land body and the flying body more convenient, and they can be maintained and replaced independently, improving the convenience and efficiency of maintenance.

[0193] This embodiment uses the above scheme to detect the body state of the vehicle equipment, which includes a combined state and a separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Among them, if a land body circuit fault is detected, a first processing measure is taken based on the state of the land body; if a flying body circuit fault is detected, a second processing measure is taken based on the state of the flying body.

[0194] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, since the split flying car is divided into a land body and a flying body, targeted processing is performed according to the state of the land body and the flying body, which can quickly identify and solve the problem, reduce maintenance time and reduce maintenance costs; and corresponding processing measures are provided for different parts, so that even if the split flying car fails, the operating capacity of some functions can still be maintained, thereby avoiding the whole vehicle being unusable; and the split design makes the maintenance of the land body and the flying body more convenient, and they can be maintained and replaced independently, which improves the convenience and efficiency of maintenance.

[0195] Reference Figure 6 , Figure 6 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0196] Based on the above Figure 5 In the embodiment shown, in step S31, if a land vehicle circuit fault is detected, taking a first processing measure based on the state of the land vehicle includes:

[0197] Step S311: if the state of the land-based object is that the high voltage is not powered on, the land-based object is controlled not to be powered on with the high voltage.

[0198] Among them, high voltage not powered on means that the high voltage power supply is not connected.

[0199] Correspondingly, high voltage power-up refers to turning on the high voltage power supply.

[0200] Among them, when a fault is detected in the land vehicle circuit, if it is found that the land vehicle has not performed the high-voltage power-on operation, by controlling the land vehicle not to perform the high-voltage power-on operation, the faulty circuit can be prevented from being connected to the high-voltage power supply, potential electrical safety problems can be prevented, and the safety of passengers and vehicles can be protected.

[0201] Step S312: If the state of the land-based object is that the high voltage is powered on and the land-based object is stationary, control the land-based object to be powered off at high voltage.

[0202] When a fault in the land vehicle circuit is detected and the land vehicle is in a stationary state, the land vehicle is controlled to perform a high voltage power-off operation, thereby preventing the fault circuit from continuing to supply power and reducing the risk of the fault expanding.

[0203] Step S313: If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0204] When a land vehicle circuit fault is detected and the land vehicle is in motion, the probability of danger in the faulty circuit can be reduced by controlling the land vehicle to limit speed or reduce power, thereby ensuring safety during driving.

[0205] Among them, taking corresponding treatment measures based on the specific state of the land vehicle can timely respond to the land vehicle circuit failure and reduce the impact of the failure on passengers and vehicle equipment. By prohibiting high voltage power-on, controlling high voltage power-off, or driving at a limited speed and reduced power, the stability and safety of the vehicle equipment can be maintained and the expansion of the failure can be prevented.

[0206] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes a combined state and a separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Among them, if a land body circuit fault is detected, a first processing measure is taken based on the state of the land body; if a flying body circuit fault is detected, a second processing measure is taken based on the state of the flying body. Further, if the state of the land body is that the high voltage is not powered on, the land body is controlled not to be powered on at high voltage; if the state of the land body is that the high voltage is powered on and the land body is stationary, the land body is controlled to be powered off at high voltage; if the state of the land body is that the high voltage is powered on and the land body is moving, the land body is controlled to limit speed or reduce power.

[0207] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention takes corresponding processing measures based on the specific state of the land body, and can respond to the land body circuit fault in time to reduce the impact of the fault on passengers and vehicle equipment. By prohibiting high-voltage power-on, controlling high-voltage power-off, or driving at a limited speed and reduced power, the stability and safety of the vehicle equipment can be maintained and the expansion of the fault can be prevented.

[0208] Reference Figure 7 , Figure 7 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0209] Based on the above Figure 5 In the embodiment shown, the step S32, if a flying body circuit fault is detected, the step of taking a second processing measure based on the state of the flying body includes:

[0210] Step S321: If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, the flying object is controlled not to be powered on by the high voltage.

[0211] Among them, when it is detected that the flying body is in a state where the high voltage is not powered on and it has not left the ground, electrical safety problems can be avoided in the state where it has not left the ground by controlling the flying body not to power on the high voltage, thereby improving the reliability and safety of the split flying car.

