Control method and device of hovercar and storage medium

Abstract

The invention discloses a hovercar control method and device and a storage medium, and the method comprises the steps: responding to a starting flight instruction of a target object, and carrying out the self-inspection of a hovercar according to a preset self-inspection program; under the condition that it is determined that the hovercar meets the flight condition, the hovercar is controlled to vertically take off in a vehicle form, and the real-time take-off state of the hovercar is monitored; under the condition that it is monitored that the real-time take-off state of the hovercar meets the preset condition, wings of the hovercar are controlled to stretch, and real-time stretching data of the wings are obtained; and adjusting the flight attitude of the hovercar according to the real-time extension data, controlling the hovercar to be switched from the vertical take-off mode to the target flight mode, and flying according to the target flight route. Dependence of a traditional vehicle on a fixed take-off and landing field is broken through, the flying car can complete deformation in the air, and traveling efficiency and traveling flexibility are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of flying cars, and in particular to a control method, device, and storage medium for a flying car. Background Art

[0002] With the rapid development of modern society, traffic congestion has become an increasingly serious problem in urban areas, significantly impacting people's travel efficiency and quality of life. While cars can meet people's daily needs for short-distance travel, their limitations become increasingly apparent when faced with long-distance travel or traffic congestion. Limited road resources and the ever-increasing number of vehicles lead to frequent traffic jams, which consume a significant amount of time and energy during commutes.

[0003] At the same time, air transport, as an efficient long-distance travel mode, can significantly shorten travel time, but it is highly dependent on specialized infrastructure such as airports. The construction of airports requires a lot of land resources and is often located in the suburbs of cities, which means that passengers need to spend extra time traveling to and from the airport.

[0004] Against this backdrop, flying cars have emerged as an innovative transportation concept. They aim to enable seamless transitions from land to air, effectively avoiding traffic congestion and improving travel efficiency. However, existing flying car technology still faces numerous challenges. For one thing, the design of many flying cars' morphing changes during the transition from land to air is inadequate. Some designs fail to fully consider the regulations and requirements of land transportation when switching from flight mode to land mode. For example, even after retracting, flying components such as wings and tails may still protrude from the vehicle's body, impacting the vehicle's width and height restrictions on the road, potentially posing a risk of collision with road infrastructure, other vehicles, or pedestrians, and threatening the safety and smoothness of land transportation. Furthermore, existing flying car transformation mechanisms are often complex and unreliable. The transformation process can take a long time and is prone to failure in complex environments, hindering smooth land-to-air transitions. Furthermore, the related control systems lack intelligence and automation, making it difficult to accurately and efficiently control the transformation operations according to different flight and land driving scenarios. This requires the driver to possess high-level professional skills and operational experience, which to some extent limits the popularization and promotion of flying cars.

[0005] Therefore, a new type of integrated land-air flying car technology is needed that can quickly and reliably complete the deformation of the car's shape before landing or at a certain height after takeoff, so that it perfectly meets the various requirements of land transportation. At the same time, it has an intelligent deformation control system to overcome the shortcomings of existing technologies and promote the widespread application of flying cars in the future transportation field. Summary of the Invention

[0006] The present application provides a control method, device and storage medium for a flying car. The present application breaks the dependence of traditional transportation on fixed take-off and landing sites. The flying car can complete transformation in the air, effectively improving travel efficiency and flexibility.

[0007] In one aspect, the present application provides a method for controlling a flying car, the method comprising: In response to a flight start instruction from a target object, the flying vehicle is self-checked according to a preset self-check program; the preset self-check program is used to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; When it is determined that the flying car meets the flight conditions, controlling the flying car to take off vertically in a vehicle form, and monitoring the real-time take-off status of the flying car; controlling the wings of the flying car to extend and acquiring real-time extension data of the wings when it is monitored that the real-time takeoff status of the flying car satisfies a preset condition; wherein the preset condition indicates that the flying car's ascent altitude reaches a preset safety altitude and the flying car's ascent speed reaches a preset ascent speed; The flight attitude of the flying car is adjusted according to the real-time extension data, and the flying car is controlled to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route.

[0008] In an exemplary embodiment, when monitoring that the real-time takeoff state of the flying car satisfies a preset condition, controlling the wings of the flying car to extend and obtaining real-time extension data of the wings includes: When it is detected that the real-time takeoff state of the flying car meets the preset condition, the electric hydraulic push rod of the flying car is controlled to push the wing to extend; the wing is a multi-stage folding structure; The real-time extension speed, real-time extension angle, and real-time extension position of the wing are monitored to obtain the real-time extension data of the wing.

[0009] In an exemplary embodiment, the flying car is provided with flight stabilizing fins on the bottom of the body. Adjusting the flight attitude of the flying car according to the real-time extension data, controlling the flying car to switch from a vertical takeoff mode to a target flight mode, and flying according to the target flight route, includes: adjusting the extension posture of the wing according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and monitoring the real-time extension state of the wing; When it is detected that the real-time extension state indicates that the wings are extended to a preset extension degree, the wheels of the flying car are retracted into the wheel storage compartment, and the real-time retraction state of the wheels is monitored; When it is detected that the real-time retraction state indicates that the wheel has been completely retracted into the wheel retraction compartment, controlling the flight stabilizing fin to extend and deploy to a preset angle; The flying car is controlled to switch from the vertical take-off mode to the target flight mode, and to fly according to the target flight route.

[0010] In an exemplary embodiment, controlling the flying car to switch from the vertical takeoff mode to the target flight mode and fly according to the target flight route includes: Obtaining current flight environment information of the flying car; According to the current flight environment information and the target flight route, the thrust magnitude and direction of the flying car's engine are adjusted, the flying car is adjusted to the target flight mode, and flies according to the target flight route.

[0011] In an exemplary embodiment, the wings include a first wing and a second wing provided on both sides of the flying car body, and adjusting the extended posture of the wings according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and monitoring the real-time extended state of the wings, includes: According to the real-time extension speed, obtaining the extension speed of the first wing as a first extension speed, and obtaining the extension speed of the second wing as a second extension speed; Calculating a difference in the extension angles of the first wing and the second wing according to the real-time extension angle to obtain an angle difference; calculating a folding joint misalignment value between the first wing and the second wing according to the real-time extended position; adjusting the extension posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value; The real-time extension status of the wing is monitored.

