Control method and system, land vehicle and computer readable storage medium

Abstract

The invention discloses a control method and system, a land vehicle and a computer readable storage medium, and the method comprises the steps: responding to a combination coupling request of the land vehicle and an aircraft, and automatically driving to a preset region corresponding to the aircraft; a bearing platform of the land vehicle is controlled to move towards the outside of the rear box body; an air suspension of the land vehicle is controlled to descend and is in automatic butt joint with the aircraft; and the air suspension is controlled to ascend, and the bearing platform is controlled to move towards the interior of the rear box body. Automatic combination of the land vehicle and the aircraft is achieved, the aircraft does not need to land on the land vehicle, the area of the road vehicle can be reduced, and therefore the cost of the road vehicle can be reduced. In addition, the land vehicle automatically travels to the aircraft for combination, and the combination requirement of the aircraft of the hovercar and the road vehicle can be better met.

Description

Technical Field

[0001] The present application relates to the technical field of flying cars, and in particular to a control method, system, land vehicle and computer-readable storage medium. Background Art

[0002] Flying cars have always been a key research direction. With the development of pure electric vertical take-off and landing aircraft, flying cars have ushered in a new research boom. In addition to integrated flying cars, some studies have proposed the research direction of split flying cars, which is to split the functions of flying cars into a road part and a flying part, including two-part, three-part and other different types.

[0003] In the case of a flying car that is split into two parts, the flying car can be divided into a land vehicle and an aircraft. Currently, during the docking process between the aircraft and the land vehicle, the aircraft directly lands on the land vehicle, and during the separation process between the aircraft and the land vehicle, the aircraft directly takes off from the land vehicle. This requires that the land vehicle has sufficient space, resulting in a high cost for the land vehicle. Summary of the invention

[0004] The main purpose of the present application is to provide a control method, system, land vehicle and computer-readable storage medium, aiming to solve the technical problem in the related art that an aircraft directly lands on a land vehicle, resulting in a high cost of the land vehicle.

[0005] To achieve the above-mentioned purpose, the present application provides a control method, which is applied to a land vehicle of the flying car, wherein the flying car also includes an aircraft, and the land vehicle and the aircraft are separable and combinable, and the method comprises:

[0006] In response to a request for coupling between the land vehicle and the aircraft, automatically driving to a preset area corresponding to the aircraft;

[0007] Controlling the carrying platform of the land vehicle to move outside the rear box of the land vehicle;

[0008] Controlling the air suspension of the land vehicle to descend and automatically dock with the aircraft;

[0009] The air suspension is controlled to rise, and the bearing platform is controlled to move into the rear box.

[0010] Furthermore, the step of controlling the carrying platform of the land vehicle to move outside the rear box body includes:

[0011] Control the opening of the rear box of a land vehicle;

[0012] Control the load platform of the land vehicle to move out of the rear box body, and control the ring lock of the land vehicle to extend.

[0013] Further, the step of controlling the air suspension of the land vehicle to lower and automatically docking with the aircraft includes:

[0014] Control the air suspension of the land vehicle to lower and drive to the automatic coupling area of the aircraft;

[0015] In response to the control instruction that the ring lock is in place, control the ring lock to automatically dock with the aircraft.

[0016] Further, the step of controlling the rising air suspension to rise and controlling the load platform to move into the rear box body includes:

[0017] In response to the control instruction for docking completion, control the air suspension to rise;

[0018] Control the landing gear of the aircraft to retract and lock, and control the load platform to move into the rear box body.

[0019] Further, the step of controlling the landing gear of the aircraft to retract and lock, and controlling the load platform to move into the rear box body includes:

[0020] Control the left and right rear landing gears of the aircraft to retract and lock, and control the load platform to move into the rear box body;

[0021] In response to the request for retracting the left and right front landing gears, control the left and right front landing gears of the aircraft to retract and lock;

[0022] Control the load platform to move into the rear box body.

[0023] Further, after the step of controlling the rising air suspension to rise and controlling the load platform to move into the rear box body, the method further includes:

[0024] In response to the request for the load platform to move in place, control the locking mechanism in the land vehicle to lock and lock the aircraft on the land vehicle;

[0025] Control the rear box body of the land vehicle to close.

[0026] Further, the method further includes:

[0027] Control the load platform of the land vehicle to move out of the rear box body;

[0028] Control the landing gear of the aircraft to open and lock, and control the air suspension to lower;

[0029] Control the ring lock of the ground vehicle to unlock.

[0030] Further, the step of controlling the load platform of the ground vehicle to move out of the rear box body includes:

[0031] Control the rear box body of the ground vehicle to open, and control the locking mechanism in the ground vehicle to unlock;

[0032] Control the load platform of the ground vehicle to move out of the rear box body.

[0033] Further, the step of controlling the landing gear of the aircraft to open and lock, and controlling the air suspension to lower includes:

[0034] In response to the detection signals of the left and right front landing gear sensors in the aircraft, control the left and right front landing gears of the aircraft to open and lock;

[0035] Control the air suspension to lower, and control the load platform of the ground vehicle to move out of the rear box body;

[0036] In response to the detection signals of the left and right rear landing gear sensors in the aircraft, control the left and right rear landing gears of the aircraft to open and lock;

[0037] Control the air suspension to lower.

[0038] Further, after the step of controlling the ring lock of the ground vehicle to unlock, the method further includes:

[0039] Control the load platform of the ground vehicle to move into the rear box body;

[0040] Control the rear box body of the ground vehicle to close.

[0041] In addition, to achieve the above object, the present application further provides a control system, which is applied to the ground vehicle of a flying car, and the flying car further includes an aircraft. The control system includes an automatic driving system, a separation and combination controller, and an air suspension control system;

[0042] In response to the combination coupling request of the ground vehicle and the aircraft, the automatic driving system controls the ground vehicle to automatically drive to the preset area corresponding to the aircraft;

[0043] The separation and combination controller controls the load platform of the ground vehicle to move out of the rear box body;

[0044] The air suspension control system controls the air suspension of the ground vehicle to lower, and the separation and combination controller controls the ground vehicle and the aircraft to perform automatic docking;

[0045] The air suspension control system controls the air suspension to rise, and the separation and combination controller controls the carrying platform to move into the rear box body.

[0046] Further, the control system further includes a tailgate control system and a ring lock control system;

[0047] The tailgate control system controls the rear box body of the land vehicle to open;

[0048] The separation and combination controller controls the carrying platform of the land vehicle to move out of the rear box body, and the ring lock control system controls the ring lock of the land vehicle to extend.

[0049] Further, the air suspension control system controls the air suspension of the land vehicle to descend, and the automatic driving system controls the land vehicle to drive to the automatic coupling area of the aircraft;

[0050] In response to the control instruction that the ring lock is in place, the ring lock control system controls the ring lock to be automatically docked with the aircraft.

[0051] Further, the control system further includes a flying body locking control system;

[0052] In response to the control instruction for the completion of docking, the air suspension control system controls the air suspension to rise;

[0053] The flying body locking control system controls the landing gear of the aircraft to retract and lock, and the separation and combination controller controls the carrying platform to move into the rear box body.

[0054] Further, the control system further includes a ring lock control system;

[0055] The separation and combination controller controls the carrying platform of the land vehicle to move out of the rear box body;

[0056] Controls the landing gear of the aircraft to open and lock, and the air suspension control system controls the air suspension to descend;

[0057] The ring lock control system controls the ring lock of the land vehicle to unlock.

[0058] Further, the control system further includes a tailgate control system and a flying body locking control system;

[0059] The tailgate control system controls the rear box body of the land vehicle to open, and the flying body locking control system controls the locking mechanism in the land vehicle to unlock.

[0060] In addition, to achieve the above object, the present application further provides a land vehicle, and the land vehicle includes the foregoing control system.

[0061] In addition, to achieve the above object, the present application further provides a computer-readable storage medium, on which a control program is stored, and when the control program is executed by a processor, the steps of the foregoing control method are implemented.

[0062] In response to the combination coupling request of the ground vehicle and the aircraft, the present application automatically drives the ground vehicle to a preset area corresponding to the aircraft; then controls the carrying platform of the ground vehicle to move out of the rear box body; then controls the air suspension of the ground vehicle to descend and automatically dock with the aircraft; and then controls the air suspension to rise and controls the carrying platform to move into the rear box body, realizing the automatic combination of the ground vehicle and the aircraft. The aircraft does not need to land on the ground vehicle, which can reduce the area of the ground vehicle, thereby reducing the cost of the ground vehicle. In addition, by automatically driving the ground vehicle to the aircraft for combination, the combination requirements of the aircraft and the ground vehicle of the flying car can be better met. Description of the Drawings

[0063] Figure 1 is a schematic structural diagram of a flying car provided by an embodiment of the present application;

[0064] Figure 2 is Figure 1 a schematic structural diagram of the vehicle and the aircraft of the flying car shown being decoupled;

[0065] Figure 3 is a schematic structural diagram of a vehicle provided by an embodiment of the present application;

[0066] Figure 4 is a schematic structural diagram of an aircraft provided by an embodiment of the present application;

[0067] Figure 5 is Figure 4 a schematic structural diagram of the separation and combination device of the aircraft shown;

[0068] Figure 6 is Figure 4 a schematic structural diagram of the aircraft shown with the arm folded and the foldable landing gear mechanism deployed;

[0069] Figure 7 is a schematic system architecture diagram of the ground vehicle and the aircraft in the automatic docking and separation method of the present application;

[0070] Figure 8 is a schematic flowchart of the first embodiment of the automatic docking and separation method of the present application;

[0071] Figure 9 is a schematic diagram of the functional modules of an embodiment of the control device of the present application;

[0072] Figure 10 This is a schematic structural diagram of a land vehicle in the hardware operating environment related to the solution of the embodiment of the present application.

[0073] The implementation, functional characteristics and advantages of the purpose of the present application will be further described with reference to the accompanying drawings in combination with the embodiments. Specific embodiments

[0074] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0075] Please refer to Figure 1 and Figure 2 , the flying car 1000 provided by the present application includes a land transportation device such as a car, a flight transportation device such as an airplane, or a transportation device such as a flying car with both land travel function and flight function. An embodiment of the present application provides a flying car 1000 with both land travel function and flight function. The flying car 1000 includes a land vehicle 100 and an aircraft 200, and the land vehicle 100 and the aircraft 200 are detachably coupled.

