Aerocar double-rotor system and control method thereof

Abstract

The invention provides a hovercar double-rotor system and a control method thereof, and relates to the technical field of hovercar rotors, the hovercar double-rotor system comprises a main rotor system and a standby rotor system, the standby rotor system comprises a plurality of blades, a propeller hub and an independent motor, the propeller hub is provided with a clamping groove, and the clamping groove is connected with the main rotor system. The plurality of paddles are vertically arranged with the propeller hub in an equidistant dispersion manner through the clamping grooves; the independent motor is arranged below the propeller hub, is electrically connected with the propeller hub and drives the propeller hub to drive the blades to rotate; the standby rotor wings are arranged at the four corners of a hovercar body, keep a silent state and do not participate in flight power output when the main rotor wing system works normally, and when the main rotor wing system breaks down or even fails, the hovercar main controller receives a failure signal and starts the standby rotor wing system, the standby rotor wing system drives the independent motor, and the standby rotor wing system drives the independent motor. And the propeller hub is driven to drive the blades to rotate.

Description

Technical Field

[0001] The present disclosure relates to the technical field of flying car rotors, and in particular to a flying car dual-rotor system and a control method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] At present, the number and speed of car ownership continue to grow. The rapid increase in the number of cars has led to problems such as overcrowded roadside parking and traffic jams. The efficiency of transportation has been greatly reduced, bringing great inconvenience to people.

[0004] In response to the increasingly crowded urban transportation system, flying cars came into being. Flying cars have two driving modes. They can drive on the ground like traditional cars, and they can also fly at low altitudes. As a low-altitude aircraft with amphibious properties, flying cars can be widely used in civil fields such as urban transportation, logistics, firefighting, emergency rescue, tourism, agriculture and forestry, and can also be used in military fields such as transportation, patrol, reconnaissance, etc. However, existing flying cars only have one rotor system. If the rotor system fails or fails, it cannot provide power support, which poses a great risk in terms of safety. Summary of the invention

[0005] In order to solve the above problems, the present disclosure proposes a flying car dual-rotor system and a control method thereof, and designs a main rotor system and a backup rotor system. When the main rotor system fails or fails, the backup rotor system intervenes to provide power instead of the main rotor system to support the flying car to continue to operate smoothly or land.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions:

[0007] A flying car dual rotor system, comprising a main rotor system and a backup rotor system, wherein the backup rotor system comprises four backup rotors, each of which has a plurality of blades, a hub and an independent motor, wherein a slot is arranged on the hub, and a plurality of blades are vertically arranged with equal distances from the hub through the slot; the independent motor is arranged below the hub and is electrically connected to the hub to drive the hub to drive the blades to rotate;

[0008] The backup rotors are arranged at the four corners of the flying car body, remain silent when the main rotor system is working normally, and do not participate in the flight power output. When the main rotor system fails or even fails, the flying car main controller receives a failure signal and starts the backup rotor system. The backup rotor system drives an independent motor to drive the hub to drive the blades to rotate.

[0009] According to some embodiments, the present disclosure adopts the following technical solutions:

[0010] A control method for a flying car dual-rotor system, comprising:

[0011] When the flying car is driving on the ground, the rotor system does not work;

[0012] Flight initialization, the main rotor starts, driving the flying car to rise, achieving vertical take-off and landing, aerial cruising, hovering, and yaw movement;

[0013] If the main rotor fails or malfunctions, the backup rotor system quickly intervenes, rises and rotates under the drive of the hydraulic mechanism, and takes over the main rotor to continue providing power for the flying car.

[0014] According to some embodiments, the present disclosure adopts the following technical solutions:

[0015] A computer program product includes a computer program, and when the computer program is executed by a processor, the control method of the flying car dual-rotor system is implemented.

[0016] According to some embodiments, the present disclosure adopts the following technical solutions:

[0017] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, a control method for a flying car dual-rotor system is implemented.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the control method for implementing the dual-rotor system of a flying car.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The disclosed flying car dual-rotor system has a spare rotor system. When designing the spare rotor, the impact on the aerodynamic layout of the entire flying car when it is not working needs to be considered; and when the main rotor system fails, the spare rotor system can quickly take over its work, and can maintain normal flight for a distance or land on the ground nearby. A special blade and hub structure is designed. The structure can be raised and lowered in the Z direction, and the blades can be retracted, thereby saving space and greatly reducing the resistance of the flying car.

