Flying car anti-collision method and device, electronic equipment and storage medium

Abstract

The invention provides an anti-collision method and device for hovercars, electronic equipment and a storage medium, and belongs to the field of intelligent automobiles, and the method applied to a controller of a first hovercar comprises the steps that in the flight process, a detection radar is controlled to send a first-class signal, and the first-class signal is sent to a second-class signal based on the second-class signal received in real time; determining a flight path and a relative speed of a surrounding second hovercar; according to the flight path and the relative speed, the shortest distance between the first hovercar and the second hovercar is obtained; and based on the shortest distance, under the condition that the first hovercar and the second hovercar enter the dangerous distance, controlling the charging device to charge a superconductor on the first hovercar so as to form a mutually exclusive magnetic field. Therefore, mutual exclusion magnetic field force is started before the flying cars are about to collide, direct collision is changed into mutual exclusion bouncing, collision is prevented, the safety of the flying cars is greatly improved, and the flying cars are prevented from being damaged, out of control and falling due to collision to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicles, and more particularly, to an anti-collision method, device, electronic device and storage medium for a flying car. Background Art

[0002] A flying car is a means of transportation that can both drive on the ground and fly in the air. It combines the characteristics of a car and an airplane and usually has the ability of vertical takeoff and landing, and can freely switch between urban roads and the air. Narrowly defined, a flying car refers to a car with flight function, which is an electric, intelligent and three-dimensional land-air amphibious car for intelligent three-dimensional transportation.

[0003] The convertible flying car is the most common first type of flying car, whose design can be deformed. It can unfold the wings on the vehicle when needed, start the propulsion system and fly in the air; after landing at the destination, it can retract the wings and resume the car form to continue driving on the road. It requires a long runway and a large open space for takeoff and landing, but has a high cruising speed in the air. However, the current flying cars have relatively high safety risks. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide an anti-collision method, device, electronic device and storage medium for a flying car, which can activate a mutual repulsion magnetic force before the flying cars are about to collide, turn a direct collision into a mutual repulsion bounce, prevent collisions, and greatly improve the safety of flying cars.

[0005] To achieve the above purpose, the technical solutions adopted in the present application are as follows:

[0006] In a first aspect, the present application provides an anti-collision method for a flying car, which is applied to a controller of a first flying car. The controller is respectively communicatively connected to a detection radar and a charging device installed on the first flying car. The first flying car further includes a superconductor, and the charging device is electrically connected to the superconductor. The method includes:

[0007] During flight, control the detection radar to send a first type of signal, and based on the second type of signal received in real time, determine the flight trajectory and relative speed of a second flying car around;

[0008] According to the flight trajectory and the relative speed, obtain the shortest distance between the first flying car and the second flying car;

[0009] Based on the shortest distance, when the first flying car and the second flying car enter a dangerous distance, control the charging device to charge the superconductor to form a mutual repulsion magnetic field.

[0010] Optionally, the step of controlling the detection radar to send a first type of signal and determining the flight trajectory and relative speed of the surrounding second flying vehicles based on the second type of signal received in real time includes:

[0011] Control the detection radar to emit a round of first type of signals and collect the second type of signals corresponding to the round of first type of signals; wherein, a round of first type of signals includes first type of signals in multiple different directions, and the second type of signals includes the echo signals of the first type of signals;

[0012] Obtain a set of detection information based on the second type of signals and the first type of signals, and return to execute the step of controlling the detection radar to emit a round of first type of signals and collect the second type of signals corresponding to the first type of signals; wherein, the detection information includes the second flying vehicle and the position coordinates of the second flying vehicle;

[0013] Based on multiple sets of the detection information that are continuous in time, determine the flight trajectory and relative speed of each second flying vehicle.

[0014] Optionally, the step of determining the flight trajectory and relative speed of each second flying vehicle based on multiple continuous sets of the detection information includes:

[0015] Take the first three sets of the detection information that are continuous in time as the first detection group, the second detection group, and the third detection group respectively;

[0016] Combine each second flying vehicle in the first detection group with each second flying vehicle in the second detection group, and combine with the position coordinates of the second flying vehicle to obtain multiple candidate trajectories;

[0017] For each candidate trajectory, when there is a second flying vehicle on the candidate trajectory in the third detection group, take the candidate trajectory as the flight trajectory of a second flying vehicle;

[0018] For each flight trajectory, based on the multiple echo signals corresponding to the flight trajectory and the Doppler frequency shift, obtain the relative speed of the second flying vehicle corresponding to the flight trajectory.

[0019] Optionally, the second type of signals includes the echo signals of the first type of signals and / or external signals;

[0020] The step of obtaining a set of detection information based on the second type of signals and the first type of signals includes:

[0021] Receiving an echo signal and an external signal of the type of signal in any direction, and when the frequency band of the external signal is within the radar frequency band of the flying car, determining the azimuth information of the second flying car relative to the first flying car in this direction based on the type of signal and the echo signal; wherein, the azimuth information includes detection distance, azimuth angle, and elevation angle;

[0022] For each of the second flying cars, obtaining the position coordinates of the second flying car according to the azimuth information of the second flying car.

[0023] Optionally, the step of controlling the charging device to charge the superconductor to form a mutually repulsive magnetic field when the first flying car and the second flying car enter a dangerous distance based on the shortest distance includes:

[0024] For each of the flight trajectories, when the shortest distance corresponding to the flight trajectory is less than the collision threshold, taking the second flying car corresponding to the flight trajectory as the target car;

[0025] Controlling the charging device to enter a charging preparation state and continuously obtaining the real-time distance between the first flying car and the target car;

[0026] When the real-time distance is less than the dangerous distance threshold, sending a charging instruction to the charging device to instruct the charging device to inject current into the superconductor to form a mutually repulsive magnetic field between the first flying car and the target car.