[0076] Please refer to Figure 3, the land vehicle 100 in the embodiments of the present application is used to travel on the ground so that the flying car 1000 has the function of traveling on the ground. The vehicle 100 includes a vehicle body 110, a plurality of wheel sets 120, and a separation and coupling device 130. The vehicle body 110 is the main framework of the vehicle 100, and undertakes the functions of carrying the vehicle 100 and other functional devices. The vehicle body 110 includes a land travel cockpit 1110 fixedly arranged on the vehicle body 110 and a carrying platform 1110 arranged in parallel with the land travel cockpit 1110 for people to ride. It can be understood that the land travel cockpit 1110 is formed by being defined by the frame structure of the vehicle body 110. Such a setting strengthens the correlation between the land travel cockpit 1110 and the vehicle body 110, and improves the strength of the land travel cockpit 1110 and the safety of the vehicle 100. The vehicle 100 further includes a vehicle rear compartment body and a vehicle chassis. The vehicle rear compartment body and the land travel cockpit 1110 are arranged in parallel on the vehicle chassis along the forward direction of the vehicle 100. The vehicle rear compartment body is used to carry devices and apparatuses such as the aircraft 200. The vehicle rear compartment body includes a rear compartment floor, and the rear compartment floor is used to support the aircraft 200 and the devices and structures required for the coupling of the aircraft 200 and the vehicle 100. The rear compartment floor is not directly used to park the aircraft 200 to avoid damaging the basic structure of the vehicle body 110. Therefore, a carrying platform 1130 is arranged on the rear compartment floor. The carrying platform 1130 can be understood as a protective layer of the rear compartment floor, and the carrying platform 1130 is used to park the aircraft 200. The separation and coupling device 130 is arranged on the rear compartment floor, that is, the carrying platform 1130, and is used to dock the aircraft 200 later and tow the aircraft 200. The plurality of wheel sets 120 are arranged on the vehicle chassis of the vehicle body 110 so that the vehicle body 110 can travel on land.

[0077] An air suspension is provided below the carrying platform 1130 in the vehicle body 110. The air suspension control system of the land vehicle can control the air suspension to rise or fall. For example, when the land vehicle completes docking with the aircraft, the air suspension is controlled to rise. After the landing gear of the aircraft is suspended, it is retracted, and the weight of the aircraft is borne by the carrying platform 1130. When the land vehicle and the aircraft are separated, the air suspension is controlled to fall. After the landing gear of the aircraft is opened, it lands on the ground.

[0078] Please refer to Figure 4The aircraft 200 in the embodiment of the present application is used to travel in the air so that the flying car 1000 has the function of traveling in the air. The aircraft 200 and the vehicle 100 together construct the flying car 1000 with the function of traveling on land and flying. The aircraft 200 includes an aircraft body 210 and a plurality of foldable rotors 220 arranged on the aircraft body 210. The aircraft body 210 is the main structure of the aircraft 200, and a flight cabin 2110 is arranged on the aircraft body 210 for passengers to ride. The plurality of foldable rotors 220 are arranged on the aircraft body to provide power for the aircraft 200 to travel in the air. The aircraft 200 can rise into the air and travel under the drive of the plurality of foldable rotors 220.

[0079] In the embodiment of the present application, the degree of covering of the aircraft 200 by the vehicle rear compartment of the vehicle body 110 after the aircraft 200 is coupled to the vehicle 100 is not limited, and the aircraft 200 may be half-surrounded or fully surrounded. In the present embodiment, the appearance of the vehicle 100 that can half-surround the aircraft 200 is similar to that of an existing pickup truck. Specifically, the vehicle rear compartment includes a fence structure 1132, the carrying platform 1130 includes a carrying plate 1131, the carrying plate 1131 is connected to the land cabin 1110, and the fence structure 1132 is arranged around the outer periphery of the carrying plate 1131. When the aircraft 200 is coupled to the carrying platform 1130, it can prevent the aircraft 200 from leaving the carrying plate 1131 in the horizontal direction. The fence structure 1132, the land cabin 1110 and the carrying plate 1131 jointly define a first accommodating space 1133 that is in communication with the outside. In order to enable the aircraft 200 to enter and exit the first accommodation space 1133, the fence structure 1132 includes a movable fence (not marked in the figure), which is arranged on the side of the supporting plate 1131 away from the land cabin 1110. The movable fence can rotate relative to the supporting plate 1131 to provide a passage for the aircraft body 210 to enter the first accommodation space 1133.

[0080] In this embodiment, the appearance of the vehicle 100 that can fully surround the aircraft 200 is similar to that of an existing van. Specifically, the carrying platform includes a carrying plate 1131 and a vehicle rear compartment (not shown in the figure). The carrying plate 1131 is connected to the land cabin 1110. The vehicle rear compartment cover is arranged on the carrying plate 1131. The vehicle rear compartment and the carrying plate 1131 jointly define a second accommodation space (not shown in the figure) separated from the outside. In order to enable the aircraft 200 to enter and exit the second accommodation space, the vehicle rear compartment includes a compartment door, which is movably arranged on the side of the vehicle rear compartment away from the land cabin 1110. The compartment door is used to open the vehicle rear compartment to avoid the aircraft body 210.

[0081] See also Figure 5, the separation and coupling device 130 in this embodiment includes a traction mechanism 1310 and a linear motion mechanism 1320. The traction mechanism 1310 is movably arranged on the bearing platform 1130. When the vehicle 100 controls the bearing platform 1130 to correspond to the aircraft body 210, the movement trend of the traction mechanism 1310 is to approach or move away from the aircraft 2 body 210. Correspondingly, the aircraft 200 further includes a docking mechanism 250 connected to the aircraft body 210, and the docking mechanism 250 is adapted to be cooperatively connected with the traction mechanism 1310. After the traction mechanism 1310 is cooperatively connected with the docking mechanism 250, the traction structure 1310 pulls the docking mechanism 250 to pull the aircraft 200 onto the bearing platform 1130. The cooperative connection between the traction mechanism 1310 and the docking mechanism 250 can be completed manually, or by an automatic device, or jointly by manual and automatic devices.

[0082] The structural basis for the traction mechanism 1310 to be able to move in a fixed direction is the linear motion mechanism 1320. The linear motion mechanism 1320 is arranged on the bearing platform 1130, the traction mechanism 1310 is connected to the linear motion mechanism 1320, and the linear motion mechanism 1320 is used to drive the traction mechanism 1310 to move on the bearing platform. Correspondingly, the aircraft 200 further includes a docking mechanism 250 connected to the aircraft body 210, and the docking mechanism 250 is adapted to be cooperatively connected with the traction mechanism 1310. After the traction mechanism 1310 is cooperatively connected with the docking mechanism 250, the traction structure 1310 pulls the docking mechanism 250 to pull the aircraft 200 onto the bearing platform 1130.

[0083] Please refer to Figure 5, first, the specific components of the linear motion structure 1320 are introduced to reveal the mechanism by which the linear motion structure 1320 drives the traction mechanism 1310 to move. Specifically, the linear motion mechanism 1320 includes a lead screw 1321, a rotating motor 1322, and a slider 1323. The lead screw 1321 is arranged along the forward direction of the vehicle 100. The rotating motor 1322 is drivingly connected to one end of the lead screw 1321. When the rotating motor 1322 is turned on, it can drive the lead screw 1321 to rotate. The slider 1323 is threadedly connected to the lead screw 1322 and is connected to the traction mechanism 1310. In a state where the carrying platform 1130 moves to a position opposite to the aircraft body 210, when the lead screw 1321 rotates, the slider 1323, together with the traction mechanism 1310, approaches or moves away from the aircraft body 210 relative to the carrying platform 1130. In this embodiment, the number of linear motion mechanisms 1320 is two. The two linear motion mechanisms 1320 and the traction mechanism 1310 are arranged horizontally to avoid increasing the height of the carrying platform 1130 and prevent the overall structure of the flying car 1000 from being too high and not being compatible with existing traffic facilities and building structures, such as the size of existing parking spaces and the high-level design of underground parking garages. The two linear motion mechanisms 1320 are arranged on opposite sides of the traction mechanism. On the one hand, it makes the driving force acting on the carrying mechanism 1310 greater. On the other hand, it can keep the carrying structure 1310 in a substantially balanced state, making it not easy to tilt and deflect, and ensuring the traction effect.

[0084] Please refer to Figure 5 , next, the specific structure of the traction mechanism 1310 and the specific structure of the docking mechanism 250 of the aircraft 200 are introduced. Specifically, the traction mechanism 1310 includes a traction main body 1311 and a traction ring body 1312. Correspondingly, the docking mechanism 250 of the aircraft 200 includes a mating ring body (not marked in the figure); the traction ring body 1312 is arranged on the side of the traction main body 1311 facing away from the land travel cockpit 1110, so that in a state where the carrying platform 1130 moves to a position opposite to the aircraft body 210, the traction ring body 1312 and the mating ring body are arranged opposite to each other and can be buckled with each other. In some other embodiments, the traction mechanism 1310 and the docking mechanism 250 can also be hook-shaped structures.

[0085] In order to enable the traction ring body 1312 and the mating ring body to be buckled together, in this embodiment, a part of the traction ring body 1312 is exposed on the side of the traction main body 1311 away from the land travel cockpit 1110. The traction ring body 1312 is provided with a notch 1313. The traction ring body 1312 is rotatably arranged on the traction main body 1311 and can rotate around its axis. In a state where the traction ring body 1312 and the mating ring body are oppositely arranged, the traction ring body 1312 can rotate to align the notch with the mating ring body, so that the mating ring body and the traction ring body 1312 can be buckled together ring by ring. Subsequently, the traction ring body 1312 continues to rotate to hide the notch inside the traction main body 1311, ensuring the stability of the buckling relationship between the mating ring body and the traction ring body 1312.

[0086] Please refer to Figure 5 , after the aircraft 200 is towed onto the carrying platform 1130 and before the aircraft body 210 is coupled to the carrying platform 1130, try to keep the moving direction of the aircraft body 200 relative to the vehicle body 110 as a straight line. Therefore, the separation and coupling device 130 in this embodiment further includes two guide grooves 1330. The two guide grooves 1330 are both arranged on the carrying platform 1130 in the horizontal direction, and the guide groove 13430 extends along the advancing direction of the vehicle 100. Correspondingly, mating wheel sets (not marked in the figure) are provided on opposite sides of the bottom of the aircraft body 210. In a state where the carrying platform 1130 moves to a position opposite to the aircraft body 210, the two guide grooves 1330 and the two mating wheel sets are arranged in one-to-one correspondence, and each mating wheel set can slide into a corresponding guide groove 1330 and roll in the guide groove 1330 to limit the movement trajectory of the aircraft body 210.

