Control methods and systems for flying cars

Abstract

This invention provides a control method and system for flying cars, applicable to the field of flying car control technology. The control method is applied to a control system including sensing components and at least a controller and a control module. Specifically, it involves: generating a start signal for a corresponding control mode based on demand information; establishing a virtual spatial mapping between the controller and the flying car; generating control commands based on the spatial position of the controller in conjunction with the corresponding control mode; and the flying car responding to the control commands by executing corresponding actions. By establishing a virtual spatial mapping between the controller and the flying car, this invention transforms complex operations in two-dimensional or three-dimensional space under different control modes into simple displacement operations of the controller in real space, thereby automatically generating control commands. This effectively reduces the difficulty of controlling flying cars and ensures control accuracy.

Description

Technical Field

[0001] This invention relates to the field of flying car control technology, and in particular to flying car control methods and systems. Background Technology

[0002] Flying cars, as a key development direction for future transportation, combine the operational needs of ground driving and aerial flight, placing extremely high demands on the operator's skills. Traditional car driving primarily focuses on two-dimensional control; the operator moves, steers, and brakes using a steering wheel, accelerator, and brakes, with relatively simple operational logic and environmental feedback. However, operating a flying car involves three-dimensional attitude adjustments. The operator must not only control horizontal movement but also precisely control multiple dimensions such as altitude, pitch, roll, and yaw. For ordinary operators lacking professional flight training, this multi-dimensional and complex operation far exceeds their daily driving experience, easily leading to operational errors and difficulty in achieving precise control. Furthermore, different operators have varying learning abilities, cognitive levels, and operating habits. Even with some training, it is difficult to guarantee that every user can skillfully and accurately master the control methods of a flying car. In actual operation, it is easy to encounter situations where the corresponding control buttons cannot be quickly located or the correct commands cannot be entered, resulting in delayed or incorrect control actions, affecting the driving safety of the flying car.

[0003] It is evident that, due to different control requirements, the existing control methods for flying cars differ from those for common automobiles. Multi-dimensional control is more difficult to operate and does not conform to the operator's operating habits and cognitive patterns. It is difficult to learn and is prone to problems of low operating accuracy due to lack of proficiency. At the same time, it also hinders the popularization and development of flying cars. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as the high difficulty of multi-dimensional control operation of flying cars, which does not conform to the operator's operating habits and cognitive patterns, and is prone to low operation accuracy due to lack of operation skills. This invention provides a control method and system for flying cars. By establishing a virtual space mapping between the controller and the flying car, the complex operations in two-dimensional or three-dimensional space under different control modes of the flying car are transformed into simple position adjustments of the controller in real space. The control requirements are captured by the spatial position of the controller, and then the control commands of the flying car are automatically generated, which effectively reduces the difficulty of controlling the flying car and ensures the control accuracy of the flying car.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] Control methods for flying cars include:

[0007] Based on the demand information, a start signal for the corresponding control mode is generated, and the controller and the flying car form a virtual space mapping;

[0008] Based on the control mode of the flying car, control commands are generated according to the spatial position of the controller.

[0009] The flying car responds to control commands and performs corresponding actions.

[0010] By mapping the controller to the virtual space of the flying car, both two-dimensional operations during land driving and three-dimensional operations during flight can be easily achieved by adjusting the corresponding spatial position through displacement operations of the controller in real space. Users simply need to move or rotate the controller within a familiar two-dimensional or three-dimensional space to determine the adjustment requirements based on the controller's spatial position, automatically generating corresponding control commands for the flying car's attitude, altitude, and direction. This intuitive operation method effectively reduces the learning cost and operational difficulty of flying car control. Furthermore, this method, based on the controller's specific spatial position, does not rely on specific operation buttons or complex procedures, effectively solving the problem of operational adaptation, reducing the possibility of human error, lowering the risk of flying car malfunctions due to incorrect control commands, and improving the reliability and stability of flying car control.

[0011] Furthermore, the controller forms a virtual space mapping with the flying car, including:

[0012] The origin is calibrated based on the original placement position of the controller, and the origin forms a virtual mapping with the front end of the flying car;

[0013] Based on the calibrated origin, construct a virtual control sphere and its virtual coordinate system.

[0014] Furthermore, the control mode combined with the flying car generates control commands based on the spatial position of the controller, including:

[0015] When the flying car is in flight control mode, the position coordinates of the controller in the virtual coordinate system are obtained based on the spatial position of the controller;

[0016] Based on the location coordinates, generate the driving direction and speed;

[0017] Control commands are generated based on the driving direction and speed.

[0018] Furthermore, the method of combining the control mode of the flying car with the generation of control commands based on the spatial position of the controller also includes:

[0019] When the flying car is in land control mode, the controller's position coordinates in the horizontal direction of the virtual coordinate system are obtained based on the controller's spatial position.

[0020] Based on the location coordinates, the flying car's driving direction and speed are generated;

[0021] Control commands are generated based on the driving direction and speed.