[0027] Optionally, superconductors are provided at each position of the first flying car, there are multiple charging devices, and each charging device is electrically connected to one superconductor;

[0028] The step of controlling the charging device to enter a charging preparation state includes:

[0029] Based on the azimuth angle of the target car relative to the first flying car, determining a target superconductor from multiple superconductors;

[0030] Sending a charging preparation instruction to the charging device of the target superconductor to instruct the charging device to enter a charging preparation state;

[0031] The step of sending a charging instruction to the charging device includes:

[0032] Sending a charging instruction to the charging device of the target superconductor.

[0033] Optionally, the step of determining a target superconductor from multiple superconductors based on the azimuth angle of the target car relative to the first flying car includes:

[0034] Determine the collision surface type according to the azimuth angle of the target vehicle relative to the first flying vehicle;

[0035] In the case where the collision surface type is the front side, use the superconductor located on the front side of the flying vehicle as the target superconductor;

[0036] In the case where the collision surface type is the diagonal side, use the two superconductors adjacent to the diagonal side of the flying vehicle as the target superconductors.

[0037] In a second aspect, the present application provides a flying vehicle anti-collision device, which is applied to a controller of a first flying vehicle. The controller is respectively communicatively connected to a detection radar and a charging device installed on the first flying vehicle. The first flying vehicle further includes a superconductor, and the charging device is electrically connected to the superconductor. The flying vehicle anti-collision device includes a detection module, a distance acquisition module, and an anti-collision module;

[0038] The detection module is configured to control the detection radar to send a first type of signal during flight, and determine the flight trajectory and relative speed of the surrounding second flying vehicle based on the second type of signal received in real time;

[0039] The distance acquisition module is configured to obtain the shortest distance between the first flying vehicle and the second flying vehicle according to the flight trajectory and the relative speed;

[0040] The anti-collision module is configured to, based on the shortest distance, control the charging device to charge the superconductor when the first flying vehicle and the second flying vehicle enter a dangerous distance, so as to form a mutually repulsive magnetic field.

[0041] In a third aspect, the present application provides an electronic device, including a processor and a memory. The memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the flying vehicle anti-collision method as described in the first aspect.

[0042] In a fourth aspect, the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the flying vehicle anti-collision method as described in the first aspect is implemented.

[0043] The anti-collision method, device, electronic device and storage medium for flying cars provided by this application, and the method applied to the controller of the first flying car includes: during flight, controlling the detection radar to send a type of signal, and based on the type of signal received in real time, determining the flight trajectory and relative speed of the second flying car around; according to the flight trajectory and relative speed, obtaining the shortest distance between the first flying car and the second flying car; based on the shortest distance, when the first flying car and the second flying car enter the dangerous distance, controlling the charging device to charge the superconductor on the first flying car to form a repulsive magnetic field. Thus, the repulsive magnetic field force is activated before the flying cars are about to collide, turning a direct collision into a repulsive bounce to prevent the collision, greatly improving the safety of the flying cars, and to a certain extent preventing the flying cars from being damaged, out of control and falling due to the collision.

[0044] To make the above objects, features and advantages of this application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0046] Figure 1 Shows the system architecture schematic diagram of the anti-collision system for flying cars provided by the embodiments of this application.

[0047] Figure 2 Shows the module architecture schematic diagram of the electronic device provided by the embodiments of this application.

[0048] Figure 3 Shows the flow schematic diagram of the anti-collision method for flying cars provided by the embodiments of this application.

[0049] Figure 4 Shows Figure 3 The flow schematic diagram of some sub-steps of step 11.

[0050] Figure 5 Shows Figure 4 The flow schematic diagram of some sub-steps of step 113.

[0051] Figure 6 Shows the relative position schematic diagram of the first flying car and the second flying car provided by the embodiments of this application.

[0052] Figure 7 Shows Figure 4Schematic flow diagram of some sub-steps of step 115 in

[0053] Figure 8 shows Figure 3 Schematic flow diagram of some sub-steps of step 15 in

[0054] Figure 9 shows Figure 8 Schematic flow diagram of some sub-steps of step 155 in

[0055] Figure 10 shows Figure 9 Schematic flow diagram of some sub-steps of step 1551 in

[0056] Figure 11 Shows the schematic diagram of the module architecture of the anti-collision device for flying cars provided by the embodiments of the present application.

[0057] Explanation of reference numerals: 10 - Flying car anti-collision system; 110 - First flying car; 120 - Second flying car; 130 - Controller; 140 - Detection radar; 150 - Charging device; 160 - Superconductor; 20 - Electronic device; 210 - Memory; 220 - Processor; 230 - Communication module; 30 - Flying car anti-collision device; 310 - Detection module; 320 - Distance acquisition module; 330 - Anti-collision module. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Usually, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0060] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0061] The anti-collision method for flying cars provided by this application can be applied to Figure 1 the anti-collision system 10 of the flying car shown in the figure. The anti-collision system 10 of the flying car includes a first flying car 110 and at least one second flying car 120.

[0062] The first flying car 110 includes a controller 130, a detection radar 140, a charging device 150 and a superconductor 160. The controller 130 can be communicatively connected to the charging device 150 and the detection radar 140 respectively by any one of CAN bus, network, data line, etc. The charging device 150 is also electrically connected to the superconductor 160, that is, the output end of the charging device 150 is connected to the input end of the superconductor 160.