[0012] In an exemplary embodiment, the extended posture includes an extension speed, an extension angle, and an extension position of the wing, and adjusting the extended posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value includes: adjusting the extension speed of the wing according to the first extension speed, the second extension speed, and a preset extension speed; adjusting the extension angle of the wing according to the angle difference and a preset angle difference; The extended position of the wing is adjusted according to the folding joint misalignment value and a preset misalignment threshold.

[0013] In an exemplary embodiment, after controlling the flying car to switch from the vertical takeoff mode to the target flight mode and fly along the target flight route, the method includes: If it is determined that the flying car meets a preset landing condition, controlling the flying car to switch from the target flight mode to a vertical landing mode; the preset landing condition indicates that the flying car descends to a preset landing altitude and the flying speed of the flying car decreases to a preset landing speed; Controlling the wings to fold according to a preset folding sequence, retracting the flight stabilizing fins to the bottom of the flying car, and monitoring the real-time folding status of the wings; When the wing is detected to be folded to a preset folding degree, the door of the wheel storage compartment is opened, the wheel is controlled to be released from the wheel storage compartment at a preset falling speed, and the real-time landing status of the wheel is monitored; the preset folding degree indicates that the angle between the wing and the body of the flying car in the horizontal direction is a preset angle; If the real-time landing status indicates that the wheels are completely on the ground, the flying car is controlled to switch from the vertical landing mode to the land driving mode.

[0014] In an exemplary embodiment, in response to the target object's flight start instruction, performing a self-test on the flying car according to a preset self-test program includes: In response to the flight start instruction of the target object, performing a self-test on the takeoff environment, energy storage, and navigation and communication equipment of the flying car according to the preset self-test program to obtain a self-test result; If the self-test result indicates that the takeoff environment meets the preset operating domain, the energy reserve is greater than the preset flight reserve threshold, and the signal strength of the navigation and communication device is greater than the preset signal strength threshold, it is determined that the flying car meets the flight conditions.

[0015] On the other hand, a control device for a flying car is provided. Figure 7 As shown, the device includes: a self-test module, configured to respond to a flight start instruction from a target object and perform a self-test on the flying vehicle according to a preset self-test program; the preset self-test program is configured to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; a vertical takeoff module, configured to control the flying car to take off vertically in a vehicle configuration when determining that the flying car meets the flight conditions, and to monitor the real-time takeoff status of the flying car; a wing extension module configured to control the wings of the flying car to extend and obtain real-time wing extension data when monitoring that the real-time takeoff status of the flying car satisfies a preset condition; the preset condition being that the flying car's ascent altitude reaches a preset safety altitude and the flying car's ascent speed reaches a preset ascent speed; The flight attitude adjustment module is used to adjust the flight attitude of the flying car according to the real-time extension data, control the flying car to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route.

[0016] On the other hand, a flying car is provided, which can execute and implement the above-mentioned flying car control method.

[0017] On the other hand, an electronic device is provided, including a processor and a memory, wherein the processor is used to store instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the control method of the flying car as described above.

[0018] On the other hand, a computer-readable storage medium is provided, wherein the computer-readable storage medium contains at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned flying car control method.

[0019] The control method, device, and storage medium for a flying car provided in this application have the following technical effects: The present application responds to a flight start instruction from a target object and performs a self-check on a flying car according to a preset self-check program; the preset self-check program is used to determine whether the flying car meets the flight conditions; the flight start instruction carries the target flight route; when it is determined that the flying car meets the flight conditions, the flying car is controlled to take off vertically in a vehicle form, and the real-time take-off status of the flying car is monitored; when it is monitored that the real-time take-off status of the flying car meets the preset conditions, the wings of the flying car are controlled to extend and real-time extension data of the wings are obtained; the preset conditions indicate that the flying car's ascent height reaches a preset safety height and the flying car's ascent speed reaches a preset ascent speed; the flight attitude of the flying car is adjusted according to the real-time extension data, and the flying car is controlled to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route. This application improves the safety of flying cars by performing comprehensive self-inspections on the flying car to ensure that the flying car meets the flight conditions before taking off. By enabling the flying car to take off vertically, there is no need for dedicated take-off and landing facilities such as airports and runways, which can break the dependence of traditional transportation on fixed take-off and landing fields and greatly improve travel efficiency and flexibility. By enabling the flying car to deform in the air, it can be converted from a conventional land-based driving form to a form suitable for flight. After completing the deformation in the air, it can directly enter the flight route and deform again and land vertically before reaching the destination. It is suitable for a variety of usage scenarios and expands the application boundaries of flying cars.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a flow chart of a method for controlling a flying car provided in an embodiment of this specification; Figure 2 This is a flowchart of determining whether a flying car meets flight conditions provided by an embodiment of this specification; Figure 3 This is a schematic diagram of a process for obtaining real-time stretching data provided by an embodiment of this specification; Figure 4 This is a flowchart of switching flight modes provided in an embodiment of this specification; Figure 5This is a schematic diagram of a process for adjusting the wing extension posture provided in an embodiment of this specification; Figure 6 This is a schematic diagram of a process for adjusting engine thrust provided in an embodiment of this specification; Figure 7 This is a flow chart of a control device for a flying car provided in an embodiment of this specification; Figure 8 1 is a schematic diagram of the structure of a server for a flying car control method provided in an embodiment of this specification. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0025] The following describes a control method for a flying car of the present application. Figure 1 This is a flowchart of a method for controlling a flying car provided in an embodiment of this specification. This specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the method may include: S1: In response to a flight start instruction from a target object, the flying vehicle is self-checked according to a preset self-check program; the preset self-check program is used to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; S2: When it is determined that the flying car meets the flight conditions, controlling the flying car to take off vertically in a vehicle form, and monitoring the real-time take-off status of the flying car; S3: When monitoring that the real-time takeoff status of the flying car meets a preset condition, controlling the wings of the flying car to extend and acquiring real-time extension data of the wings; the preset condition indicates that the flying car's ascent height reaches a preset safety height and the flying car's ascent speed reaches a preset ascent speed; S4: adjusting the flight attitude of the flying car according to the real-time extension data, controlling the flying car to switch from a vertical take-off mode to a target flight mode, and flying according to the target flight route.