[0212] Step S322: If the state of the flying object is that the high voltage is powered on and the flying object has not left the ground, control the flying object to power off the high voltage.

[0213] Among them, when it is detected that the state of the flying object is high voltage power-on and has not left the ground, by controlling the flying object to perform high voltage power-off operation, potential electrical safety problems can be prevented and the safety of the vehicle and passengers can be ensured.

[0214] Step S323: If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land.

[0215] Step S324: after the flying object lands, the flying object is controlled to be powered down with high voltage.

[0216] Among them, when the aircraft is powered on at high voltage and in the air, if the system detects a circuit fault in the aircraft, it can send an alarm to relevant personnel and control the aircraft to land. This allows timely response to faults and protects the safety of passengers and the aircraft. After the aircraft lands safely on the ground, the system controls the aircraft to perform a high-voltage power-off operation, which can prevent the fault circuit from continuing to supply power and reduce the risk of the fault expanding.

[0217] Among them, corresponding treatment measures are taken according to the state of the flying object to ensure the safety and stability of the flying object circuit. By prohibiting high-voltage power-on, controlling high-voltage power-off, issuing an alarm and controlling landing, and powering off high-voltage after landing, potential risks caused by faults to the flying object and passengers can be prevented, ensuring the safety of the entire flight process.

[0218] This embodiment uses the above scheme to detect the body state of the vehicle equipment, which includes a combined state and a separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Among them, if a ground-based body circuit fault is detected, a first processing measure is taken based on the state of the ground-based body; if a flying body circuit fault is detected, a second processing measure is taken based on the state of the flying body. Further, if the state of the flying body is that the high voltage is not powered on and it has not left the ground, the flying body is controlled not to be powered on at high voltage; if the state of the flying body is that the high voltage is powered on and it has not left the ground, the flying body is controlled to be powered off at high voltage; if the state of the flying body is that the high voltage is powered on and it has not left the ground, an alarm is issued and the flying body is controlled to land; after the flying body lands, the high voltage of the flying body is controlled to be powered off.

[0219] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment to realize the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention takes corresponding processing measures according to the state of the flying body to ensure the safety and stability of the flying body circuit. By prohibiting high-voltage power-on, controlling high-voltage power-off, issuing an alarm and controlling landing, and powering off the high-voltage after landing, the potential risks caused by the fault to the flying body and passengers can be prevented, and the safety of the entire flight process can be ensured.

[0220] Reference Figure 8 , Figure 8 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0221] Based on the above Figure 2 In the embodiment shown, the vehicle device is a split flying car, the split flying car includes a land body and a flying body, the land body and the flying body are connected via a docking interface, and the high-voltage interlocking circuit includes: a flying body circuit, a land body circuit, and a docking interface circuit. The step S20, based on the vehicle body state, detecting the high-voltage interlocking circuit through the controller in the vehicle device includes:

[0222] Step S23, when the split flying car is in the combined state, the land body circuit and the interface circuit between the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed.

[0223] Among them, since the split flying car is in a combined state, the land body and the flying body need to be connected with each other through the high voltage of the interface circuit. In different operating modes, the land body and the flying body can be each other's energy supplement units, so the land body relay at the interface between the land body and the flying body needs to be closed.

[0224] Step S24, detecting the flying body circuit through the controller of the flying body, and closing the flying body relay at the docking interface.

[0225] Among them, since the split flying car is in a combined state, the land body and the flying body need to be connected with each other through the high voltage of the interface circuit. In different operating modes, the land body and the flying body can be each other's energy supplement units, so the flying body relay at the interface between the land body and the flying body needs to be closed.

[0226] Step S25, detecting the operation mode of the split-type flying car.

[0227] Among them, when the split flying car is in a combined state, the operation mode of the split flying car is divided into a land mode and a flight mode.

[0228] Therefore, the embodiment of the present invention can meet the high-voltage interlock circuit detection requirements of a split-type flying car with both a land mode and a flight mode.