[0063] There are at least four superconductors 160, which are respectively installed on the front, rear, left and right sides of the body of the first flying car 110. The number of the charging devices 150 is the same as that of the superconductors 160 and they are in one-to-one correspondence. The charging device 150 is electrically connected to the corresponding superconductor 160. One or more detection radars 140 are provided on each surface of the first flying car 110.

[0064] Among them, the components and functions of the first flying car 110 and the second flying car 120 are the same, that is, the second flying car 120 also includes a superconductor 160, a controller 130, a charging device 150 and a detection radar 140. They are essentially the same, both are flying cars, but the prefixes "first" and "second" are added only to distinguish different individuals.

[0065] The detection radar 140 is used for sending a type of signal and receiving a type of signal.

[0066] The controller 130 is used to implement the anti-collision method for flying cars provided in the embodiments of the present application, including: during flight, controlling the detection radar 140 to send a first type of signal, and determining the flight trajectory and relative speed of the surrounding second flying car 120 based on the second type of signal received in real time; obtaining the shortest distance between the first flying car 110 and the second flying car 120 according to the flight trajectory and relative speed; based on the shortest distance, when the first flying car 110 and the second flying car 120 enter the dangerous distance, controlling the charging device 150 to charge the superconductor 160 on the first flying car 110 to form a mutually repulsive magnetic field.

[0067] The charging device 150 is used to charge or stop charging the corresponding superconductor 160 according to the control instruction issued by the controller 130. When the superconductor 160 is injected with current, a magnetic field is generated, and the positive pole of the magnetic field faces outside the vehicle body.

[0068] The above-mentioned controller 130 can be any one of an in-vehicle terminal, a domain controller 130 of a flying car, an MCU, an SOC, etc.

[0069] Please refer to Figure 2 which is a block diagram of the electronic device 20. The electronic device 20 can be the controller 130 on the first flying car 110 and the second flying car 120 in the anti-collision system 10 for flying cars shown in Figure 1 The electronic device 20 includes a memory 210, a processor 220, and a communication module 230. Each element of the memory 210, the processor 220, and the communication module 230 is directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines.

[0070] Among them, the memory 210 is used to store programs or data. The memory 210 can be, but is not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable read-only memory, an electrically erasable read-only memory, etc.

[0071] The processor 220 is used to read / write the data or programs stored in the memory 210 and execute corresponding functions. For example, Figure 1 in the anti-collision system 10 for flying cars shown in

[0072] The communication module 230 is used to establish a communication connection between the electronic device 20 and other communication terminals through a network, and is used to send and receive data through the network. For example, Figure 1In the shown anti-collision system 10 of a flying car, the communication module 230 of the controller 130 respectively performs data transmission and reception with the detection radar 140 and the charging device 150 through a network.

[0073] It should be understood that Figure 2 The shown structure is only a schematic diagram of the structure of the electronic device 20, and the electronic device 20 may also include more or fewer components than those shown Figure 2 in it, or have a configuration different from that shown Figure 1 in it. Figure 2 Each component shown in it can be implemented by hardware, software, or a combination thereof.

[0074] To solve the problem of high safety risks of current flying cars, an embodiment of the present application provides an anti-collision method for a flying car. Referring to Figure 3 , it includes steps 11 to 15. And Figure 1 In the shown anti-collision system 10 of a flying car, the controllers 130 of the first flying car 110 and the second flying car 120 can Figure 2 in the shown structure, when the processor 220 reads the computer program stored in the memory 210, implement steps 11 to 15.

[0075] Step 11, during flight, control the detection radar to send a first type of signal, and based on the second type of signal received in real time, determine the flight trajectory and relative speed of the surrounding second flying car.

[0076] Step 13, according to the flight trajectory and relative speed, obtain the shortest distance between the first flying car and the second flying car.

[0077] Step 15, based on the shortest distance, in the case where the first flying car and the second flying car enter a dangerous distance, control the charging device to charge the superconductor to form a mutually repulsive magnetic field.

[0078] Here, the first type of signal refers to the radar detection signal emitted by the detection radar 140 itself, and the second type of signal includes any several of the echo signal of the first type of signal received by the detection radar 140 and the radar detection signal emitted by the detection radar 140 on other flying cars.

[0079] Exemplarily, in combination with Figure 1 the shown anti-collision system 10 of a flying car, during flight of the first flying car 110, the detection radar 140 thereon emits a first type of signal in real time (i.e., periodically, the period can be 0.1 ms or any other value), receives the second type of signal, and sends the received second type of signal to the controller 130 of the first flying car 110 in real time.

[0080] After the controller 130 of the first flying car 110 receives the second - type signal, based on the second - type signal, it determines the flight trajectory and relative speed of the second flying car 120 around the first flying car 110 (i.e., within a certain range, such as within 500 meters, within 30 meters, within 1000 meters, etc.). Furthermore, according to the flight trajectories and relative speeds of the surrounding second flying cars 120, the shortest distances between the first flying car 110 and each second flying car 120 are obtained. Based on the shortest distances, when the first flying car 110 and the second flying car 120 enter the dangerous distance, the controller 130 of the first flying car 110 controls the charging device 150 thereon to charge the superconductor 160 on the first flying car 110, so that the superconductor 160 generates a magnetic field with the positive pole facing outside the vehicle body.

[0081] Similarly, the same operation is also performed on the second flying car 120 close to the first flying car 110. So that when the first flying car 110 and the second flying car 120 enter the dangerous distance, magnetic fields with the positive poles facing outside the vehicle bodies are generated on both of them, and a magnetic field repulsive force is formed between them, turning a direct collision into a repulsive bounce to prevent the collision.