[0022] The present invention discloses a flying car dual-rotor system, and a backup rotor system, which are arranged at the four corners of the flying car body. When the main rotor is working normally, it remains silent and does not participate in the flight power output. When the main rotor malfunctions or even fails, the flying car main controller receives the signal and starts the backup rotor system to make it respond quickly. Under the action of the hydraulic mechanism, the X-shaped backup rotor rises at the four corners of the car body. Driven by the drive motor, the originally retracted blades are opened and locked like an umbrella, and the backup rotor begins to play a role, replacing the main rotor to provide power to support the flying car to continue to run smoothly or land. The retractable rotor greatly reduces the size of the shaft and does not take up too much space. When driving on the ground, it shrinks and descends into the car body to keep the entire car body streamlined. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0024] Figure 1 is a schematic diagram of a blade according to an embodiment of the present disclosure;

[0025] Figure 2 is a schematic diagram of the hub structure of an embodiment of the present disclosure;

[0026] Figure 3 This is a schematic diagram of the assembly of a propeller blade and a propeller hub according to an embodiment of the present disclosure;

[0027] Figure 4 It is a schematic diagram of the internal structure of the spare rotor according to an embodiment of the present disclosure;

[0028] Figure 5 This is a schematic diagram of the external structure of the spare rotor according to an embodiment of the present disclosure;

[0029] Figure 6 This is a schematic diagram of a spare rotor in a retracted state according to an embodiment of the present disclosure;

[0030] Figure 7 This is a schematic diagram of the standby rotor in the deployed state according to an embodiment of the present disclosure;

[0031] Figure 8 A schematic diagram of the response process of the rotor system of a flying car according to an embodiment of the present disclosure;

[0032] Fig. 9 This is a schematic diagram of a flying car entering a take-off state according to an embodiment of the present disclosure;

[0033] Fig.10 This is a schematic diagram of an aerial cruising state according to an embodiment of the present disclosure;

[0034] in, Fig.10 (a) is vertical takeoff; Fig.10 (b) is to adjust the main rotor state; Fig.10 (c) is the air cruising state;

[0035] Fig.11 The hovering posture of the flying car in the air according to the embodiment of the present disclosure;

[0036] Fig.12 The vertical take-off posture of the flying car in the embodiment of the present disclosure;

[0037] Fig.13 This is a schematic diagram of a flying car flying forward according to an embodiment of the present disclosure;

[0038] Fig.14 This is a schematic diagram of a flying car flying to the left according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0040] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] In one embodiment of the present disclosure, a flying car dual-rotor system is provided, including a main rotor system and a backup rotor system, such as Figure 2 , Figure 3 As shown, the standby rotor system includes four standby rotors, each of which includes a plurality of blades 2, a hub 1 and an independent motor 3. A slot is provided on the hub 1, and a plurality of blades 2 are vertically arranged with equal distances from the hub through the slot; the independent motor 3 is arranged below the hub 1 and is electrically connected to the hub 1 to drive the hub 1 to drive the blades 2 to rotate;

[0043] The backup rotors are arranged at the four corners of the flying car body, remain silent when the main rotor system is working normally, and do not participate in the flight power output. When the main rotor system fails or even fails, the flying car main controller receives a failure signal and starts the backup rotor system. The backup rotor system drives an independent motor to drive the hub to drive the blades to rotate.

[0044] As an embodiment, a flying car dual-rotor system disclosed in the present invention mainly includes a flying car body, a main rotor system, and a backup rotor system.