[0229] Reference Fig. 9 , Fig. 9 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0230] In step S30, if a high-voltage interlock circuit fault is detected, taking corresponding processing measures based on the state of the vehicle equipment includes:

[0231] Step S33: If a high-voltage interlock circuit fault is detected, a combined state fault handling measure is taken based on the operation mode and the state of the split-type flying car.

[0232] The state of the split flying car may include the state of the terrestrial body and the state of the flying body.

[0233] Among them, the combined state fault handling measures can be land body circuit fault handling measures taken for land body circuit faults based on the operating mode and the state of the split flying car; they can be interface circuit fault handling measures taken for interface circuit faults; they can be flying body circuit fault handling measures taken for flying body circuit faults.

[0234] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the combined state, the land body circuit and the interface circuit of the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface is closed; the operation mode of the split flying car is detected; and combined state fault processing measures are taken based on the operation mode and the state of the split flying car.

[0235] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car in the split state and the combined state. When switching between the split and combined states, the detection range and interaction content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars.

[0236] As an embodiment, in step S33, the specific steps of taking combined state fault handling measures based on the operation mode and the state of the split flying car may include:

[0237] Step S331, when the split flying car is in the land mode, if a land body circuit failure is detected, a third processing measure is taken based on the state of the land body.

[0238] The state of the land vehicle may be that the high voltage is not powered on, the high voltage is powered on and the land vehicle is stationary, the high voltage is powered on and the land vehicle is moving, etc.

[0239] In addition, the flight mode corresponds to the land mode. When the split flying car is in the flight mode, if a flying body circuit failure is detected, a fourth processing measure is taken based on the state of the flying body.

[0240] Among them, by detecting and processing the terrestrial body circuit fault in the terrestrial mode, and detecting and processing the flying body circuit fault in the flying mode, the fault scope can be narrowed down to a specific module or component, and the fault point causing the problem can be determined more accurately, improving the efficiency of troubleshooting.

[0241] Step S332: If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body relay at the docking interface through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body relay at the docking interface through the flying body.

[0242] Among them, since the split-type flying car is in a combined state, it is necessary to detect the interface circuit.

[0243] Among them, when a fault in the interface circuit is detected, by disconnecting the land body relay and the flying body relay, the fault can be effectively isolated, the fault spread can be avoided, and the normal operation of other parts can be protected.

[0244] Step S333: after the flying body relay is disconnected, control the flying body to power off.

[0245] Among them, since the split flying car is in a combined state and in a land-based mode, the flying body can be used as an energy replenishment unit for the land-based body.

[0246] However, when the interface circuit fails, the land body relay and the flying body relay need to be disconnected. At this time, the flying body and the land body cannot communicate with each other at high voltage, and the flying body cannot serve as an energy replenishment unit for the land body. At this time, the flying body is controlled to be powered off.

[0247] Step S334: if a flying body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body relay at the docking interface through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body relay at the docking interface through the flying body.

[0248] Among them, when a flying body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body, which can effectively isolate the fault, avoid the fault spread, and protect the normal operation of other parts.

[0249] Step S335: After the flying body relay is disconnected, the flying body is controlled to be powered off.

[0250] After the flying body relay is disconnected, the flying body and the land body cannot communicate with each other at high voltage, and the flying body cannot serve as an energy replenishment unit for the land body. At this time, the flying body is controlled to be powered off.

[0251] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the combined state, the land body circuit and the interface circuit of the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface is closed; the operation mode of the split flying car is detected; and combined state fault processing measures are taken based on the operation mode and the state of the split flying car. Wherein, when the split flying car is in the land mode, if a land body circuit fault is detected, a third processing measure is taken based on the state of the land body; if a docking interface circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the flying body relay is disconnected, the flying body is controlled to be powered off; if a flying body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the flying body relay is disconnected, the flying body is controlled to be powered off.

[0252] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. Moreover, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car being in the split state and the combined state. When switching between the split and combined states, the detection range and the interactive content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars. Among them, the embodiment of the present invention can narrow the fault range to specific modules or components by detecting and processing the land body circuit fault in the land mode, and detecting and processing the flying body circuit fault in the flight mode. In this way, the fault point causing the problem can be determined more accurately, and the efficiency of troubleshooting can be improved. In addition, the embodiments of the present invention can realize high-voltage interlock control of a split-type flying car. By identifying the split and combined states of the flying car and based on the design of the high-voltage interlock circuit at the land body end, the flying body end and the combined state, the integrity detection of the high-voltage interlock circuit of the whole machine in different states can be realized. When the split-type flying car is in the combined state, the corresponding processing measures of the land mode and the flying mode can be further matched to improve the safety of the whole machine.