[0082] Flying cars have a relatively high cruising speed in the air, faster than ground cars. Different from land cars that can achieve rapid deceleration and large - amplitude turning through ground friction, flying cars can only rely on air resistance to decelerate and turn, resulting in very slow deceleration and turning, and it is very easy to have collision accidents with a relatively high safety risk.

[0083] However, for steps 11 to 15 of the flying - car anti - collision method provided in this application, through ingenious design, a repulsive magnetic field force is activated before the flying cars are about to collide, turning a direct collision into a repulsive bounce to prevent the collision, greatly improving the safety of flying cars, and to a certain extent preventing flying cars from being damaged, out of control, and falling due to collisions.

[0084] Among them, the implementation method of step 11 can be flexibly set. For example, it can be that the detection radar 140 periodically sends the first - type signal and processes the received second - type signal using a preset calculation function to obtain the flight trajectory and relative speed of the second flying car 120 around. It can also be to obtain the flight trajectory and relative speed of the second flying car 120 step by step according to a preset rule.

[0085] It should be noted that during the flight of the first flying car 110, if the second - type signal is not received, it means that there is no second flying car around. At this time, only the second - type signal needs to be emitted, and there is no need to execute the steps of obtaining the second flight trajectory and relative speed, and steps 13 to 15.

[0086] In order to detect the second flying vehicle 120 around the first flying vehicle 110 as much as possible and make the flight trajectory and relative speed of the second flying vehicle 120 more accurate, in step 11, the idea of emitting a type of signal in multiple directions in each round and obtaining the second flying vehicle 120 and its flight trajectory and relative speed based on the type-two signals in consecutive multiple rounds is introduced. Refer to Figure 4 , step 11 can be further implemented as steps 111 to 115.

[0087] Step 111, control the detection radar to emit a round of type-one signals and collect the type-two signals corresponding to a round of type-one signals.

[0088] Among them, a round of type-one signals includes type-one signals in multiple different directions, and type-two signals include the echo signals of type-one signals.

[0089] Step 113, obtain a set of detection information based on the type-two signals and type-one signals.

[0090] After step 113, return to execute step 111, and at the same time, execute step 115. Among them, the detection information includes the second flying vehicle and the position coordinates of the second flying vehicle.

[0091] Step 115, based on multiple sets of detection information that are continuous in time, determine the flight trajectory and relative speed of each second flying vehicle.

[0092] For a round of type-one signals, emitting a round of type-one signals means that the detection radar 140 emits radar detection signals from different directions. At least the horizontal angle and elevation angle are included in one direction. The horizontal angle includes 360°, and the elevation angle can be within 180° or within any angle, which is not limited here.

[0093] The detection radar 140 can be of a fixed direction. At this time, a detection radar 140 is set at different detection directions of each flying vehicle. The detection radar 140 can also be rotated to adjust the direction. At this time, at least one detection radar 140 is set on each surface of the body of each flying vehicle. When each detection radar 140 is of a fixed direction, it can be periodically. All detection radars 140 emit radar detection signals at the same time to complete the emission of a round of type-one signals. When a detection radar 140 can be rotated to adjust the direction, within each period, each detection radar 140 adjusts the direction in turn to emit radar detection signals from different directions to complete the emission of a round of type-one signals. In this way, all directions around the flying vehicle are detected, ensuring the breadth of the detection range to detect the second flying vehicle 120 around the first flying vehicle 110 as much as possible.

[0094] If no type-two signal is received after a round of type-one signals are emitted, it means that there is no other flying car around, and a set of detection signals cannot be obtained. If a type-two signal is received, it means that there may be another flying car around. Using the principle of radar detection, a set of detection information can be obtained based on this round of type-one signals emitted and the type-two signals received. Other preset rules can also be used to process a round of type-one signals and the corresponding type-two signals to obtain a set of detection information. Moreover, the above two ways of obtaining detection information are just examples, and their implementation methods are not limited.

[0095] To make the detection information more accurate, in step 113, the idea of introducing the echo signal of the type-one signal and the external signal (i.e., the radar detection signal emitted by other flying cars) is used to determine the second flying car 120 around the first flying car 110 and the position coordinates of the second flying car 120. Refer to Figure 5 , the process of obtaining a set of detection information in step 113 includes steps 1131 to 1133.

[0096] Step 1131, when the echo signal of the type-one signal and the external signal are received in any direction and the frequency band of the external signal is within the radar frequency band of the flying car, the azimuth information of the second flying car relative to the first flying car in this direction is determined according to the type-one signal and the echo signal.

[0097] Among them, the azimuth information includes detection distance, azimuth angle, and elevation angle.

[0098] Step 1133, for each second flying car, the position coordinates of the second flying car are obtained according to the azimuth information of the second flying car.

[0099] The radar frequency band of the flying car is a pre-set value, and its numerical range is not limited. When the echo signal of the type-one signal and the external signal are received in any direction and the frequency band of the external signal is within the radar frequency band of the flying car, it means that there is a second flying car 120 in this direction. At this time, the detection distance (i.e., the distance between the first flying car 110 and the second flying car 120) can be obtained according to the time difference between the type-one signal emitted in this direction and the echo signal of the type-one signal. At the same time, the azimuth angle and elevation angle of the type-one signal in this direction are combined with the detection distance to obtain the azimuth information of the second flying car 120.