[0045] The standby rotor system includes four standby rotors, each of which includes a plurality of blades 2, a hub 1, and an independent motor 3. A slot is provided on the hub 1, and a plurality of blades 2 are vertically and dispersedly arranged at equal distances from the hub through the slot; the independent motor 3 is arranged below the hub 1 and is electrically connected to the hub 1 to drive the hub 1 to drive the blades 2 to rotate;

[0046] As an embodiment, the hub is shaped like a cone, taking into account its functional requirements and streamlined shape, and has six blade slots thereon. Figure 1 The blades shown in the figure are installed in coordination. Through the coordinated installation structure of the blades and the hub, the blades can be fixed in the horizontal direction at 90 degrees to the axis of the hub.

[0047] As an example, Figure 4 As shown, the backup rotor system also includes a piston connecting rod 4 and a hydraulic cylinder 5. The hydraulic cylinder 5 is fixed at the four corners of the flying car body. One end of the piston connecting rod 4 is connected to the independent motor 3, and the other end is arranged in the hydraulic cylinder 5, and can perform piston movement in the hydraulic cylinder 5.

[0048] As an embodiment, the main rotor system and the backup rotor system are both connected to the flying car main controller, and the independent motor is connected to the backup rotor system controller.

[0049] The backup rotor system includes four backup rotors, each of which includes multiple blades, a hub, a piston connecting rod and a hydraulic cylinder. The backup rotor system adopts a four-rotor layout to form a four-rotor "X"-shaped quadrotor, providing four input forces and six output states to achieve the vertical take-off and landing function of the flying car. The "X"-shaped quadrotor can generate a combined torque of motion through the speed difference between independent motors, thereby achieving horizontal and yaw motion of the flying car.

[0050] As an example, Figure 6 The figure shows the state of the spare rotor of the flying car being folded. The main body of the flying car is about the same size as an ordinary vehicle and is shaped like a sedan. When the main rotor and spare rotor are folded, it does not affect its driving on normal roads. In this design, the spare rotor system adopts a four-rotor layout, providing four input forces, but has six output states, which can realize the vertical take-off and landing function of the flying car. According to the foldable and extendable wing-shaped structure of the main rotor, the spare rotor adopts an "X" pattern layout and is located at the four corners of the vehicle body.

[0051] Furthermore, the main rotor is a tilt-rotor, which is set on both sides of the flying car. Engines are set in the wingtips of the rotors. The engines drive the two rotors to switch 90 degrees in the vertical and horizontal directions. The rotors can be folded, and the helicopter has the vertical take-off and landing function. The main rotor has fixed wings similar to traditional aircraft. The two rotatable engines at the wingtips drive the two rotors, which can switch 90 degrees in the vertical and horizontal directions. The rotors can be folded, and the helicopter has the vertical take-off and landing function.

[0052] Furthermore, if Figure 7 As shown, the standby rotor of the flying car is deployed. The standby rotor system remains silent when the main rotor is working normally and does not participate in the flight power output. When the main rotor fails or even fails, the main controller of the flying car receives the signal and starts the standby rotor system to respond quickly. The X-shaped standby rotor rises at the four corners of the vehicle body under the action of the hydraulic mechanism. Driven by the drive motor, the originally retracted blades are opened and locked at 90 degrees like an umbrella, and the standby rotor begins to work.

[0053] Example 2

[0054] In one embodiment of the present disclosure, a control method for a dual-rotor system of a flying car is provided, comprising: when the flying car is traveling on the ground, the rotor systems are all inoperative;

[0055] Flight initialization, the main rotor starts, driving the flying car to rise, achieving vertical take-off and landing, aerial cruising, hovering, and yaw movement;

[0056] Specifically, the flying car is stationary on the ground. When the aircraft and environmental conditions meet the take-off requirements, the pilot presses the take-off button to operate the flying car to switch from the ground driving mode to the flight mode.

[0057] If the main rotor fails or malfunctions, the backup rotor system quickly intervenes, rises and rotates under the drive of the hydraulic mechanism, and takes over the main rotor to continue providing power for the flying car.

[0058] Furthermore, the specific application process of the present disclosure is as follows: Figure 8 The figure shows the working response process of the flying car's rotor system. When the flying car is driving on the ground, the rotor system does not work. The main rotor starts, driving the flying car to rise, and can achieve vertical take-off and landing, aerial cruising, hovering, yaw and other movements. If the main rotor fails or malfunctions, the backup rotor system quickly intervenes, rises and rotates under the drive of the hydraulic mechanism, and takes over the main rotor to continue to provide power for the flying car, thereby ensuring flight safety.