[0253] Reference Fig.10 , Fig.10 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0254] Based on the above embodiment, in step S331, when the split flying car is in the land mode, if a land body circuit fault is detected, taking a third processing measure based on the state of the land body includes:

[0255] Step S3311, if the state of the land body is that the high voltage is not powered on, control the land body and the flying body not to power on the high voltage.

[0256] When a fault is detected in the land vehicle circuit, if it is found that the land vehicle has not been powered on with high voltage, it is necessary to control the land vehicle not to be powered on with high voltage.

[0257] In addition, since the split flying car is in a combined state, the high voltage of the land body and the flying body is interconnected, so it is necessary to control the flying body at the same time not to power on the high voltage, thereby avoiding the fault circuit from connecting to the high voltage power supply, preventing potential electrical safety problems, and protecting the safety of passengers and vehicles.

[0258] Step S3312: If the state of the land-based body is high voltage powered on and the land-based body is stationary, control the land-based body and the flying body to high voltage powered off.

[0259] When a fault in the land vehicle circuit is detected and the land vehicle is in a stationary state, the land vehicle is controlled to perform a high voltage power-down operation.

[0260] In addition, since the split flying car is in a combined state, the land body and the flying body are interconnected at high voltage, so it is necessary to control the flying body at the same time to perform high-voltage power-down operation, thereby avoiding the continued power supply of the fault circuit and reducing the risk of fault expansion.

[0261] In addition, controlling the high-voltage power down of the land vehicle can also avoid unnecessary energy consumption and component damage, thereby extending the service life of components, reducing maintenance and replacement costs, and improving the reliability and maintainability of the split flying car.

[0262] Step S3313: If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

[0263] Among them, when a fault in the land vehicle circuit is detected and the land vehicle is in motion, by controlling the land vehicle to limit speed or reduce power, it can ensure that the land vehicle can continue to drive in a relatively safe manner under the fault state, so that the driver can drive the split flying car to a safe place or repair shop. In addition, it can also reduce the impact of the fault on driving safety and provide a relatively stable and controllable driving state during the fault handling period.

[0264] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the combined state, the land body circuit and the interface circuit of the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface is closed; the operation mode of the split flying car is detected; and combined state fault processing measures are taken based on the operation mode and the state of the split flying car. Wherein, when the split flying car is in the land mode, if a land body circuit fault is detected, a third processing measure is taken based on the state of the land body; if a docking interface circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the flying body relay is disconnected, the flying body is controlled to be powered off; if a flying body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the flying body relay is disconnected, the flying body is controlled to be powered off. Further, if the state of the land body is that the high voltage is not powered on, the land body and the flying body are controlled not to be powered on at high voltage; if the state of the land body is that the high voltage is powered on and the land body is stationary, the land body and the flying body are controlled to be powered off at high voltage; if the state of the land body is that the high voltage is powered on and the land body is moving, the land body is controlled to be driven at a limited speed or with reduced power.

[0265] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. Moreover, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car being in the split state and the combined state. When switching between the split and combined states, the detection range and the interactive content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars. Among them, the embodiment of the present invention can narrow the fault range to specific modules or components by detecting and processing the land body circuit fault in the land mode, and detecting and processing the flying body circuit fault in the flight mode. In this way, the fault point causing the problem can be determined more accurately, and the efficiency of troubleshooting can be improved. Further, if the state of the land body is that the high voltage is not powered on, the land body and the flying body are controlled not to be powered on at high voltage, thereby avoiding the fault circuit from connecting to the high voltage power supply, preventing potential electrical safety problems, and protecting the safety of passengers and vehicles; if the state of the land body is that the high voltage is powered on and the land body is stationary, the land body and the flying body are controlled to be powered off at high voltage, thereby avoiding the fault circuit from continuing to supply power, reducing the risk of fault expansion, and avoiding unnecessary energy consumption and component damage, thereby extending the service life of components, reducing maintenance and replacement costs, and improving the reliability and maintainability of the split flying car; if the state of the land body is that the high voltage is powered on and the land body is driving, the land body is controlled to limit speed or reduce power to drive, which can ensure that the land body can continue to drive in a relatively safe manner under the fault state, and can also reduce the impact of the fault on driving safety, and provide a relatively stable and controllable driving state during fault processing. Therefore, the embodiment of the present invention can effectively ensure the safe and stable operation of the split flying car by controlling high voltage power-on, high voltage power-off, speed-limited driving and other measures.