[0100] Based on the obtained azimuth information, using the principle of trigonometric functions, the position coordinates of the second flying car 120 can be calculated. When representing the position coordinates of the second flying car 120 as P(x, y, z), using p to represent the detection distance, α to represent the azimuth angle, and β to represent the elevation angle, the positional relationship between the first flying car 110 and the second flying car 120 is as Figure 6As shown in the figure, P represents the second flying car 120, O represents the detection radar 140 on the first flying car 110, B represents the projection point of the second flying car 120 on the horizontal plane where the first flying car 110 is located, D represents the horizontal distance between point O and point B, and H represents the distance between point B and point P. At this time, x = D×cos(α) = R×cos(β)×cos(α), y = D×sin(α) = R×cos(β)×sin(α), and z = H = R×sin(β).

[0101] In the above manner, only when the echo signal of a certain type of signal and the external signal within the radar frequency band of the flying car (i.e., the radar detection signal emitted by the detection radar 140 on a suspected other flying car) are received in the same direction, it is determined that there is a second flying car 120 in that direction, and the azimuth information and position coordinates of the second flying car 120 are obtained accordingly. Thus, the interference of other objects such as birds and buildings that are not flying cars can be excluded, and the accuracy of the detection information can be improved.

[0102] After obtaining a set of detection information for each round of a certain type of signal, in step 115, the flight trajectory and relative speed of each second flying car 120 can be obtained based on the detection information corresponding to two rounds of a certain type of signal with adjacent detection times (i.e., the position coordinates of the second flying car 120 at two adjacent time points). Any other implementation method can also be used to obtain the flight trajectory and relative speed of the second flying car 120. The implementation method of step 115 is not limited.

[0103] In order to more accurately obtain the flight trajectory of the first flying car 110 around the first flying car 110 and the relative speed between these second flying cars 120 and the first flying car 110, in step 115, the first three groups of detection information that are continuous in time are introduced. The candidate trajectory is obtained from the first two groups of detection information, and the third group of detection information is used to match the candidate trajectory to eliminate false flight trajectories, obtain the accurate flight trajectory of the second flying car 120, and the concept of calculating the relative speed using the Doppler frequency shift principle. Refer to Figure 7 , the process of obtaining the flight trajectory and relative speed of the second flying car 120 in step 115 includes steps 1151 to 1157.

[0104] Step 1151: Respectively use the first three groups of detection information that are continuous in time as the first detection group, the second detection group, and the third detection group.

[0105] Step 1153: Combine each second flying car in the first detection group with each second flying car in the second detection group, and combine with the position coordinates of the second flying car to obtain multiple candidate trajectories.

[0106] Step 1155: For each candidate trajectory, when there is a second flying vehicle on the candidate trajectory in the third detection group, use the candidate trajectory as the flight trajectory of a second flying vehicle.

[0107] Step 1157: For each flight trajectory, based on multiple echo signals and Doppler frequency shift corresponding to the flight trajectory, obtain the relative speed of the second flying vehicle corresponding to the flight trajectory.

[0108] Exemplarily, assume there are five detections around, namely T1, T2, T3, T4, and T5 (i.e., the emission of five rounds of type-1 signals). When a set of detection information is obtained for both type-1 signals and type-2 signals during T2, T3, T4, and T5, use the detection information obtained during T2, T3, and T4 as the first detection group, the second detection group, and the third detection group respectively.

[0109] Taking the position coordinates A1, B1, and C1 of three second flying vehicles in the first detection group, the position coordinates A2, B2, and C2 of three second flying vehicles in the second detection group, and the position coordinates A3 and B3 of two second flying vehicles in the third detection group as an example. The candidate trajectories are 9 trajectories formed by A1A2, A1B2, A1C2, B1A2, B1B2, B1C2, C1A2, C1B2, and C1C2. Among these trajectories, there are true trajectories and false trajectories. Then, successively use the coordinates A3 and B3 in the third detection group to match with the 9 candidate trajectories respectively to see which trajectories A3 and B3 are located on. When A3 is on the candidate trajectory formed by B1A2 and B3 is on the candidate trajectory formed by C1B2, finally there are two second flying vehicles, and their flight trajectories are B1A2A3 and C1B2B3 respectively.

[0110] After determining the flight trajectories, based on the frequency and phase differences between the echo signals and type-1 signals when obtaining B1, A2, and A3 on the flight trajectory B1A2A3, obtain the relative speed of the second flying vehicle corresponding to the flight trajectory B1A2A3. Similarly, calculate the relative speed of the second flying vehicle corresponding to C1B2B3 of the flight trajectory.

[0111] Among them, the calculation formula for the relative speed can be expressed as: V = λf d / 2, where λ represents the wavelength, f d = f′ - f, f′ represents the frequency of the echo signal, and f represents the frequency of the type-1 signal. In addition, after obtaining multiple relative speeds, the final relative speed can be obtained by taking the average.

[0112] In the above manner, at least three groups of detection information are used to determine the flight trajectory, which can not only eliminate the interference of the second flying vehicle that has flown far away, but also more accurately obtain the flight trajectory and relative speed of the second flying vehicles around.

[0113] After obtaining the flight trajectory L of each second flying vehicle around the first flying vehicle by the above method, taking the first flying vehicle as the origin O(x0, y0, z0) of the coordinate system, the shortest distance (i.e., the perpendicular distance) between the origin O(x0, y0, z0) and the flight trajectory L is calculated by using the vector cross product method, the parametric equation method or any other method.

[0114] For example, when using the vector cross product method, the shortest distance can be expressed as: l1 and l2 respectively represent two points on the flight trajectory L. When using the parametric equation method, the shortest distance can be expressed as: d = |p - (a + b)|, where p represents the projection point of the origin O(x0, y0, z0) on the flight trajectory L, the flight trajectory L = a + tb, a represents a point on the flight trajectory L, b represents the direction vector of the flight trajectory L, and t represents a parameter.