[0087] Please refer to Figure 5 , in order to facilitate the mating wheel set to slide into a corresponding guide groove 1330, the guide groove 1330 in this embodiment includes a first groove body 1331 and a second groove body 1332 that are communicated. The second groove body 1332 is connected to one end of the first groove body 1331 away from the land travel cockpit 1110. The groove width of the second groove body 1332 gradually increases in the direction away from the land travel cockpit 1110, that is, the groove width at the end of the second groove body 1332 close to the mating wheel set is wider, and the mating wheel set can smoothly slide into the second groove body 1332.

[0088] After the mating wheel set slides into the guiding groove 1330, the traction mechanism 1310 pulls the aircraft body 210 to move in a straight line. The moving direction of the mating wheel set is not necessarily the same as the extending direction of the guiding groove 1330, which may cause the mating wheel set to get stuck in the guiding groove 1330. Therefore, in this embodiment, the mating ring body is rotatably connected to the side of the chassis of the aircraft body 210 facing the ground. The mating ring body can rotate linearly in the vertical direction relative to the chassis of the aircraft body 210. During the process of pulling the aircraft body 210, the traction ring body 1312 adjusts the moving direction of the mating wheel set through the mating ring body, so that the mating wheel set can cooperate smoothly with the guiding groove 1330.

[0089] Please refer to Figure 3 , the separation and coupling device 130 in this embodiment further includes a limiting mechanism 1340. The application scenario of the limiting mechanism 1340 is as follows: when the aircraft body 210 is coupled with the bearing platform 1130, the limiting mechanism 1340 is connected between the aircraft body 210 and the bearing platform 1130 to limit the movement of the aircraft body 210 relative to the bearing platform 1130 in any direction. Specifically, the limiting mechanism 1340 in this embodiment includes a horizontal limiting component (not marked in the figure). The horizontal limiting component can be connected between the bearing platform 1130 and the aircraft body 210, or can be connected between the vehicle body 110 and the aircraft body 210. The horizontal limiting component is used to limit the movement of the aircraft body 210 relative to the bearing platform 1130 in the horizontal direction. For example, it limits the forward and backward swaying and left and right swinging of the aircraft body 210 in the advancing direction of the vehicle body 110. The limiting mechanism 1340 in this embodiment further includes a vertical limiting component (not marked in the figure). The vertical limiting component is connected between the bearing platform 1130 and the aircraft body 210 and is used to limit the movement of the aircraft body 210 relative to the bearing platform 1130 in the vertical direction. The setting of the limiting mechanism 1340 makes the position state of the aircraft body 210 on the bearing platform 1130 stable, and ensures the stability of the fixed connection relationship between the aircraft body 210 and the bearing platform 1130. The limiting mechanism 1340 limits the movement of the aircraft body 210 on the bearing platform 1130, which can reduce the impact damage to the aircraft 200 itself and the vehicle 100 caused by the movement of the aircraft body 210.

[0090] This embodiment does not limit the types and specific structures of the horizontal limiting component and the vertical limiting component. They can be mating hook rings, or blocks that limit movement. In this embodiment, an electrical limiting mechanism 1340 can be selected. When the aircraft body 210 is in a coupled state with the bearing platform 1310, the electrical limiting mechanism connects to the aircraft body 210 to limit the movement of the aircraft body 210. Before the aircraft body 210 needs to take off, the electrical limiting mechanism releases the connection between the bearing platform 1310 or the vehicle body 110 and the aircraft body 210.

[0091] See also Figure 4 and Figure 6 The aircraft 200 in this embodiment further includes a foldable landing gear mechanism 260, which is used to support the aircraft body 210 when the aircraft 200 is in a landing state. The foldable landing gear mechanism 260 is rotatably connected to the flight cabin 2110 of the aircraft body 210. When the aircraft 200 is in a flying state, the foldable landing gear mechanism 260 rotates toward the flight cabin 2110 to be in a folded state, which can reduce the resistance of the aircraft body 210 in the air. When the aircraft 200 is about to land on the ground, the foldable landing gear mechanism 260 can rotate relative to the flight cabin 2110 to be in a supporting state and can be supported on the ground. In other embodiments, structures such as air bags or piers can also be used to achieve the landing of the aircraft body 210.

[0092] See also Figure 4 In order to ensure that the landing gear 2610 can be automatically unfolded or folded, the foldable landing gear mechanism 260 in this embodiment also includes at least two driving members 2630, and the two driving members 2630 are arranged one by one with the two landing gears 2610, and the driving member 2630 connects the flight cabin 2110 and a corresponding landing gear 2610. The driving member 2630 can automatically drive the landing gear 2610 to rotate relative to the aircraft body 210 according to the driving state of the aircraft 200, so that the landing gear 2610 is folded or unfolded relative to the flight cabin 2110, and no manual intervention is required, thereby improving safety. The driving member 2630 in this embodiment can be a hydraulic cylinder, or a linear motor or other equipment.

[0093] See also Figure 4 The landing gear 2610 in this embodiment includes a support rod 2611 and a support foot 2612. The support rod 2611 is connected between the support foot 2612 and the aircraft body 210. When the foldable landing gear mechanism 260 is in a supporting state, the support foot 2612 abuts against the ground and supports the aircraft body 210 upward. The support foot 2612 is a rod structure and is substantially extended along the forward direction of the aircraft 200. At least one of the front and rear ends of the support foot 2612 in the forward direction of the aircraft 200 is tilted away from the ground. The tilted part is formed with an arc edge 2613 on the side of the support foot 2612 facing the ground. When the aircraft 200 stops and lands on the ground, the support foot 2612 can adapt to the ground through the arc edge 2613, and can prevent foreign objects on the ground from colliding violently with the support foot 2612, avoid abnormal vibration of the aircraft body 210, and prevent damage to the support foot 2612 and the aircraft body 210.

[0094] See also Figure 7, the control system of the flying car includes a land vehicle control system and an aircraft control system. Among them, the land vehicle control system includes a separation and combination controller, a ring lock control system, an aircraft locking control system, and a tailgate controller. The aircraft control system includes a landing gear control system. Specifically, the landing gear control system includes a left front landing gear control system, a right front landing gear control system, a left rear landing gear control system, and a right rear landing gear control system.

[0095] The separation and combination controller includes a slide table control system. The slide table control system includes a slide table motor and a slide table sensor. The slide table motor may include a slide table servo motor 1 and a slide table servo motor 2. The slide table sensor may include a slide table moving positive limit sensor, a slide table moving negative limit sensor, and a landing gear retraction sensor. Among them, the slide table servo motor 1 and the slide table servo motor 2 are respectively electrically connected to the drive module of the land vehicle control system. The slide table moving positive limit sensor, the slide table moving negative limit sensor, and the landing gear retraction sensor are respectively electrically connected to the I / O module of the land vehicle control system.

[0096] The ring lock control system includes a ring lock motor and a ring lock sensor. The ring lock motor includes a ring lock telescopic motor and a ring lock locking motor. The ring lock sensor includes a ring lock telescopic positive limit sensor, a ring lock telescopic negative limit sensor, a ring lock in-place sensor, and an aircraft locking sensor. Among them, the ring lock telescopic motor and the ring lock locking motor are respectively electrically connected to the drive module of the land vehicle control system. The ring lock telescopic positive limit sensor, the ring lock telescopic negative limit sensor, the ring lock in-place sensor, and the aircraft locking sensor are respectively electrically connected to the I / O module of the land vehicle control system.

[0097] The aircraft locking control system includes locking motors. Multiple locking motors may be provided. Each locking motor controls one of the locking mechanisms, that is, the locking motors correspond one-to-one with the locking mechanisms in the land vehicle. For example, the locking motors may include an aircraft locking motor 1, an aircraft locking motor 2, an aircraft locking motor 3, an aircraft locking motor 4, an aircraft locking motor 5, and an aircraft locking motor 6. Among them, the aircraft locking motor 1, the aircraft locking motor 2, the aircraft locking motor 3, the aircraft locking motor 4, the aircraft locking motor 5, and the aircraft locking motor 6 are respectively electrically connected to the drive module of the land vehicle control system.

[0098] The tailgate controller includes a tailgate motor and tailgate sensors. The tailgate motor may include an upper flap motor 1, an upper flap motor 2, a right tailgate motor, and a left tailgate motor. The tailgate sensors may include an upper flap in-place sensor, a right tailgate in-place sensor, and a left tailgate in-place sensor. Among them, the upper flap motor 1, the upper flap motor 2, the right tailgate motor, and the left tailgate motor are respectively electrically connected to the drive module of the land vehicle control system, and the upper flap in-place sensor, the right tailgate in-place sensor, and the left tailgate in-place sensor are respectively electrically connected to the I / O module of the land vehicle control system. Of course, if the upper cover of the rear box of the land vehicle is not provided, the tailgate motor may include a right tailgate motor and a left tailgate motor.

[0099] The landing gear control system may include a left front landing gear control system, a right front landing gear control system, a left rear landing gear control system, and a right rear landing gear control system.

[0100] The landing gear motors of the left front landing gear control system include a left front landing gear retraction motor and a left front landing gear locking motor. The landing gear sensors of the left front landing gear control system include a left front landing gear retraction in-place sensor, a left front landing gear locking in-place sensor, and a left front landing gear release in-place sensor. Among them, the left front landing gear retraction motor and the left front landing gear locking motor are respectively electrically connected to the drive module of the flying vehicle control system, and the left front landing gear retraction in-place sensor, the left front landing gear locking in-place sensor, and the left front landing gear release in-place sensor are respectively electrically connected to the I / O module of the flying vehicle control system.

[0101] The landing gear motors of the right front landing gear control system include a right front landing gear retraction motor and a right front landing gear locking motor. The landing gear sensors of the right front landing gear control system include a right front landing gear retraction in-place sensor, a right front landing gear locking in-place sensor, and a right front landing gear release in-place sensor. Among them, the right front landing gear retraction motor and the right front landing gear locking motor are respectively electrically connected to the drive module of the flying vehicle control system, and the right front landing gear retraction in-place sensor, the right front landing gear locking in-place sensor, and the right front landing gear release in-place sensor are respectively electrically connected to the I / O module of the flying vehicle control system.