[0266] As an embodiment, in step S33, the specific steps of taking combined state fault handling measures based on the operation mode and the state of the split flying car may also include:

[0267] Step S336: when the split flying car is in the flight mode, if a flying body circuit failure is detected, a fourth processing measure is taken based on the state of the flying body.

[0268] Among them, the state of the flying object can be that the high voltage is not powered on and has not left the ground, the high voltage is powered on and has not left the ground, the high voltage is powered on and is flying off the ground, etc.

[0269] Among them, the modes of the split flying car are divided into land mode and flight mode. By detecting and processing the land body circuit fault in the land mode, and detecting and processing the flying body circuit fault in the flight mode, the fault scope can be narrowed down to specific modules or components, and the fault point causing the problem can be determined more accurately, thereby improving the efficiency of troubleshooting.

[0270] Step S337: if a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body relay at the docking interface through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body relay at the docking interface through the flying body.

[0271] Among them, since the split-type flying car is in a combined state, it is necessary to detect the interface circuit.

[0272] Among them, when a fault in the interface circuit is detected, by disconnecting the land body relay and the flying body relay, the fault can be effectively isolated, the fault spread can be avoided, and the normal operation of other parts can be protected.

[0273] Step S338, after the land vehicle relay is disconnected, control the land vehicle to power off.

[0274] Among them, since the split flying car is in a combined state and in a flying mode, the land body can be used as an energy replenishment unit for the flying body.

[0275] However, when the interface circuit fails, the land body relay and the flying body relay need to be disconnected. At this time, the flying body and the land body cannot communicate with each other at high voltage, and the land body cannot be used as an energy replenishment unit for the flying body. At this time, the land body is controlled to be powered off.

[0276] Step S339: If a land body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body relay at the docking interface through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body relay at the docking interface through the flying body.

[0277] Among them, when a land body loop fault is detected, the land body relay at the docking interface is disconnected by controlling the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body, which can effectively isolate the fault, avoid the fault spread, and protect the normal operation of other parts.

[0278] Step S3310, after the land vehicle relay is disconnected, control the land vehicle to power off.

[0279] Among them, after the land-based body relay is disconnected, the flying body and the land-based body cannot communicate with each other at high voltage, and the land-based body cannot be used as an energy supplement unit for the flying body. At this time, the land-based body is controlled to be powered off.

[0280] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the combined state, the land body circuit and the interface circuit of the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface is closed; the operation mode of the split flying car is detected; and combined state fault processing measures are taken based on the operation mode and the state of the split flying car. Among them, when the split flying car is in flight mode, if a flying body circuit fault is detected, a fourth processing measure is taken based on the state of the flying body; if a docking interface circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the land body relay is disconnected, the land body is controlled to be powered off; if a land body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the land body relay is disconnected, the land body is controlled to be powered off.

[0281] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car in the split state and the combined state. When switching between the split and combined states, the detection range and interaction content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars. Among them, the embodiment of the present invention divides the modes of the split flying car into a land mode and a flight mode. By detecting and processing the land body circuit fault in the land mode, and detecting and processing the flight body circuit fault in the flight mode, the fault range can be narrowed to a specific module or component, and the fault point causing the problem can be determined more accurately, thereby improving the efficiency of troubleshooting. In addition, the embodiment of the present invention can realize the high-voltage interlock control of the split flying car, by identifying the split and combined states of the flying car, and based on the high-voltage interlock circuit design of the land body end, the flight body end and the combined place, the integrity detection of the high-voltage interlock circuit of the whole machine in different states can be realized. When the split flying car is in the combined state, the corresponding processing measures of the land mode and the flight mode can be further matched to improve the safety of the whole machine.