[0059] Specifically, the specific control methods for realizing vertical take-off and landing, aerial cruising, hovering, yaw and other motion modes are as follows:

[0060] (1) Vertical takeoff

[0061] In flight mode, the main rotor tilts 90 degrees from being parallel to the length of the vehicle body to a vertical direction; then, the main rotor drive motor starts to rotate, driving the upper blades to rotate, unfold and lock through the locking mechanism. When the lift provided by the main rotor is greater than the weight of the flying car's load, the flying car enters a vertical take-off state.

[0062] (2) Hovering in the air

[0063] When the flight altitude is >20m, the pilot can adjust the speed of the drive motor through the joystick or control button so that the lift provided by the main rotor to the flying car equals the weight of the flying car's load, and the flying car can be hovered in the air.

[0064] (3) Air patrol

[0065] When the main rotor is adjusted to tilt forward at a certain angle, it can combine with gravity to form a forward force, driving the flying car forward. At this time, the flying car is subject to the forward force F brought by the rotor. N , the gravity of the flying car G, the lift brought by the fixed wing F L , gradually increases from 0, thus forming a forward force ∑ F, drives the flying car to fly forward, that is, the air cruising state.

[0066] (4) Yaw motion

[0067] Yaw can be achieved by adjusting the speed difference between the left and right rotors to form a left or right tilt force. In the cruising state, the left rotor speed of the two main rotors is reduced, so that the right rotor speed is greater than the left rotor speed. Then the flying car generates a resultant force biased to the left, which can achieve left yaw; similarly, the right rotor speed is reduced, and the left rotor speed is greater than the right rotor speed. Then the flying car generates a resultant force biased to the right, which can achieve right yaw.

[0068] (5) Vertical landing

[0069] When arriving at the destination, the flying car reduces its forward speed. After reaching a safe value, the main rotor slowly tilts to a perpendicular state with the vehicle body, and then gradually reduces the lift, so that the flying car achieves lift > gravity, lift = gravity, and lift < gravity, that is, the vertical landing process.

[0070] The flying car takes off and lands vertically, and can be carried out in a small space without being restricted by a runway.

[0071] In short, the above flight processes, namely vertical take-off, hovering in the air, cruising in the air, yaw movement, and vertical landing, are achieved by adjusting the speed of the main rotor drive motor and tilting the rotor to a certain angle.

[0072] As an embodiment, several typical flight attitudes and working principles of the aircraft when the standby rotor is in working state are as follows:

[0073] The "X" mode quadcopter flying car has four input forces and six output states. The two motors on the X-axis of the flying car rotate counterclockwise, and the motor on the Y-axis rotates clockwise. When all motors rotate at the same speed, assuming that the X-axis motor forms a torque, and its rotation direction is exactly opposite to that of the Y-axis motor, the resulting counter-torque and torque are a pair of opposite vectors, and their sum is exactly the zero vector.

[0074] (1) Hovering in the air:

[0075] When a flying car hovers in the air, it is in balance, which means that the resultant force of all forces acting on the flying car is zero, and the resultant torque of all torques is also zero.

[0076] The flying car starts, and the motor is controlled to increase the speed of the rotor, and the pulling force generated also increases accordingly. When the total lift F provided by the rotor and the total weight G of the flying car are a pair of opposite vectors, the flying car can hang in the air.

[0077] (2) Vertical direction:

[0078] Upward (F>G); Downward (F <G)。

[0079] When the four drive motors of the backup rotor system increase their rotation speed synchronously, the upward pulling force generated by the rotor gradually increases. In this process, the resultant lift force F will exceed the total weight G of the flying car, allowing it to take off vertically.

[0080] Similarly, when the four drive motors of the backup rotor system reduce their rotation speed synchronously, the upward pull generated by the rotor gradually decreases. During this process, the resultant lift force F will be lower than the total weight G of the flying car, allowing it to perform a vertical landing.