[0102] The landing gear motors of the left rear landing gear control system include a left rear landing gear retraction motor and a left rear landing gear locking motor. The landing gear sensors of the left rear landing gear control system include a left rear landing gear retraction in-place sensor, a left rear landing gear locking in-place sensor, and a left rear landing gear release in-place sensor. Among them, the left rear landing gear retraction motor and the left rear landing gear locking motor are respectively electrically connected to the drive module of the flying vehicle control system, and the left rear landing gear retraction in-place sensor, the left rear landing gear locking in-place sensor, and the left rear landing gear release in-place sensor are respectively electrically connected to the I / O module of the flying vehicle control system.

[0103] The landing gear motors of the right rear landing gear control system include a right rear landing gear retraction motor and a right rear landing gear locking motor. The landing gear sensors of the right rear landing gear control system include a right rear landing gear retraction in-place sensor, a right rear landing gear locking in-place sensor, and a right rear landing gear release in-place sensor. Among them, the right rear landing gear retraction motor and the right rear landing gear locking motor are respectively electrically connected to the drive module of the flight vehicle control system, and the right rear landing gear retraction in-place sensor, the right rear landing gear locking in-place sensor, and the right rear landing gear release in-place sensor are respectively electrically connected to the I / O module of the flight vehicle control system.

[0104] This application also provides a control method. Refer to Figure 8 , Figure 8 which is a schematic flow chart of the first embodiment of the control method of this application.

[0105] This control method is applied to the land vehicle of the flying car. The flying car also includes an aircraft. The land vehicle and the aircraft can be separated and combined, and communication can be carried out between the land vehicle and the aircraft through a wireless communication module.

[0106] This control method includes:

[0107] Step S101, in response to the coupling request for the combination of the land vehicle and the aircraft, automatically drive to the preset area corresponding to the aircraft;

[0108] After the aircraft lands automatically after performing a mission or replenishing energy, etc., after the aircraft lands on the ground, after the land vehicle obtains the position information of the aircraft according to the positioning sensor, camera, etc., the land vehicle starts the combination program through the land vehicle display and control system, triggers the coupling request for the combination of the land vehicle and the aircraft, and displays the current combination state of the land vehicle and the aircraft through the land vehicle display and control system. The display interface of the land vehicle display and control system may include function buttons such as combination / separation / pause / continue / reset, etc., and each function button can be triggered through the touch screen of the land vehicle display and control system to realize functions such as one-key combination / separation / pause / continue / reset.

[0109] In response to the coupling request for the combination of the land vehicle and the aircraft, the land vehicle automatically drives to the preset area corresponding to the aircraft. This preset area is the area convenient for combination corresponding to the current position of the aircraft, and can be reasonably set according to the distance required for the automatic combination of the aircraft and the land vehicle, so that after the land vehicle parks, subsequent automatic combination operations between the aircraft and the land vehicle can be directly carried out.

[0110] Step S102, control the bearing platform of the land vehicle to move outwards towards the rear box body of the land vehicle;

[0111] After the land vehicle completes parking, control the load platform of the land vehicle to move outward from the rear box. Further, in a possible implementation manner, this step S102 includes:

[0112] Step S1021, control the rear box of the land vehicle to open;

[0113] Step S1022, control the load platform of the land vehicle to move outward from the rear box, and control the ring lock of the land vehicle to extend.

[0114] After the land vehicle completes parking, control the rear box of the land vehicle to open. If the land vehicle semi-surrounds the aircraft, control the right tailgate of the rear box to open through the right tailgate motor and control the left tailgate of the rear box to open through the left tailgate motor. During the opening process of the tailgate, obtain the detection signals of the right tailgate in-place sensor and the left tailgate in-place sensor. If the right tailgate in-place sensor detects the right tailgate and the left tailgate in-place sensor detects the left tailgate, it is determined that the left and right tailgates are in place, and the right tailgate motor and the left tailgate motor are stopped. If the land vehicle fully surrounds the aircraft, control the upper flip of the rear box to open through the upper flip motor 1 and the upper flip motor 2, control the right tailgate of the rear box to open through the right tailgate motor, and control the left tailgate of the rear box to open through the left tailgate motor. During the opening process, obtain the detection signals of the upper flip in-place sensor, the right tailgate in-place sensor, and the left tailgate in-place sensor. If the upper flip in-place sensor detects the upper flip, the right tailgate in-place sensor detects the right tailgate, and the left tailgate in-place sensor detects the left tailgate, it is determined that the upper flip is in place and the left and right tailgates are in place, and the upper flip motor 1, the upper flip motor 2, the right tailgate motor, and the left tailgate motor are stopped.

[0115] After the rear box is opened, control the load platform of the land vehicle to move outward from the rear box, and at the same time control the ring lock (traction ring body) of the land vehicle to extend. Specifically, control the load platform to move outward from the rear box through the slide table servo motor 1 and the slide table servo motor 2, and at the same time control the ring lock to extend through the ring lock telescopic motor.

[0116] Step S103, control the air suspension of the land vehicle to lower and automatically dock with the aircraft;

[0117] During the process of the carrier platform moving backward outside the rear box and the ring lock extending, the land vehicle continuously obtains the detection signals of the positive limit sensor for the movement of the sliding table and the positive limit sensor for the extension and retraction of the ring lock. When the positive limit sensor for the movement of the sliding table detects the carrier platform, it is determined that the carrier platform has moved into place. When the positive limit sensor for the extension and retraction of the ring lock detects the ring lock, it is judged that the ring lock has extended into place. Furthermore, when the carrier platform is in place and the ring lock has extended into place, the air suspension of the land vehicle is controlled to lower. Specifically, the air suspension is controlled to lower to a preset height through the air suspension control system of the land vehicle, and this preset height can be reasonably set so that the air suspension can lift the aircraft when it rises.

[0118] After the air suspension has lowered to the preset height, the land vehicle automatically docks with the aircraft. Further, in one possible implementation, this step S103 includes:

[0119] Step S1031, control the air suspension of the land vehicle to lower and drive the vehicle to the automatic coupling area of the aircraft;

[0120] Step S1032, in response to the control instruction for the ring lock to be in place, control the ring lock to automatically dock with the aircraft.

[0121] When the carrier platform is in place and the ring lock has extended into place, the air suspension of the land vehicle is controlled to lower. Specifically, the air suspension is controlled to lower to a preset height through the air suspension control system of the land vehicle, and this preset height can be reasonably set so that the air suspension can lift the aircraft when it rises.

[0122] After the air suspension has lowered to the preset height, the land vehicle automatically drives to the automatic coupling area of the aircraft, and the ring lock is connected to the hook of the aircraft. At this time, real-time detection is carried out through the ring lock in-place sensor. If the ring lock in-place sensor detects the ring lock, it is determined that the ring lock is in place. In response to the control instruction for the ring lock to be in place, control the ring lock to automatically dock with the aircraft. Specifically, after determining that the ring lock is in place, the land vehicle controls the ring lock to lock through the ring lock locking motor, realizing the automatic docking between the land vehicle and the aircraft, that is, completing the physical connection between the land vehicle and the aircraft.

[0123] Step S104, control the air suspension to rise and control the carrier platform to move into the rear box body.

[0124] After controlling the ring lock to lock, control the air suspension to rise. When the air suspension has risen to the preset height, control the carrier platform to move into the rear box body. Specifically, in one possible implementation, this step S104 includes:

[0125] Step S1041, in response to the control instruction for docking to be completed, control the air suspension to rise;

[0126] Step S1042: Control the landing gear of the aircraft to retract and lock, and control the carrying platform to move into the rear box body.

[0127] After the automatic docking between the land vehicle and the aircraft is completed, in response to the control instruction for docking completion, control the air suspension to rise, that is, control the air suspension to rise to a preset height to lift the aircraft so that the carrying platform bears the aircraft.

[0128] When the aircraft is borne by the carrying platform, control the landing gear of the aircraft to retract and lock. Specifically, the land vehicle sends a control instruction to the aircraft, and the aircraft respectively controls the left front landing gear, the right front landing gear, the left rear landing gear, and the right rear landing gear to unlock, retract, and lock in sequence according to the control instruction, and then controls the carrying platform to move into the rear box body. Further, in a possible implementation manner, this step S1042 includes:

[0129] Step a: Control the left and right rear landing gears of the aircraft to retract and lock, and control the carrying platform to move into the rear box body;

[0130] Step b: In response to the request for retracting the left and right front landing gears, control the left and right front landing gears of the aircraft to retract and lock;

[0131] Step c: Control the carrying platform to move into the rear box body.

[0132] When the air suspension rises to the preset height and the aircraft is borne by the carrying platform, control the left and right rear landing gears of the aircraft to retract and lock. Specifically, the land vehicle sends an instruction to retract the left and right rear landing gears to the aircraft through the wireless communication module, and the aircraft controls the left rear landing gear and the right rear landing gear to unlock according to the instruction to retract the left and right rear landing gears, and respectively controls the left rear landing gear and the right rear landing gear to retract through the left rear landing gear retraction and extension motor and the right rear landing gear retraction and extension motor. During the retraction process, obtain the detection signals of the left rear landing gear retraction and extension in-place sensor and the right rear landing gear retraction and extension in-place sensor, and respectively determine whether the left rear landing gear and the right rear landing gear are retracted in place through the detection signals of the left rear landing gear retraction and extension in-place sensor and the right rear landing gear retraction and extension in-place sensor, that is, if the left rear landing gear retraction and extension in-place sensor detects the left rear landing gear and the right rear landing gear retraction and extension in-place sensor detects the right rear landing gear, it is determined that the left rear landing gear and the right rear landing gear are retracted in place. The aircraft respectively locks the left rear landing gear and the right rear landing gear through the left rear landing gear locking motor and the right rear landing gear locking motor, and determines whether the left rear landing gear and the right rear landing gear are locked in place through the detection signals of the left rear landing gear locking in-place sensor and the right rear landing gear locking in-place sensor, that is, the left rear landing gear is locked in place when the left rear landing gear locking in-place sensor detects the right rear landing gear, and the right rear landing gear is locked in place when the right rear landing gear locking in-place sensor detects the right rear landing gear.