[0026] In the embodiments of this application, the flying car is a land-and-air vehicle capable of both driving on land and flying in the air. The flying car can be parked in a standard car-like configuration in a ground parking lot or on the side of a road. At this point, the flying car's wings are fully retracted, fitting snugly into the wing storage compartments on either side of the vehicle body. Externally, it appears no different from an ordinary car, with its wheels grounded and supporting the vehicle's weight. The vehicle's suspension, steering, and braking systems are configured and adjusted for land-based driving. The target user, i.e., the user, can initiate flight preparations via the vehicle's central control display or voice control system.

[0027] In an embodiment of the present application, in response to a target object's flight start command, the flying vehicle first performs a self-check according to a preset self-check procedure to ensure that the flying vehicle meets flight conditions and can safely execute the flight mission. If the flying vehicle determines that the flight conditions are met, the flying vehicle enters a vertical takeoff mode, controls the flying vehicle to take off vertically in vehicle form, and monitors the flying vehicle's real-time takeoff status. When the flying vehicle reaches a preset safe altitude and a preset ascent speed, the flying vehicle enters a transformation phase, extending the wings retracted on either side of the vehicle body, acquiring real-time wing extension data, and continuously adjusting the flying vehicle's flight attitude to ensure stability during takeoff and the initial stages of flight, transforming the flying vehicle from a land-based driving configuration to a configuration suitable for flight. At this point, the takeoff transformation is complete, and the flying vehicle switches from vertical takeoff mode to a target flight mode, flying along the target flight path. Specifically, the preset safety altitude can be 100 meters, the preset ascent speed can be 3 m / s, and the actual ascent speed of the flying car is controlled to be maintained near the above safety speed, and the speed fluctuation does not exceed the preset fluctuation value. Specifically, the preset fluctuation value can be set to ±0.3 m / s.

[0028] In an exemplary embodiment, Figure 2 As shown, in response to the flight start instruction of the target object, performing a self-test on the flying car according to a preset self-test program may include: S11: In response to the flight start instruction of the target object, performing a self-test on the takeoff environment, energy storage, and navigation and communication equipment of the flying car according to the preset self-test program to obtain a self-test result; S12: If the self-test result indicates that the takeoff environment meets the preset operating domain, the energy reserve is greater than the preset flight reserve threshold, and the signal strength of the navigation and communication device is greater than the preset signal strength threshold, it is determined that the flying car meets the flight conditions.

[0029] In an embodiment of the present application, after receiving a flight start command, the aircraft performs a comprehensive self-test according to a preset self-test procedure. The self-test content may include taking off environment, energy reserves, navigation and communication equipment, various parameters of the flight power system, and functional tests of various electronic devices. Specifically, the takeoff environment self-test needs to determine whether the current takeoff environment meets the preset operating domain, whether it is a no-fly zone, and whether the current weather conditions are suitable for normal flight. Regarding energy reserves, it needs to determine whether the flying car's current fuel and power levels are greater than a minimum flight reserve threshold. Only when they are greater than the preset flight reserve threshold can the energy reserve self-test be considered passed, avoiding the possibility of insufficient energy reserves leading to inability to complete the journey. Regarding navigation and communication equipment, it needs to determine the connectivity of the flying car's navigation and communication link. For example, the signal strength of the navigation and communication equipment needs to be greater than a preset signal strength threshold (the number of GPS devices is greater than or equal to a preset number, for example, the preset number can be 13), and the communication delay with the ground station needs to be less than a preset delay time, for example, the preset delay time can be 10 ms. It needs to confirm that the various parameters of the flight power system and various electronic devices are in a normal operating state. Only after confirming that each self-inspection item has passed can it be determined that the flying car meets the flight conditions and proceeds to take off.

[0030] In an embodiment of the present application, if any abnormality is detected during the self-check process, a corresponding abnormality prompt message is generated and displayed on the flying car's central control screen, prompting the target subject that the flying car currently does not meet the flight conditions and cannot activate flight mode. If the target subject does not cancel the flight activation command on its own, the self-check continues for a period of time (e.g., 10 minutes). If all self-check items pass within this period, it can be determined that the flying car meets the flight conditions, and a prompt message indicating that it is ready for takeoff is generated and displayed on the vehicle's central control screen for subsequent vertical takeoff. If the self-check fails, a corresponding prompt message is generated, prompting the target subject to cancel the flight activation command, terminating takeoff.

[0031] The embodiment of the present application performs a comprehensive self-check on the flying car after receiving the start-flight command, thereby ensuring that all equipment of the flying car is in normal operating condition and meets flight conditions, avoiding accidents during the takeoff and flight of the flying car, and improving the safety of the flying car.

[0032] In an embodiment of the present application, a vertical take-off and landing power unit is provided at the bottom of the vehicle body of the flying car. When it is determined that the flying car meets the flight conditions, controlling the flying car to take off vertically in a vehicle form and monitoring the real-time take-off status of the flying car may include: When it is determined that the flying car meets the flight conditions, controlling the wheels of the flying car to a braking state; The vertical take-off and landing power device is controlled to generate an upward thrust to drive the flying car to take off vertically in the vehicle form, and the real-time take-off status of the flying car is monitored.

[0033] In this embodiment of the present application, upon determining that the flying car meets the aforementioned flight conditions, the wheels of the flying car are braked, and the vertical takeoff and landing power unit under the vehicle body generates upward thrust to propel the flying car vertically into vehicle form. The real-time takeoff status of the flying car is monitored. Throughout the vertical takeoff process, the vehicle's braking system must remain locked to prevent accidental wheel rotation, and the vehicle's suspension system automatically adjusts the balance of the vehicle body based on changes in its attitude during takeoff. When the flying car reaches a preset safe altitude and its ascent speed reaches a preset ascent speed, the real-time takeoff status is determined to meet the preset conditions, and the next stage of transformation can be initiated, transforming the flying car from vehicle form to a form suitable for flight.

[0034] In an embodiment of the present application, during vertical takeoff, the flying car's suspension system automatically locks the wheel brakes and dynamically adjusts the four-wheel suspension stiffness (e.g., increasing stiffness by 20%-30%) based on the body attitude data obtained by the body inclination sensor, thereby suppressing pitch / roll excursions during takeoff. For example, the flying car is equipped with a body inclination sensor that monitors the flying car's attitude in real time. When the pitch or roll angle detected exceeds a preset safety angle threshold (e.g., pitch > 1.5° or roll > 1.2°), the suspension stiffness is dynamically adjusted. The adjustment amount is proportionally calculated based on the attitude excursion (typically 20%-30%), and the corresponding suspension stiffness is independently increased on a wheel-by-wheel basis (e.g., increasing front wheel stiffness when pitching forward, and right wheel stiffness when leaning left), thereby quickly suppressing body excursions. If the attitude stabilizes within a safe range (excursion < 0.5°), the default stiffness is maintained.