[0282] Reference Fig.11 , Fig.11 It is a flowchart of another exemplary embodiment of the high-voltage interlock control method of the present invention.

[0283] Based on the above embodiment, in step S336, when the split flying car is in the flight mode, if a flying body circuit fault is detected, taking a fourth processing measure based on the state of the flying body includes:

[0284] Step S3361, if the state of the flying object is that the high voltage is not powered on and it has not left the ground, then the flying object and the land object are controlled not to be powered on with high voltage.

[0285] When it is detected that the flying object is in a state where the high voltage is not powered on and the flying object has not left the ground, it is necessary to control the flying object not to power on the high voltage.

[0286] In addition, since the split flying car is in a combined state, the flying body and the land body are connected at high voltage, so it is necessary to control the land body to not be powered on at high voltage at the same time. This can avoid electrical safety problems that occur when the car is not off the ground, and improve the reliability and safety of the split flying car.

[0287] Step S3362: If the state of the flying object is that the high voltage is on and the flying object has not left the ground, the high voltage is controlled to be turned off for the flying object and the land object.

[0288] When it is detected that the state of the flying object is high voltage powered on and not off the ground, it is necessary to control the flying object to perform high voltage powered off operation.

[0289] In addition, since the split flying car is in a combined state, the flying body and the land body are interconnected at high voltage, so it is necessary to control the land body at the same time to perform high voltage power-down operations. This can prevent potential electrical safety problems and ensure the safety of the vehicle and passengers.

[0290] Step S3363: If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land.

[0291] Step S3364: After the flying object lands, the flying object is controlled to be powered down with high voltage.

[0292] Among them, when the aircraft is powered on at high voltage and in the air, if the system detects a circuit fault in the aircraft, it can send an alarm to relevant personnel and control the aircraft to land. This allows timely response to faults and protects the safety of passengers and the aircraft. After the aircraft lands safely on the ground, the system controls the aircraft to perform a high-voltage power-off operation, which can prevent the fault circuit from continuing to supply power and reduce the risk of the fault expanding.

[0293] This embodiment adopts the above scheme, by detecting the body state of the vehicle equipment, the body state includes the combined state and the split state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Wherein, when the split flying car is in the combined state, the land body circuit and the interface circuit of the land body and the flying body are detected by the controller of the land body, and the land body relay at the interface is closed; the flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface is closed; the operation mode of the split flying car is detected; and combined state fault processing measures are taken based on the operation mode and the state of the split flying car. Wherein, when the split flying car is in the flight mode, if a flying body circuit fault is detected, a fourth processing measure is taken based on the state of the flying body; if a docking interface circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the land body relay is disconnected, the land body is controlled to be powered off; if a land body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; after the land body relay is disconnected, the land body is controlled to be powered off. Further, if the state of the flying body is that the high voltage is not powered on and it has not left the ground, the flying body and the land body are controlled not to be powered on at high voltage; if the state of the flying body is that the high voltage is powered on and it has not left the ground, the flying body and the land body are controlled to be powered off at high voltage; if the state of the flying body is that the high voltage is powered on and it has not left the ground, an alarm is issued and the flying body is controlled to land; after the flying body lands, the flying body is controlled to be powered off at high voltage.

[0294] The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit through the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit of the vehicle equipment in different states. In addition, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car. Among them, the embodiment of the present invention detects the body state of the split flying car, and detects the high-voltage interlocking circuit respectively based on the split flying car in the split state and the combined state. When switching between the split and combined states, the detection range and interaction content can be changed, and the detection circuit can be adjusted according to the split flying car architecture, so that it can support high-voltage intercommunication cars and high-voltage independent split flying cars. Among them, the embodiment of the present invention divides the mode of the split flying car into a land mode and a flight mode. By detecting and processing the land body circuit fault in the land mode, and detecting and processing the flying body circuit fault in the flight mode, the fault range can be narrowed to a specific module or component, and the fault point causing the problem can be determined more accurately, thereby improving the efficiency of troubleshooting. Further, if the state of the flying body is that the high voltage is not powered on and has not left the ground, the flying body and the land body are controlled not to be powered on at high voltage, which can avoid electrical safety problems in the state of not leaving the ground, thereby improving the reliability and safety of the split flying car; if the state of the flying body is that the high voltage is powered on and has not left the ground, the flying body and the land body are controlled to be powered off at high voltage, thereby preventing potential electrical safety problems and ensuring the safety of the vehicle and passengers; if the state of the flying body is that the high voltage is powered on and is flying off the ground, an alarm is issued and the flying body is controlled to land, thereby timely responding to the fault situation and protecting the safety of passengers and the flying body. After the flying body lands safely on the ground, the system controls the flying body to perform a high voltage power-off operation, thereby avoiding the continued power supply of the fault circuit and reducing the risk of fault expansion.