[0133] After the left and right rear landing gears are locked in place, the aircraft returns the information that the left and right rear landing gears are locked in place to the ground vehicle, and the ground vehicle controls the carrying platform to move into the rear box body, that is, controls the carrying platform to move into the rear box body through the slide servo motor 1 and the slide servo motor 2.

[0134] During the process of the carrying platform moving into the rear box body, the detection signal of the landing gear retraction sensor in the ground vehicle is obtained in real time. If it is determined that the carrying platform is detected through the detection signal of the landing gear retraction sensor, the slide servo motor 1 and the slide servo motor 2 are controlled to stop running to stop moving the carrying platform. The ground vehicle sends a request to retract the left and right front landing gears to the aircraft through the wireless communication module, and controls the left and right front landing gears of the aircraft to retract and lock. Specifically, the aircraft controls the unlocking of the left and right front landing gears according to the request to retract the left and right front landing gears, and controls the left and right front landing gears to retract respectively through the left front landing gear retraction motor and the right front landing gear retraction motor. During the retraction process, the detection signals of the left front landing gear retraction in-place sensor and the right front landing gear retraction in-place sensor are obtained, and it is determined whether the left and right front landing gears are retracted in place respectively through the detection signals of the left front landing gear retraction in-place sensor and the right front landing gear retraction in-place sensor, that is, if the left front landing gear retraction in-place sensor detects the left front landing gear and the right front landing gear retraction in-place sensor detects the right front landing gear, it is determined that the left and right front landing gears are retracted in place. The aircraft locks the left and right front landing gears respectively through the left front landing gear locking motor and the right front landing gear locking motor, and determines whether the locking of the left and right front landing gears is in place through the detection signals of the left front landing gear locking in-place sensor and the right front landing gear locking in-place sensor, that is, the left front landing gear is locked in place when the left front landing gear locking in-place sensor detects the left front landing gear, and the right front landing gear is locked in place when the right front landing gear locking in-place sensor detects the right front landing gear.

[0135] After the left and right front landing gears are locked in place, the aircraft returns the information that the left and right front landing gears are locked in place to the ground vehicle, and the ground vehicle controls the carrying platform to move into the rear box body, that is, controls the carrying platform to move into the rear box body through the slide servo motor 1 and the slide servo motor 2, and the position of the carrying platform is detected in real time through the slide movement negative limit sensor, that is, the detection signal of the slide movement negative limit sensor in the ground vehicle is obtained in real time. If it is determined that the carrying platform is detected through the detection signal of the slide movement negative limit sensor, the slide servo motor 1 and the slide servo motor 2 are controlled to stop running to stop moving the carrying platform, and it is determined that the carrying platform has moved in place.

[0136] Further, in a possible implementation manner, after step S104, the control method further includes:

[0137] Step S105, in response to a movement-in-place request of the carrying platform, controlling a locking mechanism in the land vehicle to lock, and locking the aircraft on the land vehicle;

[0138] Step S106, controlling the rear box of the land vehicle to close.

[0139] After the carrying platform has moved in place, in response to the movement-in-place request of the carrying platform, controlling the locking mechanism in the land vehicle to lock, and locking the aircraft on the land vehicle. Specifically, the locking mechanisms in the aircraft are locked respectively by the flight body locking motor 1, the flight body locking motor 2, the flight body locking motor 3, the flight body locking motor 4, the flight body locking motor 5, and the flight body locking motor 6, so as to lock the aircraft on the land vehicle.

[0140] After the aircraft is locked on the land vehicle, controlling the rear box of the land vehicle to close, thereby enabling the land vehicle to automatically drive towards the aircraft for combination. The aircraft does not need to land on the land vehicle, which can reduce the area of the land vehicle, and thus can reduce the cost of the land vehicle.

[0141] By responding to the combination coupling request of the land vehicle and the aircraft, automatically driving to a preset area corresponding to the aircraft; then controlling the carrying platform of the land vehicle to move out of the rear box; then controlling the air suspension of the land vehicle to descend and automatically dock with the aircraft; then controlling the air suspension to rise and controlling the carrying platform to move into the rear box, the automatic combination of the land vehicle and the aircraft is realized. The aircraft does not need to land on the land vehicle, which can reduce the area of the land vehicle, and thus can reduce the cost of the land vehicle. In addition, by automatically driving the land vehicle to the aircraft for combination, the combination requirements of the aircraft and the land vehicle of the flying car can be better met.

[0142] Based on the first embodiment, a second embodiment of the control method of the present application is proposed. Among them, the control method further includes:

[0143] Step S201, controlling the carrying platform of the land vehicle to move out of the rear box;

[0144] Step S202, controlling the landing gear of the aircraft to open and lock, and controlling the air suspension to descend;

[0145] Step S203, controlling the ring lock of the land vehicle to unlock.

[0146] When the land vehicle is separated from the aircraft, control the carrying platform of the land vehicle to move out of the rear box body of the land vehicle, so as to move the aircraft out of the rear box body of the land vehicle. Specifically, in a possible implementation manner, this step S201 includes:

[0147] Step S2011, control the rear box body of the land vehicle to open, and control the locking mechanism in the land vehicle to unlock;

[0148] Step S2012, control the carrying platform of the land vehicle to move out of the rear box body.

[0149] When the land vehicle is separated from the aircraft and the land vehicle has completed parking, control the rear box body of the land vehicle to open. If the land vehicle semi-surrounds the aircraft, control the right tailgate of the rear box body to open through the right tailgate motor and control the left tailgate of the rear box body to open through the left tailgate motor. During the opening process of the tailgate, obtain the detection signals of the right tailgate in-place sensor and the left tailgate in-place sensor. If the right tailgate in-place sensor detects the right tailgate and the left tailgate in-place sensor detects the left tailgate, it is determined that the left and right tailgates are in place, and the right tailgate motor and the left tailgate motor are stopped. If the land vehicle fully surrounds the aircraft, control the upper flip cover of the rear box body to open through the upper flip cover motor 1 and the upper flip cover motor 2, control the right tailgate of the rear box body to open through the right tailgate motor, and control the left tailgate of the rear box body to open through the left tailgate motor. During the opening process, obtain the detection signals of the upper flip cover in-place sensor, the right tailgate in-place sensor, and the left tailgate in-place sensor. If the upper flip cover in-place sensor detects the upper flip cover, the right tailgate in-place sensor detects the right tailgate, and the left tailgate in-place sensor detects the left tailgate, it is determined that the upper flip cover is in place and the left and right tailgates are in place, and the upper flip cover motor 1, the upper flip cover motor 2, the right tailgate motor, and the left tailgate motor are stopped.

[0150] After the rear box body is opened, control the locking mechanism in the land vehicle to unlock. Specifically, unlock each locking mechanism in the aircraft through the flight body locking motor 1, the flight body locking motor 2, the flight body locking motor 3, the flight body locking motor 4, the flight body locking motor 5, and the flight body locking motor 6 to unlock the aircraft.

[0151] After the aircraft is unlocked, control the carrying platform of the land vehicle to move out of the rear box body. Specifically, control the carrying platform to move out of the rear box body through the slide table servo motor 1 and the slide table servo motor 2.

[0152] During the process of the carrying platform moving out of the rear box body, control the landing gear of the aircraft to open and lock, and control the air suspension to lower. Specifically, in a possible implementation manner, this step S202 includes:

[0153] Step S2021, in response to the detection signals of the left and right front landing gear sensors in the aircraft, control the left and right front landing gears of the aircraft to open and lock;

[0154] Step S2022, control the air suspension to descend, and control the load platform of the land vehicle to move outwards towards the rear box body;

[0155] Step S2023, in response to the detection signals of the left and right rear landing gear sensors in the aircraft, control the left and right rear landing gears of the aircraft to open and lock;

[0156] Step S2024, control the air suspension to descend.

[0157] During the process of the load platform moving outwards towards the rear box body, continuously obtain the detection signals of the landing gear retraction / extension sensors in the land vehicle. If it is determined that the load platform is detected through the detection signals of the landing gear retraction / extension sensors, control the slide servo motor 1 and the slide servo motor 2 to stop operating, so as to stop moving the load platform. The land vehicle sends a request to open the left and right front landing gears to the aircraft through the wireless communication module, and controls the left and right front landing gears of the aircraft to open and lock. Specifically, the aircraft controls the left front landing gear and the right front landing gear to unlock according to this request to open the left and right front landing gears, and during the opening process, obtain the detection signals of the left front landing gear release in-place sensor and the right front landing gear release in-place sensor, and determine whether the left front landing gear and the right front landing gear are opened in place respectively through the detection signals of the left front landing gear release in-place sensor and the right front landing gear release in-place sensor. That is, if the left front landing gear release in-place sensor detects the left front landing gear and the right front landing gear release in-place sensor detects the right front landing gear, it is determined that the left front landing gear and the right front landing gear are opened in place. The aircraft locks the left front landing gear and the right front landing gear respectively through the left front landing gear locking motor and the right front landing gear locking motor, and determines whether the locking of the left front landing gear and the right front landing gear is in place through the detection signals of the left front landing gear locking in-place sensor and the right front landing gear locking in-place sensor. That is, the left front landing gear is locked in place when the left front landing gear locking in-place sensor detects the left front landing gear, and the right front landing gear is locked in place when the right front landing gear locking in-place sensor detects the right front landing gear.

[0158] After the left front landing gear and the right front landing gear are locked in place, the aircraft returns the information that the left front landing gear and the right front landing gear are locked in place to the land vehicle, and the land vehicle controls the air suspension to descend, that is, by controlling the air suspension to descend, so that the left and right front landing gears of the aircraft land, and then controls the load platform of the land vehicle to move outwards towards the rear box body. Specifically, control the load platform to continue moving outwards towards the rear box body through the slide servo motor 1 and the slide servo motor 2.