[0081] (3) Horizontal movement

[0082] 1) Forward and backward movement

[0083] When the speeds of the motors M1 and M2 of the two rotors in front of the flying car are reduced, while the speeds of M3 and M4 are increased and maintained, the combined lift force F of the flying car has a forward component, enabling it to sail forward.

[0084] Backward flight is the opposite of the above process.

[0085] 2) Left and right movement

[0086] When the speed of the motors M1 and M4 of the two rotors on the left side of the flying car is reduced, while the speed of M2 and M3 is increased, the total lift force F of the flying car has a left component, which enables it to sail to the left. Flying to the right is the opposite of the above process.

[0087] (4) Yaw motion

[0088] Yaw motion is the motion of the flying car rotating around the vertical direction to change the flying direction. The principle of yaw is to use the difference in the speed of adjacent motors to achieve the turning of the flying car. For example, if the flying car yaws to the left, the rotor motors M1 and M3 need to increase their speed, and the motors M2 and M4 need to reduce their speed.

[0089] Similarly, yaw to the right is the opposite of the above process.

[0090] Example 3

[0091] In one embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the control method of the flying car dual-rotor system is implemented.

[0092] Example 4

[0093] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the control method of the flying car dual-rotor system is implemented.

[0094] Example 5

[0095] In one embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the control method for implementing the dual-rotor system of a flying car.

[0096] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A flying car dual-rotor system, characterized in that: It includes a main rotor system and a backup rotor system, wherein the backup rotor system includes a plurality of blades, a hub and an independent motor, a slot is provided on the hub, and a plurality of blades are vertically arranged with equal distances from the hub through the slot; the independent motor is arranged below the hub and is electrically connected to the hub to drive the hub to drive the blades to rotate; The backup rotors are arranged at the four corners of the flying car body, remain silent when the main rotor system is working normally, and do not participate in the flight power output. When the main rotor system fails or even fails, the flying car main controller receives a failure signal and starts the backup rotor system. The backup rotor system drives an independent motor to drive the hub to drive the blades to rotate.

2. A flying car dual-rotor system as claimed in claim 1, characterized in that: The backup rotor system also includes a piston connecting rod and a hydraulic cylinder. The hydraulic cylinder is fixed at the four corners of the flying car body. One end of the piston connecting rod is connected to an independent motor, and the other end is arranged in the hydraulic cylinder and can perform piston movement in the hydraulic cylinder.

3. A flying car dual-rotor system as claimed in claim 1, characterized in that: The main rotor system and the backup rotor system are both connected to the main controller of the flying car, and the independent motor is connected to the backup rotor system controller.

4. A flying car dual-rotor system as claimed in claim 1, characterized in that: The backup rotor system adopts a four-rotor arrangement, which provides four input forces and six output states to realize the vertical take-off and landing function of the flying car.

5. The flying car dual-rotor system according to claim 1, characterized in that: The main rotor is a tilt-rotor, which is installed on both sides of the flying car. Engines are installed in the wingtips of the rotors. The engines drive the two rotors to perform 90-degree conversions in the vertical and horizontal directions. The rotors can be folded and have the function of vertical take-off and landing of helicopters.

6. A flying car dual-rotor system as claimed in claim 1, characterized in that: The backup rotor system generates a combined torque of motion through the speed difference between independent motors, thereby achieving horizontal and yaw motion of the flying car.

7. A control method for a flying car dual-rotor system according to any one of claims 1 to 6, characterized in that: include: When the flying car is driving on the ground, the rotor system does not work; Flight initialization, the main rotor starts, driving the flying car to rise, achieving vertical take-off and landing, aerial cruising, hovering, and yaw movement; If the main rotor fails or malfunctions, the backup rotor system quickly intervenes, rises and rotates under the drive of the hydraulic mechanism, and takes over the main rotor to continue providing power for the flying car.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, the control method of the flying car dual-rotor system according to claim 7 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the control method of the flying car dual-rotor system according to claim 7 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the control method of a flying car twin-rotor system as described in claim 7.

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