[0115] After calculating the shortest distance, in step 15, the shortest distance can be compared with a preset collision threshold (the collision threshold is a preset value, which is a multiple of the vehicle length and / or vehicle width of the flying vehicle). If the shortest distance is less than the collision threshold, it is determined that there is a collision risk, and the controller 130 immediately controls the charging device 150 to inject current into the superconductor 160 of the first flying vehicle 110 to form a magnetic field with the positive pole facing outward. It can also be that if the shortest distance is less than the collision threshold, that is, the detection radar 140 is used to continuously detect the azimuth where the second flying vehicle 120 corresponding to the shortest distance is located to obtain the real-time distance between the first flying vehicle 110 and the second flying vehicle 120 in real time. When the real-time distance is less than the dangerous distance (the dangerous distance is a preset value, which can be 100m, or any value such as 300m), the controller 130 then controls the charging device 150 to inject current into the superconductor 160 of the first flying vehicle 110 to form a magnetic field with the positive pole facing outward. The implementation manner of step 15 is not limited.

[0116] In order to accurately form a magnetic field that is mutually exclusive with the second flying vehicle 120 and avoid wasting electricity by injecting current prematurely, in step 15, the concept of injecting current into the superconductor 160 on the surface that may collide with the second flying vehicle 120 to form a mutually exclusive magnetic field only when the real-time distance is less than the dangerous distance is introduced. Refer to Figure 8 , step 15 can be further implemented as steps 151 to 155.

[0117] Step 151: For each flight trajectory, when the shortest distance corresponding to the flight trajectory is less than the collision threshold, the second flying vehicle corresponding to the flight trajectory is taken as the target vehicle.

[0118] Step 153: Control the charging device to enter the charging preparation state, and continuously obtain the real-time distance between the first flying vehicle and the target vehicle.

[0119] Step 155: When the real-time distance is less than the danger distance threshold, send a charging instruction to the charging device to instruct the charging device to inject current into the superconductor, so as to form a mutually exclusive magnetic field between the first flying vehicle and the target vehicle.

[0120] Wherein, the danger distance threshold is a preset value. For example, it can be 20 meters or 50 meters, and its specific value is not limited.

[0121] In step 153, the vertical intersection point (i.e., the foot of the perpendicular) between the flight trajectories of the first flying vehicle and the target vehicle can be obtained, and the distance between the vertical intersection point and the current position coordinates of the target vehicle is calculated. Dividing the distance by the relative speed of the target vehicle can obtain the time t for the target vehicle to reach the vertical intersection point. If the shortest distance is less than the collision threshold (i.e., it is predicted to expand), some preparatory work can be done within the time t. For example, preparations for charging and injecting current are made so that the magnetic field can be formed in a timely and accurate manner.

[0122] To reduce current waste and form a magnetic field force mutually exclusive with the second flying vehicle 120, in steps 155 and 157, the concept of only preparing for charging and charging the superconductor 160 on the front side (i.e., the possible collision surface) of the first flying vehicle 110 facing the second flying vehicle 120 is introduced. Refer to Figure 9 , in step 155, the charging device 150 is controlled to enter the charging preparation state through steps 1551 to 1553.

[0123] Step 1551: Based on the azimuth angle of the target vehicle relative to the first flying vehicle, determine the target superconductor from multiple superconductors.

[0124] Step 1553: Send a charging preparation instruction to the charging device of the target superconductor to instruct the charging device to enter the charging preparation state.

[0125] Similarly, in step 157, the controller only sends a charging instruction to the charging device of the target superconductor.

[0126] Among them, the azimuth angle of the target vehicle relative to the first flying vehicle can be obtained by detecting with a detection radar, that is, the azimuth angle of the detection radar detecting the target vehicle, or can be obtained based on the relative position between the flight trajectory of the target vehicle and the first flying vehicle. And the above two methods are both examples, and their implementation methods are not limited.

[0127] In step 1551, multiple methods can be used to determine the target superconductor 160. For example, the azimuth angle can be input into a pre-trained model or function, and the model or function is used to obtain the target superconductor 160, or a preset rule can be used to determine the target superconductor 160, and its implementation method is not limited.

[0128] Exemplarily, the horizontal plane where the first flying vehicle is located can be divided into multiple angular regions in the clockwise direction (or counterclockwise direction) with the center point of the first flying vehicle as the reference. Each angular region corresponds to a group of superconductors, and the group of superconductors corresponding to the angular region where the azimuth angle of the superconductors is located is the target superconductor.

[0129] For example, it is divided into 8 angular regions, which are [337.5, 22.5], [22.5, 67.5], [67.5, 112.5], [112.5, 157.5], [157.5, 202.5], [202.5, 247.5], [247.5, 292.5] and [292.5, 337.5]. Among them, the group of superconductors corresponding to [337.5, 22.5] includes the superconductors located at the front (i.e., the front) of the first flying vehicle, the group of superconductors corresponding to [22.5, 67.5] includes the superconductors located at the front (i.e., the front) and the right side of the first flying vehicle, the group of superconductors corresponding to [67.5, 112.5] includes the superconductors located at the right side of the first flying vehicle, the group of superconductors corresponding to [112.5, 157.5] includes the superconductors located at the right side and the rear (i.e., the back) of the first flying vehicle, the group of superconductors corresponding to [157.5, 202.5] includes the superconductors located at the rear (i.e., the back) of the first flying vehicle, the group of superconductors corresponding to [202.5, 247.5] includes the superconductors located at the rear (i.e., the back) and the left side of the first flying vehicle, the group of superconductors corresponding to [247.5, 292.5] includes the superconductors located at the left side of the first flying vehicle, and the group of superconductors corresponding to [292.5, 337.5] includes the superconductors located at the left side and the front (i.e., the front) of the first flying vehicle.