[0159] During the process of the bearing platform moving backward out of the rear box body, the detection signal of the landing gear retraction sensor in the land vehicle is acquired in real time. If it is determined that the bearing platform is detected through the detection signal of the landing gear retraction sensor, the slide servo motor 1 and the slide servo motor 2 are controlled to stop running to stop the movement of the bearing platform. The land vehicle sends a request to open the left and right rear landing gears to the aircraft through the wireless communication module, and controls the left and right rear landing gears of the aircraft to open and lock. Specifically, the aircraft controls the unlocking of the left rear landing gear and the right rear landing gear according to the request to open the left and right rear landing gears, and controls the left rear landing gear and the right rear landing gear to open respectively through the left rear landing gear retraction motor and the right rear landing gear retraction motor. During the opening process, the detection signals of the left rear landing gear release in-place sensor and the right rear landing gear release in-place sensor are acquired, and it is determined whether the left rear landing gear and the right rear landing gear are opened in place respectively through the detection signals of the left rear landing gear release in-place sensor and the right rear landing gear release in-place sensor. That is, if the left rear landing gear release in-place sensor detects the left rear landing gear and the right rear landing gear release in-place sensor detects the right rear landing gear, it is determined that the left rear landing gear and the right rear landing gear are opened in place. The aircraft locks the left rear landing gear and the right rear landing gear respectively through the left rear landing gear locking motor and the right rear landing gear locking motor, and determines whether the locking of the left rear landing gear and the right rear landing gear is in place through the detection signals of the left rear landing gear locking in-place sensor and the right rear landing gear locking in-place sensor. That is, when the left rear landing gear locking in-place sensor detects the left rear landing gear, the left rear landing gear is locked in place, and when the right rear landing gear locking in-place sensor detects the right rear landing gear, the right rear landing gear is locked in place.

[0160] After the left rear landing gear and the right rear landing gear are locked in place, the aircraft returns the information that the left rear landing gear and the right rear landing gear are locked in place to the land vehicle, and the land vehicle controls the air suspension to lower, that is, by controlling the air suspension to lower, so that the left and right rear landing gears of the aircraft land.

[0161] After the left and right front landing gears and the left and right rear landing gears of the aircraft land, the ring lock of the land vehicle is controlled to unlock, that is, the ring lock is controlled to unlock through the ring lock locking motor to realize the separation of the land vehicle and the aircraft.

[0162] Further, in a possible implementation manner, after the step S203, the control method further includes:

[0163] Step S204, controlling the bearing platform of the land vehicle to move into the rear box body;

[0164] Step S205, controlling the rear box body of the land vehicle to close.

[0165] After the ring lock is unlocked, the carrying platform of the land vehicle is controlled to move into the rear box body, that is, the carrying platform is controlled to move into the rear box body by the slide servo motor 1 and the slide servo motor 2 until the slide movement negative limit sensor in the land vehicle detects the carrying platform, so that the carrying platform moves into the rear box body. At the same time, the ring lock is retracted by controlling the ring lock telescopic motor.

[0166] After the carrying platform moves into the rear box body, the rear box body of the land vehicle is controlled to close. Then, the land vehicle automatically drives away from the aircraft to a safe area to maintain a safe distance from the aircraft after the land vehicle is separated from the aircraft, which is convenient for the takeoff of the aircraft.

[0167] By controlling the carrying platform of the land vehicle to move out of the rear box body; then controlling the landing gear of the aircraft to open and lock, and controlling the air suspension to lower; and then controlling the ring lock of the land vehicle to unlock. The automatic separation of the land vehicle and the aircraft is realized. The aircraft does not need to take off on the land vehicle, which can reduce the area of the land vehicle, and thus can reduce the cost of the land vehicle.

[0168] In addition, an embodiment of the present application further proposes a control system, which is applied to the land vehicle of the flying car. The flying car further includes an aircraft, and the land vehicle and the aircraft are separable and combinable. As Figure 9 shown, the control system includes an automatic driving system 910, a separation and combination controller 920, and an air suspension control system 930;

[0169] Among them, the separation and combination controller 920 is respectively communicatively linked with the automatic driving system 910 and the air suspension control system 930.

[0170] The control system further includes a ring lock control system 940, a tail gate control system 950, and a flying body lock control system 960. The separation and combination controller 920 is respectively communicatively linked with the ring lock control system 940, the tail gate control system 950, and the flying body lock control system 960.

[0171] In response to the coupling request for the combination of the land vehicle and the aircraft, the automatic driving system 910 controls the land vehicle to automatically drive to the preset area corresponding to the aircraft.

[0172] The separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box body;

[0173] The air suspension control system 930 controls the air suspension of the land vehicle to lower, and the separation and combination controller 920 controls the land vehicle to automatically dock with the aircraft;

[0174] The air suspension control system 930 controls the air suspension to rise, and the separation and combination controller 920 controls the carrying platform to move into the rear box body.

[0175] After the aircraft completes a mission or replenishes energy, etc., it makes an automatic landing. After the aircraft lands on the ground, the land vehicle obtains the position information of the aircraft based on a positioning sensor, a camera, etc. Then, the land vehicle starts a combination program through the land vehicle display and control system, triggers a combination coupling request between the land vehicle and the aircraft, and displays the current combination state of the land vehicle and the aircraft through the land vehicle display and control system. The display interface of the land vehicle display and control system may include function buttons such as combination / separation / pause / continue / reset, etc., and each function button can be triggered through the touch screen of the land vehicle display and control system to achieve functions such as one-key combination / separation / pause / continue / reset.

[0176] In response to the combination coupling request between the land vehicle and the aircraft, the separation and combination controller 920 sends an instruction to the autonomous driving system 910. The autonomous driving system 910 controls the land vehicle to automatically drive to a preset area corresponding to the aircraft. This preset area is an area convenient for combination corresponding to the current position of the aircraft and can be reasonably set according to the distance required for the automatic combination of the aircraft and the land vehicle, so that after the land vehicle parks, subsequent operations for the automatic combination of the aircraft and the land vehicle can be directly carried out.

[0177] After the land vehicle completes parking, the separation and combination controller 920 (slide table control system) controls the carrying platform of the land vehicle to move out of the rear box body. Further, the tailgate control system 950 controls the rear box body of the land vehicle to open; the separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box body, and the ring lock control system 940 controls the ring lock of the land vehicle to extend. The separation and combination controller 920 is communicatively linked to the tailgate control system 950 and the ring lock control system 940 respectively.

[0178] After the land vehicle completes parking, the separation and combination controller 920 (sliding table control system) first sends an instruction to the rear door control system 950, and the rear door control system 950 controls the opening of the rear box of the land vehicle. If the land vehicle semi-surrounds the aircraft, the right rear door motor is used to control the opening of the right rear door of the rear box, and the left rear door motor is used to control the opening of the left rear door of the rear box. During the opening process of the rear door, the detection signals of the right rear door in-place sensor and the left rear door in-place sensor are obtained. If the right rear door in-place sensor detects the right rear door and the left rear door in-place sensor detects the left rear door, it is determined that the left and right rear doors are in place, and the right rear door motor and the left rear door motor are stopped. If the land vehicle fully surrounds the aircraft, the upper flip motor 1 and the upper flip motor 2 are used to control the opening of the upper flip of the rear box, the right rear door motor is used to control the opening of the right rear door of the rear box, and the left rear door motor is used to control the opening of the left rear door of the rear box. During the opening process, the detection signals of the upper flip in-place sensor, the right rear door in-place sensor, and the left rear door in-place sensor are obtained. If the upper flip in-place sensor detects the upper flip, the right rear door in-place sensor detects the right rear door, and the left rear door in-place sensor detects the left rear door, it is determined that the upper flip is in place and the left and right rear doors are in place, and the upper flip motor 1, the upper flip motor 2, the right rear door motor, and the left rear door motor are stopped.

[0179] After the rear box is opened, the separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box, and at the same time, the ring lock control system 940 controls the ring lock (traction ring body) of the land vehicle to extend. Specifically, the carrying platform is controlled to move out of the rear box by the sliding table servo motor 1 and the sliding table servo motor 2, and at the same time, the ring lock is extended by the ring lock telescopic motor.

[0180] During the process of the carrying platform moving out of the rear box and the ring lock extending, the detection signals of the sliding table moving positive limit sensor and the ring lock telescopic positive limit sensor are obtained in real time. When the sliding table moving positive limit sensor detects the carrying platform, it is determined that the carrying platform has moved in place. When the ring lock telescopic positive limit sensor detects the ring lock, it is determined that the ring lock has extended in place. Furthermore, when the carrying platform is in place and the ring lock has extended in place, the separation and combination controller 920 sends an instruction to the air suspension control system 930, and the air suspension control system 930 controls the air suspension of the land vehicle to lower. Specifically, the air suspension is controlled to lower to a preset height by the air suspension control system 930 of the land vehicle, and this preset height can be reasonably set so that the air suspension can lift the aircraft when it rises.

[0181] Furthermore, in a possible implementation manner, the air suspension control system 930 controls the air suspension of the land vehicle to lower, and the automatic driving system 910 controls the land vehicle to drive to the automatic coupling area of the aircraft; in response to the control instruction for the ring lock to be in place, the ring lock control system 940 controls the ring lock to be automatically docked with the aircraft.

[0182] When the carrying platform is in place and the ring lock extends in place, the air suspension control system 930 controls the air suspension of the ground vehicle to descend. Specifically, the air suspension control system 930 controls the air suspension to descend to a preset height, which can be reasonably set so that the air suspension can lift the aircraft when it rises.

[0183] After the air suspension descends to the preset height, the separation and combination controller 920 sends a command to the autonomous driving system 910. The autonomous driving system 910 controls the ground vehicle to automatically drive to the automatic coupling area of the aircraft, and the ring lock is connected to the hook of the aircraft. At this time, real-time detection is carried out through the ring lock in-place sensor. If the ring lock in-place sensor detects the ring lock, it is determined that the ring lock is in place. In response to the control command of the ring lock in place, the ring lock is controlled to automatically dock with the aircraft. Specifically, after it is determined that the ring lock is in place, the ring lock control system 940 controls the ring lock to lock through the ring lock locking motor, realizing the automatic docking between the ground vehicle and the aircraft, that is, completing the physical connection between the ground vehicle and the aircraft.

[0184] After controlling the ring lock to lock, the air suspension control system 930 controls the air suspension to rise. When the air suspension rises to the preset height, the separation and combination controller controls the carrying platform to move backward into the rear box body. Specifically, after the automatic docking between the ground vehicle and the aircraft is completed, in response to the control command of the docking completion, the air suspension control system 930 controls the air suspension to rise, that is, controls the air suspension to rise to the preset height to lift the aircraft so that the carrying platform bears the aircraft.

[0185] When the aircraft is borne by the carrying platform, the separation and combination controller 920 sends a command to the aircraft, and the aircraft controls the landing gear of the aircraft to retract and lock. Specifically, the ground vehicle sends a control command to the aircraft, and the aircraft respectively controls the left front landing gear, the right front landing gear, the left rear landing gear, and the right rear landing gear to unlock, retract, and lock in sequence according to the control command, and then controls the carrying platform to move backward into the rear box body.