[0035] In an exemplary embodiment, Figure 3 As shown, when monitoring that the real-time takeoff state of the flying car meets a preset condition, controlling the wings of the flying car to extend and obtaining real-time extension data of the wings may include: S31: When it is detected that the real-time takeoff state of the flying car meets the preset condition, controlling the electric hydraulic push rod of the flying car to push the wing to extend; the wing is a multi-stage folding structure; S32: monitoring the real-time extension speed, real-time extension angle, and real-time extension position of the wing to obtain the real-time extension data of the wing.

[0036] In an embodiment of the present application, when the flying car's rising height reaches a preset safety height and the flying car's rising speed reaches a preset rising speed, a wing deployment signal can be generated. After detecting the above-mentioned wing deployment signal, the vehicle's suspension system can lower the flying car's withdrawal height, for example, by 5-10 cm, and balance the torque changes when the wings on both sides are deployed through the hydraulic system to ensure that the wings on both sides can be extended safely and stably.

[0037] In an embodiment of the present application, the wings located on either side of the vehicle body may be a multi-stage folding structure. The wings can be folded outside the fuselage or stowed in wing storage compartments. Sensors may be installed on and within the wings to obtain real-time information such as the speed, angle, and position of the wings during extension. Taking the wings stowed in the wing storage compartments as an example, when the real-time takeoff status of the flying car is monitored to meet the aforementioned preset conditions, the wing storage compartment doors are opened, and the wings are pushed outward from the wing storage compartments via an electric hydraulic push rod. The real-time extension speed, real-time extension angle, and real-time extension position of the wings during extension are monitored to obtain real-time wing extension data, which facilitates adjustments based on the real-time wing extension status to ensure symmetry and accuracy when the wings on both sides are deployed. Among them, sensors can be installed at the joints of the wings, such as angle encoders and tension sensors (which can monitor the load changes of the electric hydraulic push rods). Sensors can also be installed on both sides of the fuselage, such as laser alignment tubes, to scan the wing edge contour in real time, calculate the symmetry of the wing projections on both sides, and ensure the symmetry of the wings when they are extended.

[0038] The embodiment of the present application monitors the wing extension in real time and can adjust the wing extension posture in time to ensure the symmetry and accuracy of the wings on both sides during the expansion process, so that the flying car can be transformed from a conventional car shape to a shape suitable for flying.

[0039] In an exemplary embodiment, Figure 4 As shown, the bottom of the flying car body is provided with flight stabilizing fins. Adjusting the flight attitude of the flying car according to the real-time extension data, controlling the flying car to switch from a vertical takeoff mode to a target flight mode, and flying according to the target flight route may include: S41: adjusting the extension posture of the wing according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and monitoring the real-time extension state of the wing; S42: When it is detected that the real-time extension state indicates that the wing is extended to a preset extension degree, the wheels of the flying car are retracted into the wheel storage compartment, and the real-time retraction state of the wheels is monitored; S43: When it is detected that the real-time retraction state indicates that the wheel has been completely retracted into the wheel retraction compartment, controlling the flight stabilizing fin to extend and deploy to a preset angle; S44: Control the flying car to switch from the vertical take-off mode to the target flight mode, and fly according to the target flight route.

[0040] In this embodiment of the present application, the real-time extension status of the wings can be monitored, and the wing extension posture can be adjusted promptly to ensure safe and stable wing extension. When the wings are detected to have reached a preset extension level, the wheels of the flying vehicle are retracted upward into the wheel storage compartment. After the wheels are fully retracted, the flight stabilization fins on the underside of the vehicle body extend from the compartment and deploy to a preset angle to enhance the stability of the flying vehicle during takeoff and the initial stages of flight. After the above transformation, the flying vehicle has transitioned from a land-based driving configuration to a flight-suitable configuration. The flying vehicle can then switch from vertical takeoff mode to target flight mode, and in target flight mode, fly along the target flight path to complete the flight mission corresponding to the ground-hole flight command. For example, the preset angle can be 30°-45° with respect to the longitudinal direction of the vehicle body, typically defaulting to 40°. This preset angle can be automatically adjusted based on the flying vehicle's configuration, with a larger angle at low speeds to enhance stability and a smaller angle at high speeds to reduce wind resistance.

[0041] The embodiments of the present application control and adjust structures such as wings, wheels, and flight stabilizing fins during vertical takeoff, thereby enabling the flying car to transform from a conventional car form into a form suitable for flight. After the transformation is completed, it can directly switch to the target flight mode and enter the flight route, avoiding the occupation of road resources due to deformation on the ground. This neither affects the normal passage of ground traffic nor avoids the problems of traffic jams and safety hazards that may be caused by the deformation of traditional flying cars on the ground. It is particularly suitable for core urban areas during rush hours in the morning and evening, realizing the parallel and efficient operation of air and ground transportation.

[0042] In an exemplary embodiment, Figure 5 As shown, the wings include a first wing and a second wing provided on both sides of the flying car body. Adjusting the extension posture of the wings according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and monitoring the real-time extension state of the wings may include: S411: According to the real-time extension speed, obtaining an extension speed of the first wing as a first extension speed, and obtaining an extension speed of the second wing as a second extension speed; S412: Calculating an extension angle difference between the first wing and the second wing according to the real-time extension angle to obtain an angle difference; S413: Calculating a folding joint misalignment value between the first wing and the second wing according to the real-time extended position; S414: adjusting the extension posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value; S415: Monitor the real-time extension status of the wing.

[0043] In an embodiment of the present application, wings are provided on both sides of the flying car body to maintain the balance of the entire body during flight. The extension speeds of the first and second wings can be determined based on the real-time extension speeds of the wings. The extension angles of the first and second wings can be determined based on the real-time extension angles of the wings, and the angle difference between the extension angles of the two wings can be calculated. The extension positions of the first and second wings can be determined based on the real-time extension positions, and the folding joint misalignment value between the two wings can be calculated based on the profile data of the two wings. Based on the first and second extension speeds, the angle difference, and the folding joint misalignment value, the wing extension posture can be adjusted, and the real-time extension status of the wings can be continuously monitored to ensure that the wings can be accurately deployed and maintained symmetrically.