[0130] When the azimuth angle of the target vehicle is within the angles of [337.5, 22.5], [67.5, 112.5], [157.5, 202.5] and [247.5, 292.5], the collision surface type between the target vehicle and the first flying vehicle is the front side. When the azimuth angle of the target vehicle is within [22.5, 67.5], [112.5, 157.5], [202.5, 247.5] and [292.5, 337.5], the collision surface type between the target vehicle and the first flying vehicle is the diagonal side.

[0131] Therefore, referring to Figure 10 , the process of step 1551 described above may include steps 21 to 25.

[0132] Step 21, determine the collision surface type according to the azimuth angle of the target vehicle relative to the first flying vehicle.

[0133] Step 23, in the case where the collision surface type is the front side, use the superconductor located on the front side of the flying vehicle as the target superconductor.

[0134] Step 25, in the case where the collision surface type is the diagonal side, use the two superconductors adjacent to the diagonal side of the flying vehicle as the target superconductors.

[0135] In the above manner, in the case where the collision surface is the diagonal side, current is injected into the superconductors 160 on two adjacent sides (i.e., close to the collision surface) of the first flying vehicle 110 adjacent to the diagonal side to form a magnetic field with the positive pole facing outside the vehicle body. In the case where the collision surface is the front side, current is injected into the superconductors 160 on the front side (i.e., close to the collision surface) of the first flying vehicle 110 to form a magnetic field with the positive pole facing outside the vehicle body. Thus, a mutually repulsive magnetic force can be formed between the first flying vehicle 110 and the target vehicle. Under the action of the magnetic repulsive force, the distance between the two flying vehicles first decreases, and after reaching the critical point, the distance begins to increase, thereby avoiding collision.

[0136] The flying vehicle may further include an auxiliary energy storage device (such as a battery or a capacitor) electrically connected to the superconductor 160, and this auxiliary energy storage device may be the energy storage battery of the flying vehicle. Thus, after the target vehicle and the first flying vehicle 110 move away from each other, the target superconductor 160 can be discharged, for example, by charging back to the auxiliary battery or capacitor to eliminate the magnetic field of the superconductor 160 and control the flying vehicle to continue sailing.

[0137] Based on the same concept as the flying vehicle anti-collision method provided above, referring to Figure 11, an embodiment of the present application further provides an anti-collision device 30 for a flying car, including a detection module 310, a distance acquisition module 320, and an anti-collision module 330. In this embodiment, the anti-collision device 30 for a flying car can be applied to Figure 1 the controller 130 of the first flying car 110 in the anti-collision system 10 for a flying car shown in

[0138] The detection module 310 is configured to control a detection radar to send a first type of signal during flight, and determine the flight trajectory and relative speed of the surrounding second flying cars based on the second type of signal received in real time.

[0139] The distance acquisition module 320 is configured to obtain the shortest distance between the first flying car and the second flying car according to the flight trajectory and relative speed.

[0140] The anti-collision module 330 is configured to, based on the shortest distance, control a charging device to charge a superconductor when the first flying car and the second flying car enter a dangerous distance, so as to form a mutually repulsive magnetic field.

[0141] The above anti-collision device 30 for a flying car, through the collaborative action of the detection module 310, the distance acquisition module 320, and the anti-collision module 330, activates a mutually repulsive magnetic force before the flying cars are about to collide, turns a direct collision into a mutually repulsive bounce, prevents collisions, and greatly improves the safety of the flying car, and to a certain extent prevents the flying car from being damaged, out of control, and falling due to collisions.

[0142] For the specific implementation and effects of the anti-collision device 30 for a flying car, reference can be made to the description of the implementation of the anti-collision method for a flying car in the above text. For example, for the specific implementation and effects of the detection module 310, reference can be made to the description of the relevant content in step 11 in the above text, for the specific implementation and effects of the distance acquisition module 320, reference can be made to the description of the relevant content in step 13 in the above text, and for the specific implementation and effects of the anti-collision module 330, reference can be made to the description of the relevant content in step 15 in the above text, which will not be elaborated here.

[0143] In addition, each module of the above anti-collision device 30 for a flying car can be implemented in whole or in part by software, hardware, and their combinations. The above modules can be embedded in or independent of the processor 220 in the electronic device 20 in hardware form, or stored in the memory 210 of the electronic device 20 in software form, so that the processor 220 can call and execute the operations corresponding to the above modules to implement the anti-collision method for a flying car provided above.

[0144] An embodiment of the present application also provides an electronic device 20, including a processor 220 and a memory 210. The memory 210 stores a computer program that can be executed by the processor 220. The processor 220 can execute the computer program to implement the flying car anti-collision method provided above.

[0145] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor 220, it implements the flying car anti-collision method proposed in the embodiment of the present application.

[0146] In summary, the flying car anti-collision method, device, electronic device, and storage medium provided by the embodiments of the present application have at least the following beneficial effects:

[0147] (1) By radar detection and trajectory prediction, accurately judge whether there will be a collision between flying cars;

[0148] (2) When it is predicted that a collision will occur, inject current into the superconductors on the flying cars about to collide to form mutually repulsive magnetic fields. Through the mutually repulsive force formed by the magnetic fields, avoid direct collisions between flying cars.

[0149] In several embodiments provided by the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the device, method, and computer program product according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0150] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0151] When the above-described functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories, random access memories, magnetic disks, or optical discs that can store program codes.