[0186] Further, in a possible implementation manner, when the air suspension rises to a preset height and the aircraft is carried by the carrying platform, the left and right rear landing gears of the aircraft are controlled to retract and lock. Specifically, the land vehicle sends a left and right rear landing gear retraction command to the aircraft through the wireless communication module. The aircraft controls the unlocking of the left and right rear landing gears through the left rear landing gear control system and the right rear landing gear control system, etc. The left rear landing gear control system controls the left rear landing gear to retract through the left rear landing gear retraction and extension motor, and the right rear landing gear control system controls the right rear landing gear to retract through the right rear landing gear retraction and extension motor. During the retraction process, the detection signals of the left rear landing gear retraction and extension in-place sensor and the right rear landing gear retraction and extension in-place sensor are obtained, and whether the left and right rear landing gears are retracted in place is determined respectively through the detection signals of the left rear landing gear retraction and extension in-place sensor and the right rear landing gear retraction and extension in-place sensor. That is, if the left rear landing gear retraction and extension in-place sensor detects the left rear landing gear and the right rear landing gear retraction and extension in-place sensor detects the right rear landing gear, it is determined that the left and right rear landing gears are retracted in place. The left rear landing gear control system locks the left rear landing gear respectively through the left rear landing gear locking motor, and the right rear landing gear control system locks the right rear landing gear respectively through the right rear landing gear locking motor, and determines whether the left and right rear landing gears are locked in place through the detection signals of the left rear landing gear locking in-place sensor and the right rear landing gear locking in-place sensor. That is, when the left rear landing gear locking in-place sensor detects the left rear landing gear, the left rear landing gear is locked in place, and when the right rear landing gear locking in-place sensor detects the right rear landing gear, the right rear landing gear is locked in place.

[0187] After the left and right rear landing gears are locked in place, the aircraft returns the information that the left and right rear landing gears are locked in place to the land vehicle, and the separation and combination controller 920 controls the carrying platform to move into the rear box body, that is, controls the carrying platform to move into the rear box body through the slide table servo motor 1 and the slide table servo motor 2.

[0188] During the process of the carrying platform moving into the rear box body, the detection signals of the landing gear retraction sensors in the land vehicle are obtained in real time. If it is determined that the carrying platform is detected through the detection signals of the landing gear retraction sensors, the slide servo motor 1 and the slide servo motor 2 are controlled to stop operating to stop moving the carrying platform. The land vehicle sends a request to retract the left and right front landing gears to the aircraft through the wireless communication module, and controls the left and right front landing gears of the aircraft to retract and lock. Specifically, the left front landing gear control system controls the left front landing gear to unlock, and the right front landing gear control system controls the right front landing gear to unlock. The left front landing gear control system controls the left front landing gear to retract through the left front landing gear retraction motor, and the right front landing gear control system controls the right front landing gear to retract through the right front landing gear retraction motor. During the retraction process, the detection signals of the left front landing gear retraction in-place sensor and the right front landing gear retraction in-place sensor are obtained, and it is determined whether the left front landing gear and the right front landing gear are retracted in place through the detection signals of the left front landing gear retraction in-place sensor and the right front landing gear retraction in-place sensor respectively. That is, if the left front landing gear retraction in-place sensor detects the left front landing gear and the right front landing gear retraction in-place sensor detects the right front landing gear, it is determined that the left front landing gear and the right front landing gear are retracted in place. The left front landing gear control system locks the left front landing gear through the left front landing gear locking motor, and the right front landing gear control system locks the right front landing gear through the right front landing gear locking motor, and determines whether the left front landing gear and the right front landing gear are locked in place through the detection signals of the left front landing gear locking in-place sensor and the right front landing gear locking in-place sensor. That is, when the left front landing gear locking in-place sensor detects the right front landing gear, the left front landing gear is locked in place, and when the right front landing gear locking in-place sensor detects the right front landing gear, the right front landing gear is locked in place.

[0189] After the left front landing gear and the right front landing gear are locked in place, the aircraft returns the information that the left front landing gear and the right front landing gear are locked in place to the land vehicle. The separation and combination controller 920 controls the carrying platform to move into the rear box body, that is, controls the carrying platform to move into the rear box body through the slide servo motor 1 and the slide servo motor 2, and detects the position of the carrying platform in real time through the slide movement negative limit sensor, that is, obtains the detection signals of the slide movement negative limit sensor in the land vehicle in real time. If it is determined that the carrying platform is detected through the detection signals of the slide movement negative limit sensor, the separation and combination controller 920 controls the slide servo motor 1 and the slide servo motor 2 to stop operating to stop moving the carrying platform, and determines that the carrying platform has moved in place.

[0190] Further, in a possible implementation manner, after the carrying platform has moved into place, in response to the movement-in-place request of the carrying platform, the flying object locking control system 960 controls the locking mechanism in the land vehicle to lock, and locks the flying vehicle on the land vehicle. Specifically, the flying object locking control system 960 locks each locking mechanism in the flying vehicle through the flying object locking motor 1, the flying object locking motor 2, the flying object locking motor 3, the flying object locking motor 4, the flying object locking motor 5, and the flying object locking motor 6 respectively, so as to lock the flying vehicle on the land vehicle.

[0191] After the flying vehicle is locked on the land vehicle, the tailgate control system 950 controls the rear box body of the land vehicle to close, so that the land vehicle can automatically drive towards the flying vehicle for combination. The flying vehicle does not need to land on the land vehicle, which can reduce the area of the land vehicle, thereby reducing the cost of the land vehicle.

[0192] The automatic combination of the land vehicle and the flying vehicle is realized. The flying vehicle does not need to land on the land vehicle, which can reduce the area of the land vehicle, thereby reducing the cost of the land vehicle. In addition, by automatically driving the land vehicle to the flying vehicle for combination, the combination requirements of the flying vehicle and the land vehicle of the flying car can be better met.

[0193] Further, in a possible implementation manner, the separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box body; controls the landing gear of the flying vehicle to open and lock, and the air suspension control system 930 controls the air suspension to descend; the ring lock control system 940 controls the ring lock of the land vehicle to unlock.

[0194] When the land vehicle is separated from the flying vehicle, the separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box body to move the flying vehicle out of the rear box body of the land vehicle. Specifically, the tailgate control system 950 controls the rear box body of the land vehicle to open. After the rear box body is opened, the flying object locking control system 960 controls the locking mechanism in the land vehicle to unlock. Specifically, the flying object locking control system 960 unlocks each locking mechanism in the flying vehicle through the flying object locking motor 1, the flying object locking motor 2, the flying object locking motor 3, the flying object locking motor 4, the flying object locking motor 5, and the flying object locking motor 6 respectively, so as to unlock the flying vehicle.

[0195] After the flying vehicle is unlocked, the separation and combination controller 920 controls the carrying platform of the land vehicle to move out of the rear box body. Specifically, the separation and combination controller 920 controls the carrying platform to move out of the rear box body through the slide table servo motor 1 and the slide table servo motor 2.

[0196] During the process of the carrier platform moving backward out of the rear compartment, control the landing gear of the aircraft to open and lock, and control the air suspension to descend. Specifically, obtain the detection signal of the landing gear retraction sensor in the land vehicle in real time. If it is determined that the carrier platform is detected through the detection signal of the landing gear retraction sensor, the split-merge controller 920 controls the slide servo motor 1 and the slide servo motor 2 to stop operating to stop moving the carrier platform. The land vehicle sends a request to open the left and right front landing gears to the aircraft through the wireless communication module to control the left and right front landing gears of the aircraft to open and lock. Specifically, the left front landing gear control system unlocks the left front landing gear according to the request to open the left and right front landing gears, and the right front landing gear control system unlocks the right front landing gear according to the request to open the left and right front landing gears. The left front landing gear control system controls the left front landing gear to open through the left front landing gear retraction motor, and the right front landing gear control system controls the right front landing gear to open through the right front landing gear retraction motor. During the opening process, obtain the detection signals of the left front landing gear release in-place sensor and the right front landing gear release in-place sensor, and determine whether the left front landing gear and the right front landing gear are opened in place respectively through the detection signals of the left front landing gear release in-place sensor and the right front landing gear release in-place sensor. That is, if the left front landing gear release in-place sensor detects the left front landing gear and the right front landing gear release in-place sensor detects the right front landing gear, it is determined that the left front landing gear and the right front landing gear are opened in place. The left front landing gear control system locks the left front landing gear through the left front landing gear locking motor, and the right front landing gear control system locks the right front landing gear through the right front landing gear locking motor, and determines whether the locking of the left front landing gear and the right front landing gear is in place through the detection signals of the left front landing gear locking in-place sensor and the right front landing gear locking in-place sensor. That is, when the left front landing gear locking in-place sensor detects the right front landing gear, the left front landing gear is locked in place, and when the right front landing gear locking in-place sensor detects the right front landing gear, the right front landing gear is locked in place.

[0197] After the left front landing gear and the right front landing gear are locked in place, the aircraft returns the information that the left front landing gear and the right front landing gear are locked in place to the land vehicle, and the air suspension control system 930 controls the air suspension to descend, that is, by controlling the air suspension to descend, so that the left and right front landing gears of the aircraft land. Then the split-merge controller 920 controls the carrier platform of the land vehicle to move backward out of the rear compartment. Specifically, the split-merge controller 920 controls the carrier platform to continue moving backward out of the rear compartment through the slide servo motor 1 and the slide servo motor 2.