[0044] The embodiment of the present application monitors the extension status of the wings on both sides in real time to obtain accurate extension data during the wing extension process, so as to more accurately control the extension of the wings and ensure the symmetry and accuracy of the expansion of the wings on both sides.

[0045] In an exemplary embodiment, the extended posture includes an extension speed, an extension angle, and an extension position of the wing, and adjusting the extended posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value may include: adjusting the extension speed of the wing according to the first extension speed, the second extension speed, and a preset extension speed; adjusting the extension angle of the wing according to the angle difference and a preset angle difference; The extended position of the wing is adjusted according to the folding joint misalignment value and a preset misalignment threshold.

[0046] In an embodiment of the present application, the wing extension posture can be adjusted accordingly in a timely manner based on the real-time extension data during the wing extension process to ensure the symmetry and accuracy of the wings on both sides during the expansion process.

[0047] In embodiments of the present application, certain abnormalities during wing extension can be addressed with corresponding warnings and prompts, and handled according to preset strategies. For example, if the extension speed of one wing is detected to be less than a preset speed, a Level 1 warning can be issued, a corresponding prompt message generated, and the hydraulic system on that side can be increased while simultaneously reducing the extension speed of the other wing to maintain dynamic balance. For example, the preset extension speed can be 80% of the standard extension speed, or if the wing extension time on one side exceeds 1 second, a Level 1 warning can also be issued. The increased driving force can be 15% higher than the original driving force. If the angle difference between the two wings is detected to be greater than a preset angle difference, a Level 2 warning can be issued, a corresponding prompt message generated, pausing wing extension, locking the current position, activating a backup electric push rod, and recalculating the thrust required to continue wing extension. For example, the preset angle difference can be 3°. Alternatively, a Level 2 warning can be issued when the thrust difference between the two wings is greater than a preset thrust difference. The preset thrust difference can be 10% of the rated load. If the folding joint misalignment exceeds a preset misalignment threshold, a Level 3 warning is issued, generating a corresponding prompt message, stopping wing extension, triggering the mechanical locking device, and shutting off the hydraulic oil circuit to prevent structural damage, switching to emergency landing procedures (preferably using vertical takeoff and landing mode). For example, the preset misalignment threshold can be a 2 cm deviation.

[0048] The embodiments of the present application can accurately adjust the wing extension posture according to information such as speed, angle, and position during the wing deployment process, thereby achieving precise control of wing extension during the deformation process of the flying car, allowing the flying car to safely and stably deform into a form suitable for flying in the air.

[0049] In an exemplary embodiment, Figure 6 As shown, controlling the flying car to switch from the vertical takeoff mode to the target flight mode and fly according to the target flight route may include: S441: Acquire current flight environment information of the flying car; S442: According to the current flight environment information and the target flight route, the thrust magnitude and direction of the flying car's engine are adjusted, the flying car is adjusted to the target flight mode, and the flying car flies according to the target flight route.

[0050] In the embodiment of the present application, after the flying car completes a series of transformations, it has transitioned from a land-based driving configuration to a flight-friendly configuration. Based on the current flight environment and the mission specified by the flight command, the flying car can precisely adjust the direction and magnitude of engine thrust. Simultaneously, the aerodynamic characteristics of the wings are combined to enable the flying car to transition from vertical ascent to horizontal flight. Furthermore, during level flight, key parameters such as altitude, speed, and heading are continuously monitored. Based on the target flight route, real-time weather data, air traffic conditions, and other information, the flying car automatically adjusts its flight attitude, optimizes engine power, and makes navigational corrections, ensuring that the flying car safely, efficiently, and accurately follows the target flight route, successfully arrives at its destination, and completes its mission.

[0051] The embodiment of the present application can timely and accurately adjust the magnitude and direction of the engine thrust according to the current flight environment information and the flight mission carried by the flight instruction launched this time, maintain the stable flight state of the flying car in the air, and ensure that the flying car can fly safely, efficiently and accurately along the target flight route.

[0052] In an exemplary embodiment, after controlling the flying car to switch from the vertical takeoff mode to the target flight mode and fly along the target flight route, the method may include: If it is determined that the flying car meets a preset landing condition, controlling the flying car to switch from the target flight mode to a vertical landing mode; the preset landing condition indicates that the flying car descends to a preset landing altitude and the flying speed of the flying car decreases to a preset landing speed; Controlling the wings to fold according to a preset folding sequence, retracting the flight stabilizing fins to the bottom of the flying car, and monitoring the real-time folding status of the wings; When the wing is detected to be folded to a preset folding degree, the door of the wheel storage compartment is opened, the wheel is controlled to be released from the wheel storage compartment at a preset falling speed, and the real-time landing status of the wheel is monitored; the preset folding degree indicates that the angle between the wing and the body of the flying car in the horizontal direction is a preset angle; If the real-time landing status indicates that the wheels are completely on the ground, the flying car is controlled to switch from the vertical landing mode to the land driving mode.

[0053] In an embodiment of the present application, when a flying car completes the flight mission specified by the flight start command and approaches a preset landing location, a pre-landing deformation sequence is automatically initiated based on GPS positioning information, radar altitude data, and communication information with the ground landing control system. The landing deformation sequence can only be initiated if the distance from the flying car to the preset landing location is less than a preset distance (e.g., 1 km), the flying car's current altitude is less than a preset altitude (e.g., 150 m), and landing permission has been confirmed by a ground station or airspace management center. After the landing deformation sequence is initiated, the flying car's flight speed gradually decreases, its altitude also decreases, and its engine power output gradually decreases. Simultaneously, aerodynamic control surfaces such as air brakes and flaps begin adjusting their angles to increase flight resistance and enable a smooth deceleration of the flying car. For example, air brakes (e.g., tail spoilers) gradually deploy to a set angle, such as 60°-80°, and the flaps lower by 20°-35° (the angle can increase with decreasing altitude) to achieve graded deceleration.