[0152] The foregoing is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A collision prevention method for a flying car, characterized in that, A controller applied to a first flying car, the controller is communicatively connected to a detection radar and a charging device installed on the first flying car respectively, the first flying car further includes a superconductor, the charging device is electrically connected to the superconductor, and the method includes: During flight, control the detection radar to send a first type of signal, and based on the second type of signal received in real time, determine the flight trajectory and relative speed of the surrounding second flying cars; According to the flight trajectory and the relative speed, obtain the shortest distance between the first flying car and the second flying car; Based on the shortest distance, when the first flying car and the second flying car enter a dangerous distance, control the charging device to charge the superconductor to form a repulsive magnetic field.

2. The anti-collision method for a flying car according to claim 1, wherein The step of controlling the detection radar to send a first type of signal and based on the second type of signal received in real time to determine the flight trajectory and relative speed of the surrounding second flying cars includes: Control the detection radar to emit a round of first type of signals and collect the second type of signals corresponding to the round of first type of signals; wherein, a round of first type of signals includes first type of signals in multiple different directions, and the second type of signals includes echo signals of the first type of signals; According to the second type of signals and the first type of signals, obtain a set of detection information, and return to execute the step of controlling the detection radar to emit a round of first type of signals and collect the second type of signals corresponding to the first type of signals; wherein, the detection information includes the position coordinates of the second flying car and the second flying car; Based on multiple sets of the detection information that are continuous in time, determine the flight trajectory and relative speed of each second flying car.

3. The anti-collision method for a flying car according to claim 2, characterized in that The step of determining the flight trajectory and relative speed of each second flying car based on multiple sets of the continuous detection information includes: Respectively use the first three sets of the detection information that are continuous in time as a first detection group, a second detection group, and a third detection group; Combine each second flying car in the first detection group with each second flying car in the second detection group, and combine with the position coordinates of the second flying car to obtain multiple candidate trajectories; For each candidate trajectory, when there is a second flying car on the candidate trajectory in the third detection group, use the candidate trajectory as the flight trajectory of a second flying car; For each flight trajectory, based on the multiple echo signals and Doppler frequency shift corresponding to the flight trajectory, obtain the relative speed of the second flying car corresponding to the flight trajectory.

4. The anti-collision method for a flying car according to claim 2, characterized in that The second type of signals includes echo signals of the first type of signals and / or external signals; The step of obtaining a set of detection information according to the second type of signals and the first type of signals includes: When the echo signal of the first type of signal and an external signal are received in any direction, and the frequency band of the external signal is within the radar frequency band of the flying car, determine the azimuth information of the second flying car in this direction relative to the first flying car according to the first type of signal and the echo signal; wherein, the azimuth information includes detection distance, azimuth angle, and elevation angle. For each of the second flying vehicles, based on the orientation information of the second flying vehicle, obtain the position coordinates of the second flying vehicle.

5. The anti-collision method for a flying car according to claim 1, wherein The step of controlling the charging device to charge the superconductor to form a repulsive magnetic field when the first flying vehicle and the second flying vehicle enter the dangerous distance based on the shortest distance includes: For each of the flight trajectories, when the shortest distance corresponding to the flight trajectory is less than the collision threshold, use the second flying vehicle corresponding to the flight trajectory as the target vehicle; Control the charging device to enter the charging preparation state and continuously obtain the real-time distance between the first flying vehicle and the target vehicle; When the real-time distance is less than the dangerous distance threshold, send a charging instruction to the charging device to instruct the charging device to inject current into the superconductor to form a repulsive magnetic field between the first flying vehicle and the target vehicle.

6. The anti-collision method for a flying car according to claim 5, characterized in that, Superconductors are provided at each position of the first flying vehicle, and there are multiple charging devices, and each charging device is electrically connected to one superconductor; The step of controlling the charging device to enter the charging preparation state includes: Based on the azimuth angle of the target vehicle relative to the first flying vehicle, determine the target superconductor from multiple superconductor; Send a charging preparation instruction to the charging device of the target superconductor to instruct the charging device to enter the charging preparation state; The step of sending a charging instruction to the charging device includes: Send a charging instruction to the charging device of the target superconductor.

7. The anti-collision method for a flying car according to claim 6, wherein The step of determining the target superconductor from multiple superconductor based on the azimuth angle of the target vehicle relative to the first flying vehicle includes: Determine the type of the collision surface according to the azimuth angle of the target vehicle relative to the first flying vehicle; When the type of the collision surface is the front side, use the superconductor located on the front side of the flying vehicle as the target superconductor; When the type of the collision surface is the oblique side, use the two superconductor adjacent to the oblique side of the flying vehicle as the target superconductor.

8. An anti-collision device for a flying car, characterized in that, A controller applied to the first flying vehicle, the controller is respectively communicatively connected to a detection radar and a charging device installed on the first flying vehicle, the first flying vehicle further includes a superconductor, the charging device is electrically connected to the superconductor, and the anti-collision device of the flying vehicle includes a detection module, a distance acquisition module and an anti-collision module; The detection module is configured to control the detection radar to send a first type of signal during flight and determine the flight trajectory and relative speed of the surrounding second flying vehicles based on the second type of signal received in real time; The distance acquisition module is configured to obtain the shortest distance between the first flying vehicle and the second flying vehicle according to the flight trajectory and the relative speed; The anti-collision module is configured to control the charging device to charge the superconductor to form a repulsive magnetic field when the first flying vehicle and the second flying vehicle enter the dangerous distance based on the shortest distance.

9. An electronic device, characterized in that, It includes a processor and a memory. The memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the flying car anti-collision method as described in any one of claims 1 to 7.

10. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the flying car anti-collision method as described in any one of claims 1 to 7.

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