[0295] In addition, the embodiment of the present application also proposes a high-voltage interlock control device, which is applied to a vehicle device having a high-voltage interlock circuit, and the high-voltage interlock control device includes:

[0296] A state detection module, detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state;

[0297] A circuit detection module detects the high-voltage interlock circuit through a controller in the vehicle equipment based on the vehicle body state;

[0298] The fault processing module takes corresponding processing measures based on the status of the vehicle equipment if a high-voltage interlock circuit fault is detected.

[0299] For the principle and implementation process of high-voltage interlock control implemented in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0300] In addition, an embodiment of the present application also proposes a device, which includes a memory, a processor, and a high-voltage interlock control program stored in the memory and executable on the processor. When the high-voltage interlock control program is executed by the processor, the steps of the high-voltage interlock control method as described above are implemented.

[0301] Since all the technical solutions of all the aforementioned embodiments are adopted when the high-voltage interlock control program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0302] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a high-voltage interlock control program is stored. When the high-voltage interlock control program is executed by a processor, the steps of the high-voltage interlock control method as described above are implemented.

[0303] Since all the technical solutions of all the aforementioned embodiments are adopted when the high-voltage interlock control program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0304] This embodiment uses the above scheme, specifically by detecting the body state of the vehicle equipment, the body state includes the combined state and the separated state; based on the body state, the high-voltage interlocking circuit is detected by the controller in the vehicle equipment; if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. The embodiment of the present invention detects the body state of the vehicle equipment and detects the high-voltage interlocking circuit by the controller in the vehicle equipment, thereby realizing the integrity detection of the high-voltage interlocking control circuit under different states of the vehicle equipment. And, if a high-voltage interlocking circuit fault is detected, corresponding processing measures are taken based on the state of the vehicle equipment. Therefore, the embodiment of the present invention can take corresponding processing measures for different high-voltage interlocking circuit faults in the flying car, meet the control requirements of the flying car, and improve the safety of the flying car.

[0305] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or method. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or method including the element.

[0306] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0307] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to execute the method of each embodiment of the present invention.

[0308] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high voltage interlock control method, characterized in that: The method is applied to a vehicle device having a high-voltage interlocking circuit, and the method comprises the following steps: Detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state; Based on the vehicle body state, a high voltage interlocking circuit is detected by a controller in the vehicle equipment; If a high voltage interlock circuit fault is detected, corresponding processing measures are taken based on the status of the vehicle equipment.

2. The method according to claim 1, characterized in that The vehicle equipment is a split flying car, which includes a land body and a flying body, the land body and the flying body are connected via a docking interface, and the high-voltage interlocking circuit includes: a flying body circuit, a land body circuit and a docking interface circuit.

3. The method according to claim 2, characterized in that The step of detecting the high-voltage interlocking circuit by a controller in the vehicle equipment based on the vehicle body state comprises: When the split flying car is in the split state, the land body circuit is detected by the controller of the land body, and the land body relay at the interface between the land body and the flying body is disconnected; The flying body circuit is detected by the controller of the flying body, and the flying body relay at the interface between the terrestrial body and the flying body is disconnected.

4. The method according to claim 2, characterized in that: If a high-voltage interlock circuit fault is detected, the step of taking corresponding processing measures based on the state of the vehicle equipment includes: If a land-based body circuit fault is detected, taking a first processing measure based on the state of the land-based body; If a flying object circuit failure is detected, a second processing measure is taken based on the state of the flying object.