[0054] In an embodiment of the present application, when the flying car descends to a preset landing altitude and its speed decreases to a preset landing speed, it enters vertical landing mode and the landing deformation phase. The folding guide lights on the wings begin flashing to alert other aircraft in the surrounding airspace that the wing folding operation is about to begin. The wing's flight lock mechanism is unlocked, and the wing folding motor is activated. The wings begin to fold inward from the wingtips in a preset folding sequence. The real-time folding status of the wings is monitored. Simultaneously, as the wings fold, the flight stabilizing fins on the underbody begin to retract into the cabin to reduce air resistance during land travel and avoid collisions with ground obstacles. Specifically, the preset landing altitude can be 100 meters. Furthermore, during the wing folding process, hydraulic buffers within the wings provide shock absorption and assist in folding, ensuring a smooth folding motion without damaging the wing structure.

[0055] In an embodiment of the present application, upon detecting that the wings have folded to a preset degree, the door of the wheel storage compartment is opened, and an electric lowering device is used to control the wheels to slowly lower from the compartment at a preset descent speed. The real-time landing status of the wheels is monitored. If the real-time landing status indicates that the wheels have fully touched the ground, the flying car is controlled to switch from vertical landing mode to land driving mode. The preset degree of folding indicates that the horizontal angle between the wings and the body of the flying car is a preset angle, specifically, 60 degrees. The preset degree of folding indicates that the wings can provide sufficient lift for the flying car. The specific lift can be determined based on the model and weight of the flying car.

[0056] In an embodiment of the present application, before the wheels contact the ground, the vehicle's suspension system is pre-adjusted to an appropriate height and stiffness to meet the requirements of land driving. Specifically, the suspension height can be adjusted to a preset land driving standard value, such as 10±2 cm, and the stiffness can be switched to a road mode, such as a damping coefficient of 300-400 N·s / m.

[0057] In this embodiment of the present application, as the wheels gradually touch the ground and bear the weight of the vehicle, the auxiliary support wheels at the bottom of the wings automatically retract. The flying car can automatically adjust the levelness and tilt angle of the vehicle body based on the flatness of the ground and the contact of the wheels, ensuring the vehicle's stability and comfort during land travel. In addition, if one wheel is detected to have touched the ground first, the suspension on the corresponding side will automatically absorb shock and buffer, while the vehicle's attitude motor will adjust the levelness (maximum correction angle of ±2°).

[0058] In this embodiment of the present application, after the wings are fully folded into the wing storage compartments on either side of the vehicle body, the compartment doors are closed and locked. The flying car completes its landing transformation and returns to its land-driving configuration. The flying car then switches to land-driving mode, partially shutting down the avionics that control the flying car or switching it to a low-power standby mode. Electronic systems related to land-driving (such as onboard navigation and driver assistance systems) then begin operating normally. The target user can then use the controls inside the vehicle to drive the flying car onto land roads, just as they would a regular car.

[0059] The embodiments of the present application can, upon determining that the flying car meets the preset landing conditions, gradually transform the flying car into a land-based driving form during vertical landing according to a preset deformation strategy, breaking the traditional transportation vehicle's dependence on fixed take-off and landing sites and making the flying car suitable for a variety of scenarios.

[0060] The embodiments of the present application enable the flying car to transform mid-air, transitioning from a vertical takeoff and landing configuration to a horizontal flight configuration. Before landing, the vehicle can then transform back to its car configuration, thus breaking the reliance of traditional transportation on fixed takeoff and landing sites. Users can vertically ascend from any suitable area, such as between urban buildings or open spaces in the suburbs. After completing the transformation mid-air, they can directly enter their flight route. Before reaching their destination, they can transform again and land vertically, achieving a seamless transition from "home, air, and destination," significantly improving travel efficiency and flexibility. This makes the flying car particularly suitable for scenarios such as urban commuting and intercity rapid travel. Furthermore, through vertical takeoff and landing and mid-air transformation, the flying car eliminates the need for dedicated takeoff and landing facilities such as airports and runways. Takeoff and landing, as well as transitioning between configurations, can be completed in city squares, parking lots, rooftops, and even open rural areas. This high degree of adaptability enables the flying car to penetrate areas difficult for traditional aviation vehicles to reach, such as remote mountainous areas and disaster sites, enabling rapid emergency rescue and material delivery. It can also provide convenient aerial sightseeing and transportation services for tourists in locations lacking infrastructure, such as tourist attractions, thus expanding the application boundaries of flying cars. Moreover, the flying car will only begin to deform at a safe altitude and can stay away from ground traffic areas, allowing the vehicle to flexibly switch forms above the city and avoid occupying road resources due to ground deformation. It does not affect the normal passage of ground traffic, and also avoids the problems of traffic jams and safety hazards that may be caused by the deformation of traditional flying cars on the ground. It is especially suitable for the core areas of the city during peak hours in the morning and evening, realizing the parallel and efficient operation of air and ground transportation.

[0061] The present invention also provides a control device for a flying car, the device comprising: A self-test module 710 is configured to respond to a flight start instruction from a target object and perform a self-test on the flying vehicle according to a preset self-test program; the preset self-test program is configured to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; A vertical takeoff module 720 is configured to control the flying car to take off vertically in a vehicle configuration when determining that the flying car meets the flight conditions, and to monitor the real-time takeoff status of the flying car; The wing extension module 730 is configured to control the wings of the flying car to extend and obtain real-time wing extension data when the real-time takeoff status of the flying car meets a preset condition; the preset condition indicates that the flying car's ascent altitude reaches a preset safety altitude and the flying car's ascent speed reaches a preset ascent speed; The flight attitude adjustment module 740 is used to adjust the flight attitude of the flying car according to the real-time extension data, control the flying car to switch from the vertical take-off mode to the target flight mode, and fly according to the target flight route.

[0062] In an exemplary embodiment, the wing extension module 730 may include: an extension submodule, configured to control the electric hydraulic push rod of the flying car to push the wing to extend when it is detected that the real-time takeoff state of the flying car meets the preset conditions; the wing is a multi-stage folding structure; The real-time extension data acquisition submodule is used to monitor the real-time extension speed, real-time extension angle, and real-time extension position of the wing to obtain the real-time extension data of the wing.

[0063] In an exemplary embodiment, the bottom of the flying car is provided with flight stabilizing fins, and the flight attitude adjustment module 740 may include: a real-time extension state monitoring submodule, configured to adjust the extension attitude of the wing according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and to monitor the real-time extension state of the wing; a real-time retraction state monitoring submodule, configured to retract the wheels of the flying car into the wheel storage compartment and monitor the real-time retraction state of the wheels when detecting that the real-time extension state indicates that the wings have been extended to a preset extension degree; a flight stabilizing fin extension submodule, configured to control the flight stabilizing fin to extend and deploy to a preset angle when detecting that the real-time retraction state indicates that the wheel has been completely retracted into the wheel retraction compartment; The flight mode switching submodule is used to control the flying car to switch from the vertical take-off mode to the target flight mode and fly according to the target flight route.