[0198] During the process of the carrying platform moving backward towards the outside of the rear compartment, the detection signal of the landing gear retraction sensor in the land vehicle is obtained in real time. If it is determined that the carrying platform is detected through the detection signal of the landing gear retraction sensor, the slide servo motor 1 and the slide servo motor 2 are controlled to stop operating to stop moving the carrying platform. The land vehicle sends a request to open the left and right rear landing gears to the aircraft through the wireless communication module, and controls the left and right rear landing gears of the aircraft to open and lock. Specifically, the right rear landing gear control system unlocks the left rear landing gear according to the request to open the left and right rear landing gears, and the left rear landing gear control system unlocks the right rear landing gear according to the request to open the left and right rear landing gears. The right rear landing gear control system controls the left rear landing gear to open through the left rear landing gear retraction motor, and the left rear landing gear control system controls the right rear landing gear to open through the right rear landing gear retraction motor. During the opening process, the detection signals of the left rear landing gear release in-place sensor and the right rear landing gear release in-place sensor are obtained, and it is determined whether the left rear landing gear and the right rear landing gear are opened in place through the detection signals of the left rear landing gear release in-place sensor and the right rear landing gear release in-place sensor respectively. That is, if the left rear landing gear release in-place sensor detects the left rear landing gear and the right rear landing gear release in-place sensor detects the right rear landing gear, it is determined that the left rear landing gear and the right rear landing gear are opened in place. The right rear landing gear control system locks the right rear landing gear through the right rear landing gear locking motor, and the left rear landing gear control system locks the left rear landing gear through the left rear landing gear locking motor, and determines whether the left rear landing gear and the right rear landing gear are locked in place through the detection signals of the left rear landing gear locking in-place sensor and the right rear landing gear locking in-place sensor. That is, when the left rear landing gear locking in-place sensor detects the right rear landing gear, the left rear landing gear is locked in place, and when the right rear landing gear locking in-place sensor detects the right rear landing gear, the right rear landing gear is locked in place.

[0199] After the left rear landing gear and the right rear landing gear are locked in place, the aircraft returns the information that the left rear landing gear and the right rear landing gear are locked in place to the land vehicle, and the air suspension control system 930 controls the land vehicle to lower the air suspension, that is, by controlling the lowering of the air suspension, the left and right rear landing gears of the aircraft are landed.

[0200] After the left and right front landing gears and the left and right rear landing gears of the aircraft are landed, the ring lock control system 940 controls the ring lock of the land vehicle to unlock, that is, controls the ring lock to unlock through the ring lock locking motor to realize the separation of the land vehicle and the aircraft.

[0201] Further, in a possible implementation manner, after the ring lock is unlocked, the separation and combination controller 920 controls the carrying platform of the land vehicle to move backward into the rear box body, that is, the separation and combination controller 920 controls the carrying platform to move backward into the rear box body through the slide servo motor 1 and the slide servo motor 2 until the slide movement negative limit sensor in the land vehicle detects the carrying platform, so that the carrying platform moves into the rear box body, and at the same time, the ring lock is retracted by controlling the ring lock telescopic motor.

[0202] After the carrying platform moves into the rear box body, the tailgate control system 950 controls the rear box body of the land vehicle to close. After that, the automatic driving system 910 controls the land vehicle to automatically drive away from the aircraft to a safe area to maintain a safe distance from the aircraft after the land vehicle is separated from the aircraft, which is convenient for the takeoff of the aircraft.

[0203] By controlling the carrying platform of the land vehicle to move out of the rear box body; then controlling the landing gear of the aircraft to open and lock, and controlling the air suspension to lower; and then controlling the ring lock of the land vehicle to unlock. The automatic separation of the land vehicle and the aircraft is realized. The aircraft does not need to take off on the land vehicle, which can reduce the area of the land vehicle, and thus can reduce the cost of the land vehicle.

[0204] In addition, an embodiment of the present application further provides a land vehicle, and the land vehicle includes the above control system.

[0205] In addition, an embodiment of the present application further provides a flying car, and the flying car includes an aircraft and the above land vehicle.

[0206] In addition, an embodiment of the present application further provides a computer-readable storage medium, and a control program is stored on the computer-readable storage medium. When the control program is executed by a processor, the steps of the control method described above are implemented.

[0207] As Figure 10 shown, Figure 10 is a schematic structural diagram of a land vehicle in the hardware operating environment involved in the solution of the embodiment of the present application.

[0208] The land vehicle in the embodiment of the present application may be an automobile. As Figure 10As shown in the figure, the land vehicle may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0209] Optionally, the land vehicle may further include a camera, an RF (Radio Frequency) circuit, sensors, an audio circuit, a WiFi module, etc. Of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which will not be elaborated here.

[0210] Those skilled in the art can understand that Figure 10 the terminal structure shown in the figure does not constitute a limitation on the land vehicle, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0211] As Figure 10 shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control program.

[0212] In Figure 10 the land vehicle shown in the figure, the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client for data; and the processor 1001 may be used to call the control program stored in the memory 1005.

[0213] In this embodiment, the land vehicle includes: a memory 1005, a processor 1001, and a control program stored on the memory 1005 and executable on the processor 1001. Among them, when the processor 1001 calls the control program stored in the memory 1005, it executes the steps of the control method as described above.

[0214] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such a process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0215] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0216] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) as described above and includes several instructions for causing a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0217] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A control method, characterized in that, A land vehicle applied to a flying car, the flying car further including an aircraft, the method comprising: In response to a combined coupling request of the land vehicle and the aircraft, automatically driving to a preset area corresponding to the aircraft; Controlling a carrying platform of the land vehicle to move outwards from the rear box body of the land vehicle; Controlling the air suspension of the land vehicle to descend and automatically docking with the aircraft; Controlling the air suspension to rise and controlling the carrying platform to move into the rear box body; 2. The control method according to claim 1, characterized in that The step of controlling the carrying platform of the land vehicle to move outwards from the rear box body of the land vehicle includes: Controlling the rear box body of the land vehicle to open; Controlling the carrying platform of the land vehicle to move outwards from the rear box body and controlling a ring lock of the land vehicle to extend; 3. The control method according to claim 2, wherein The step of controlling the air suspension of the land vehicle to descend and automatically docking with the aircraft includes: Controlling the air suspension of the land vehicle to descend and driving to an automatic coupling area of the aircraft; In response to a control instruction for the ring lock to be in place, controlling the ring lock to automatically dock with the aircraft; 4. The control method according to claim 1, characterized in that The step of controlling the rising air suspension to rise and controlling the carrying platform to move into the rear box body includes: In response to a control instruction for docking to be completed, controlling the air suspension to rise; Controlling the landing gear of the aircraft to retract and lock and controlling the carrying platform to move into the rear box body; 5. The control method according to claim 4, wherein The step of controlling the landing gear of the aircraft to retract and lock and controlling the carrying platform to move into the rear box body includes: Controlling the left and right rear landing gears of the aircraft to retract and lock and controlling the carrying platform to move into the rear box body; In response to a request for the left and right front landing gears to retract, controlling the left and right front landing gears of the aircraft to retract and lock; Controlling the carrying platform to move into the rear box body; 6. The control method according to claim 1, wherein After the step of controlling the rising air suspension to rise and controlling the carrying platform to move into the rear box body, the method further includes: In response to a request for the carrying platform to move into place, controlling a locking mechanism in the land vehicle to lock and locking the aircraft to the land vehicle; Controlling the rear box body of the land vehicle to close; 7. The control method according to any one of claims 1 to 6, characterized in that The method further includes: Controlling the carrying platform of the land vehicle to move outwards from the rear box body; Controlling the landing gear of the aircraft to open and lock and controlling the air suspension to descend; Controlling the ring lock of the land vehicle to unlock; 8. The control method according to claim 7, characterized in that, The step of controlling the carrying platform of the land vehicle to move outwards from the rear box body includes: Controlling the rear box body of the land vehicle to open and controlling a locking mechanism in the land vehicle to unlock; Controlling the carrying platform of the land vehicle to move outwards from the rear box body; 9. The control method according to claim 7, wherein The step of controlling the landing gear of the aircraft to open and lock and controlling the air suspension to descend includes: In response to a detection signal of left and right front landing gear sensors in the aircraft, controlling the left and right front landing gears of the aircraft to open and lock; Controlling the air suspension to descend and controlling the carrying platform of the land vehicle to move outwards from the rear box body; In response to a detection signal of left and right rear landing gear sensors in the aircraft, controlling the left and right rear landing gears of the aircraft to open and lock; Control the air suspension to lower.

10. The control method according to claim 7, characterized in that, After the step of controlling the ring lock of the land vehicle to unlock, the method further includes: Control the load platform of the land vehicle to move into the rear box body; Control the rear box body of the land vehicle to close.

11. A control system, characterized in that, A land vehicle applied to a flying car, the flying car further includes an aircraft, and the control system includes an automatic driving system, a separation and combination controller, and an air suspension control system; In response to the combination coupling request of the land vehicle and the aircraft, the automatic driving system controls the land vehicle to automatically drive to a preset area corresponding to the aircraft; The separation and combination controller controls the load platform of the land vehicle to move out of the rear box body of the land vehicle; The air suspension control system controls the air suspension of the land vehicle to lower, and the separation and combination controller controls the land vehicle to automatically dock with the aircraft; The air suspension control system controls the air suspension to rise, and the separation and combination controller controls the load platform to move into the rear box body.

12. The control system according to claim 11, wherein, The control system further includes a tailgate control system and a ring lock control system; The tailgate control system controls the rear box body of the land vehicle to open; The separation and combination controller controls the load platform of the land vehicle to move out of the rear box body, and the ring lock control system controls the ring lock of the land vehicle to extend.

13. The control system according to claim 12, wherein The air suspension control system controls the air suspension of the land vehicle to lower, and the automatic driving system controls the land vehicle to drive to the automatic coupling area of the aircraft; In response to the control instruction that the ring lock is in place, the ring lock control system controls the ring lock to automatically dock with the aircraft.

14. The control system according to claim 11, wherein The control system further includes a flight body locking control system; In response to the control instruction for the completion of docking, the air suspension control system controls the air suspension to rise; The flight body locking control system controls the landing gear of the aircraft to retract and lock, and the separation and combination controller controls the load platform to move into the rear box body.

15. The control system according to any one of claims 11 to 14, characterized in that The control system further includes a ring lock control system; The separation and combination controller controls the load platform of the land vehicle to move out of the rear box body; Control the landing gear of the aircraft to open and lock, and the air suspension control system controls the air suspension to lower; The ring lock control system controls the ring lock of the land vehicle to unlock.

16. The control system according to claim 15, wherein The control system further includes a tailgate control system and a flight body locking control system; The tailgate control system controls the rear box body of the land vehicle to open, and the flight body locking control system controls the locking mechanism in the land vehicle to unlock.

17. A land vehicle, characterized in that, The land vehicle includes the control system according to any one of claims 11 to 16.

18. A computer-readable storage medium, characterized in that, A control program is stored on the computer-readable storage medium, and when the control program is executed by a processor, the steps of the control method according to any one of claims 1 to 10 are implemented.

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