5. The method according to claim 4, characterized in that The step of taking a first processing measure based on the state of the terrestrial body comprises: If the state of the land-based body is that the high voltage is not powered on, controlling the land-based body not to power on the high voltage; If the state of the land-based body is high voltage powered on and the land-based body is stationary, controlling the land-based body to high voltage powered off; If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

6. The method according to claim 4, characterized in that The step of taking a second processing measure based on the state of the flying object comprises: If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, controlling the flying object not to power on the high voltage; If the state of the flying object is that the high voltage is powered on and the flying object has not left the ground, controlling the high voltage to power off the flying object; If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land; After the flying object lands, the flying object is controlled to be powered down at high voltage.

7. The method according to claim 2, characterized in that The step of detecting the high-voltage interlocking circuit by a controller in the vehicle equipment based on the vehicle body state comprises: When the split flying car is in the combined state, the controller of the land body detects the land body circuit and the interface circuit between the land body and the flying body, and closes the land body relay at the interface; The flying body circuit is detected by the flying body controller, and the flying body relay at the docking interface is closed; Detecting the operating mode of the split-type flying car; The step of taking corresponding processing measures based on the status of the vehicle equipment includes: Based on the operation mode and the state of the split-type flying car, a combined state fault handling measure is taken.

8. The method according to claim 7, characterized in that The step of taking combined state fault processing measures based on the operation mode and the state of the split flying car includes: When the split flying car is in the land mode, if a land body circuit failure is detected, a third processing measure is taken based on the state of the land body; If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body; After the flying body relay is disconnected, controlling the flying body to power off; If a flying body circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body; After the flying body relay is disconnected, the flying body is controlled to be powered off.

9. The method according to claim 8, characterized in that The step of taking a third processing measure based on the state of the land object comprises: If the state of the land object is that the high voltage is not powered on, controlling the land object and the flying object not to power on the high voltage; If the state of the land object is high voltage powered on and the land object is stationary, controlling the land object and the flying object to high voltage powered off; If the state of the land vehicle is that the high voltage is powered on and the land vehicle is moving, the land vehicle is controlled to limit the speed or reduce the power.

10. The method according to claim 7, characterized in that The step of taking combined state fault handling measures based on the operation mode and the state of the split flying car also includes: When the split flying car is in the flight mode, if a flying body circuit failure is detected, taking a fourth processing measure based on the state of the flying body; If a docking interface circuit fault is detected, the land body relay at the docking interface is disconnected by controlling the land body through the land body, and the flying body relay at the docking interface is disconnected by controlling the flying body through the flying body; After the land-based body relay is disconnected, controlling the land-based body to be powered off; If a land body circuit fault is detected, the land body relay at the docking interface is controlled to be disconnected by the land body, and the flying body relay at the docking interface is controlled to be disconnected by the flying body; After the land vehicle relay is disconnected, the land vehicle is controlled to be powered off.

11. The method according to claim 10, characterized in that The step of taking a fourth processing measure based on the state of the flying object comprises: If the state of the flying object is that the high voltage is not powered on and the flying object has not left the ground, the flying object and the land object are controlled not to be powered on with high voltage; If the state of the flying object is that the high voltage is on and the flying object has not left the ground, controlling the flying object and the land object to be powered off at high voltage; If the state of the flying object is that the high voltage is powered on and the flying object is flying off the ground, an alarm is issued and the flying object is controlled to land; After the flying object lands, the flying object is controlled to be powered down at high voltage.

12. A high voltage interlock control device, characterized in that: The device is applied to a vehicle device having a high-voltage interlocking circuit, and comprises: A state detection module, detecting a body state of the vehicle equipment, wherein the body state includes a combined state and a separated state; A circuit detection module detects the high-voltage interlock circuit through a controller in the vehicle equipment based on the vehicle body state; The fault processing module takes corresponding processing measures based on the status of the vehicle equipment if a high-voltage interlock circuit fault is detected.

13. A high voltage interlock control device, characterized in that: The high-voltage interlock control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the high-voltage interlock control method according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the high-voltage interlocking control method according to any one of claims 1 to 11 is implemented.

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