[0064] In an exemplary embodiment, the flight mode switching submodule may include: A current flight environment information acquisition unit, configured to acquire current flight environment information of the flying car; The flight adjustment unit is used to adjust the thrust size and direction of the flying car's engine according to the current flight environment information and the target flight route, adjust the flying car to the target flight mode, and fly according to the target flight route.

[0065] In an exemplary embodiment, the wings include a first wing and a second wing provided on both sides of the flying car body, and the real-time extension status monitoring submodule may include: a first acquiring unit, configured to acquire, according to the real-time extension speed, an extension speed of the first wing as a first extension speed, and acquire an extension speed of the second wing as a second extension speed; a second acquiring unit, configured to calculate an extension angle difference between the first wing and the second wing according to the real-time extension angle, to obtain an angle difference; a third acquiring unit, configured to calculate a folding joint misalignment value between the first wing and the second wing according to the real-time extended position; a wing adjustment unit, configured to adjust the extension posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value; A real-time extension state monitoring unit is used to monitor the real-time extension state of the wing.

[0066] In an exemplary embodiment, the extension posture includes the extension speed, extension angle, and extension position of the wing, and the wing adjustment unit may include: a first wing adjustment subunit, configured to adjust the extension speed of the wing according to the first extension speed, the second extension speed, and a preset extension speed; a second wing adjustment subunit, configured to adjust the extension angle of the wing according to the angle difference and a preset angle difference; The third wing adjustment subunit is used to adjust the extended position of the wing according to the folding joint misalignment value and a preset misalignment threshold.

[0067] In an exemplary embodiment, the apparatus may further include: a vertical landing mode switching module, configured to control the flying vehicle to switch from the target flight mode to the vertical landing mode if it is determined that the flying vehicle meets a preset landing condition; the preset landing condition being that the flying vehicle descends to a preset landing altitude and the flying speed of the flying vehicle decreases to a preset landing speed; A flight stabilizing fin retraction module is used to control the wing to fold according to a preset folding sequence, retract the flight stabilizing fin to the bottom of the flying car body, and monitor the real-time folding status of the wing; a wheel lowering module, configured to, upon detecting that the wing is folded to a preset folding degree, open the door of the wheel storage compartment, control the wheel to be released from the wheel storage compartment at a preset falling speed, and monitor the real-time landing status of the wheel; the preset folding degree indicates that the angle between the wing and the body of the flying car in the horizontal direction is a preset angle; The land driving mode switching module is used to control the flying car to switch from the vertical landing mode to the land driving mode if the real-time landing status indicates that the wheels are completely on the ground.

[0068] In an exemplary embodiment, the self-check module 710 may include: A self-test result acquisition submodule is configured to respond to the flight start instruction of the target object and perform a self-test on the takeoff environment, energy storage, and navigation and communication equipment of the flying car according to the preset self-test program to obtain a self-test result; The self-test determination submodule is configured to determine that the flying car meets the flight conditions if the self-test result indicates that the takeoff environment meets the preset operating domain, the energy reserve is greater than a preset flight reserve threshold, and the signal strength of the navigation and communication device is greater than a preset signal strength threshold.

[0069] The device and method embodiments in the above-mentioned device embodiments are based on the same inventive concept.

[0070] An embodiment of this specification provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the flying car control method provided in the above method embodiment.

[0071] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a terminal to store at least one instruction or at least one program related to implementing the flying car control method in the method embodiment. The at least one instruction or at least one program is loaded and executed by the processor to implement the flying car control method provided by the above method embodiment.

[0072] Embodiments of the present application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to implement the flying car control method provided in the above method embodiment.

[0073] Optionally, in the embodiments of this specification, the storage medium may be located in at least one of the multiple network servers in the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk, among other media capable of storing program code.

[0074] The memory described in the embodiments of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0075] The control method of the flying car provided in the embodiments of this specification can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 8 This is a hardware structure diagram of a server for a flying car control method provided in an embodiment of this specification. Figure 8 As shown, the server 800 may vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 810 (CPUs 810 may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), memory 830 for storing data, and one or more storage media 820 (e.g., one or more mass storage devices) for storing applications 823 or data 822. The memory 830 and storage media 820 may be either transient or persistent storage. The program stored in the storage medium 820 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the CPU 810 may be configured to communicate with the storage medium 820 to execute the series of instruction operations in the storage medium 820 on the server 800. The server 800 may also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input and output interfaces 840, and / or one or more operating systems 821, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0076] The input / output interface 840 can be used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the server 800. In one embodiment, the input / output interface 840 may include a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the input / output interface 840 may be a radio frequency (RF) module for wireless communication with the Internet.

[0077] It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components than shown, or with Figure 8 Different configurations shown.

[0078] It can be seen from the embodiments of the control method and device for a flying car provided by the above-mentioned present application that the present application responds to a flight start instruction of a target object and performs a self-inspection on the flying car according to a preset self-inspection program; the preset self-inspection program is used to determine whether the flying car meets the flight conditions; the flight start instruction carries the target flight route; when it is determined that the flying car meets the flight conditions, the flying car is controlled to take off vertically in a vehicle form, and the real-time take-off status of the flying car is monitored; when it is monitored that the real-time take-off status of the flying car meets the preset conditions, the wings of the flying car are controlled to extend, and real-time extension data of the wings are obtained; the preset conditions indicate that the flying car's ascent height reaches a preset safety height and the flying car's ascent speed reaches a preset ascent speed; the flight attitude of the flying car is adjusted according to the real-time extension data, and the flying car is controlled to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route. This application improves the safety of flying cars by performing comprehensive self-inspections on the flying car to ensure that the flying car meets the flight conditions before taking off. By enabling the flying car to take off vertically, there is no need for dedicated take-off and landing facilities such as airports and runways, which can break the dependence of traditional transportation on fixed take-off and landing fields and greatly improve travel efficiency and flexibility. By enabling the flying car to deform in the air, it can be converted from a conventional land-based driving form to a form suitable for flight. After completing the deformation in the air, it can directly enter the flight route and deform again and land vertically before reaching the destination. It is suitable for a variety of usage scenarios and expands the application boundaries of flying cars.

[0079] It should be noted that the order in which the embodiments of this specification are presented is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions are of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant portions, refer to the descriptions of the method embodiments.

[0081] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments may be accomplished by hardware, or by a program instructing the relevant hardware to accomplish the steps. The program may be stored in a computer storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0082] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a flying car, characterized in that: The method comprises: In response to a flight start instruction from a target object, the flying vehicle is self-checked according to a preset self-check program; the preset self-check program is used to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; When it is determined that the flying car meets the flight conditions, controlling the flying car to take off vertically in a vehicle form, and monitoring the real-time take-off status of the flying car; controlling the wings of the flying car to extend and acquiring real-time extension data of the wings when it is monitored that the real-time takeoff status of the flying car satisfies a preset condition; wherein the preset condition indicates that the flying car's ascent altitude reaches a preset safety altitude and the flying car's ascent speed reaches a preset ascent speed; The flight attitude of the flying car is adjusted according to the real-time extension data, and the flying car is controlled to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route.

2. The method according to claim 1, characterized in that When it is detected that the real-time take-off state of the flying car meets a preset condition, controlling the wings of the flying car to extend and obtaining real-time extension data of the wings includes: When it is detected that the real-time takeoff state of the flying car meets the preset condition, the electric hydraulic push rod of the flying car is controlled to push the wing to extend; the wing is a multi-stage folding structure; The real-time extension speed, real-time extension angle, and real-time extension position of the wing are monitored to obtain the real-time extension data of the wing.

3. The method according to claim 2, characterized in that The flying car is provided with flight stabilizing fins at the bottom of the body. The flying car is adjusted in flight attitude according to the real-time extension data, and the flying car is controlled to switch from a vertical takeoff mode to a target flight mode and fly according to the target flight route, including: adjusting the extension posture of the wing according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and monitoring the real-time extension state of the wing; When it is detected that the real-time extension state indicates that the wings are extended to a preset extension degree, the wheels of the flying car are retracted into the wheel storage compartment, and the real-time retraction state of the wheels is monitored; When it is detected that the real-time retraction state indicates that the wheel has been completely retracted into the wheel retraction compartment, controlling the flight stabilizing fin to extend and deploy to a preset angle; The flying car is controlled to switch from the vertical take-off mode to the target flight mode, and to fly according to the target flight route.

4. The method according to claim 3, characterized in that The controlling the flying car to switch from the vertical take-off mode to the target flight mode and fly according to the target flight route includes: Obtaining current flight environment information of the flying car; According to the current flight environment information and the target flight route, the thrust magnitude and direction of the flying car's engine are adjusted, the flying car is adjusted to the target flight mode, and flies according to the target flight route.

5. The method according to claim 3, characterized in that The wings include a first wing and a second wing provided on both sides of the flying car body, and the wings are adjusted in their extended posture according to the real-time extension speed, the real-time extension angle, and the real-time extension position, and the real-time extension state of the wings is monitored, including: According to the real-time extension speed, obtaining the extension speed of the first wing as a first extension speed, and obtaining the extension speed of the second wing as a second extension speed; Calculating a difference in the extension angles of the first wing and the second wing according to the real-time extension angle to obtain an angle difference; calculating a folding joint misalignment value between the first wing and the second wing according to the real-time extended position; adjusting the extension posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value; The real-time extension status of the wing is monitored.

6. The method according to claim 5, characterized in that The extended posture includes an extension speed, an extension angle, and an extension position of the wing, and adjusting the extended posture of the wing according to the first extension speed, the second extension speed, the angle difference, and the folding joint misalignment value includes: adjusting the extension speed of the wing according to the first extension speed, the second extension speed, and a preset extension speed; adjusting the extension angle of the wing according to the angle difference and a preset angle difference; The extended position of the wing is adjusted according to the folding joint misalignment value and a preset misalignment threshold.

7. The method according to claim 3, characterized in that After controlling the flying car to switch from the vertical takeoff mode to the target flight mode and fly along the target flight route, the method includes: If it is determined that the flying car meets a preset landing condition, controlling the flying car to switch from the target flight mode to a vertical landing mode; the preset landing condition indicates that the flying car descends to a preset landing altitude and the flying speed of the flying car decreases to a preset landing speed; Controlling the wings to fold according to a preset folding sequence, retracting the flight stabilizing fins to the bottom of the flying car, and monitoring the real-time folding status of the wings; When the wing is detected to be folded to a preset folding degree, the door of the wheel storage compartment is opened, the wheel is controlled to be released from the wheel storage compartment at a preset falling speed, and the real-time landing status of the wheel is monitored; the preset folding degree indicates that the angle between the wing and the body of the flying car in the horizontal direction is a preset angle; If the real-time landing status indicates that the wheels are completely on the ground, the flying car is controlled to switch from the vertical landing mode to the land driving mode.

8. The method according to claim 1, characterized in that The step of performing a self-test on the flying vehicle in response to a flight start instruction from a target object according to a preset self-test program includes: In response to the flight start instruction of the target object, performing a self-test on the takeoff environment, energy storage, and navigation and communication equipment of the flying car according to the preset self-test program to obtain a self-test result; If the self-test result indicates that the takeoff environment meets the preset operating domain, the energy reserve is greater than the preset flight reserve threshold, and the signal strength of the navigation and communication device is greater than the preset signal strength threshold, it is determined that the flying car meets the flight conditions.

9. A control device for a flying car, characterized in that: The device comprises: a self-test module, configured to respond to a flight start instruction from a target object and perform a self-test on the flying vehicle according to a preset self-test program; the preset self-test program is configured to determine whether the flying vehicle meets flight conditions; the flight start instruction carries a target flight route; a vertical takeoff module, configured to control the flying car to take off vertically in a vehicle configuration when determining that the flying car meets the flight conditions, and to monitor the real-time takeoff status of the flying car; a wing extension module configured to control the wings of the flying car to extend and obtain real-time wing extension data when monitoring that the real-time takeoff status of the flying car satisfies a preset condition; the preset condition being that the flying car's ascent altitude reaches a preset safety altitude and the flying car's ascent speed reaches a preset ascent speed; The flight attitude adjustment module is used to adjust the flight attitude of the flying car according to the real-time extension data, control the flying car to switch from a vertical take-off mode to a target flight mode, and fly according to the target flight route.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the flying car control method according to any one of claims 1 to 8.

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