[0022] Furthermore, the method of combining the control mode of the flying car with the generation of control commands based on the spatial position of the controller also includes:

[0023] Upon receiving a rotation trigger signal, the controller's position coordinates in the virtual coordinate system are obtained based on the controller's spatial position.

[0024] Calculate the rotation angle of the controller relative to the virtual origin based on the controller's position coordinates;

[0025] Control commands are generated based on the rotation angle.

[0026] Furthermore, the generation of driving direction and speed based on position coordinates includes:

[0027] Based on the position coordinates, calculate the position angle and relative distance of the controller from the origin;

[0028] The flying car's direction of travel is set according to the position and angle of the controller;

[0029] The flying car's speed is calculated based on the relative distance to the controller and the flying car's maximum speed.

[0030] Furthermore, it also includes:

[0031] The virtual spatial mapping between the controller and the flying car, as well as the spatial position of the controller, are projected onto the flying car's display interface in real time.

[0032] Furthermore, it also includes:

[0033] Virtual boundaries are set based on the virtual space mapping formed by the controller and the flying car;

[0034] Based on the spatial position of the controller and the positional relationship of the virtual boundary, combined with the control mode of the flying car, control commands are generated according to the spatial position of the controller.

[0035] A control system for a flying car, used to execute the control method for a flying car described in any one of the above embodiments, including:

[0036] The sensing component, which communicates with the control module, is used to sense demand information to identify the control mode of the flying car and generate a corresponding start signal.

[0037] The control device includes at least a controller and a control module. The control module responds to the start signal generated by the sensing component and is communicatively connected to both the controller and the flying car. It is used to establish a virtual space mapping between the controller and the flying car and to sense the spatial position of the controller in order to generate control commands for the flying car.

[0038] Furthermore, the control system also includes:

[0039] The display interface communicates with the control module and is used to show the virtual spatial mapping between the controller and the flying car, as well as the spatial position of the controller.

[0040] Furthermore, the flying car has an original placement location, and the controller is detachably mounted in the original placement location.

[0041] The beneficial effects of this invention are:

[0042] (1) Through the virtual space mapping between the controller and the flying car, both two-dimensional space operations during land driving and three-dimensional space operations during flight can be easily achieved by adjusting the corresponding spatial position through displacement operations of the controller in real space. Simply move or rotate the controller around the origin in a familiar two-dimensional or three-dimensional space, and the adjustment requirements can be determined based on the spatial position of the controller, thereby automatically generating corresponding control commands such as attitude, altitude, and direction of the flying car. This intuitive operation method can effectively reduce the learning cost and operation difficulty of flying car control operation. Moreover, this method of using the specific spatial position of the controller as the control basis does not rely on specific operation buttons or complex procedures, which can effectively solve the problem of operation adaptation, reduce the possibility of human operation error, reduce the risk of flying car failure due to control command errors, and improve the reliability and stability of flying car control.

[0043] (2) By calibrating the origin of the original placement position of the controller and virtually mapping the origin to the front end of the flying car, a virtual control sphere and coordinate system are constructed to establish a unified and accurate reference system for the interaction between the controller and the flying car, so that each spatial position of the controller can form a one-to-one correspondence with the action of the flying car, thus avoiding control deviation caused by positioning ambiguity.

[0044] (3) For the two control modes of the flying car, namely flight and land, corresponding control command generation strategies are formulated respectively. In flight mode, the position coordinates of the controller in the three-dimensional virtual coordinate system are fully considered to generate driving direction and speed commands that meet the requirements of air flight, ensuring that the flying car flies flexibly and stably in the air. In land mode, the focus is on the coordinates in the horizontal direction of the virtual coordinate system to accurately control the car's driving on the ground and avoid complex three-dimensional operation interference. This mode-specific control strategy generation method enables the flying car to seamlessly switch between different driving states, meet the control requirements in diverse scenarios, and effectively improve the practicality and versatility of the flying car control operation. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of a process of the present invention;

[0046] Figure 2 This is a schematic diagram of a virtual space generated at time t1 based on the spatial position of the controller, according to an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram showing the position of the controller at time t2 in a virtual control sphere according to an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the rotation of a flying car at time t2 according to an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram showing the position of the controller at time t3 in a virtual control sphere according to an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the movement of a flying car at time t3 according to an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of a structure according to an embodiment of the present invention.

[0052] The components include: 1. Sensing components, 2. Control devices, 21. Controller, 22. Control modules, 3. Imaging interface, and 4. Flying car. Detailed Implementation

[0053] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0054] Example: In practical applications, flying cars often need to switch between land driving and air flight modes as required. In land mode, overly complex three-dimensional operations are not only redundant but also interfere with the user's control of ground driving. In air flight, simple two-dimensional control logic cannot meet the complex flight attitude adjustment requirements. Traditional control methods often cannot take into account the operational characteristics of both scenarios. Typically, two control systems are set up to implement the flying car control in the two modes respectively.

[0055] In land-based driving mode, the control logic and interaction methods of flying cars are the same as those of conventional cars, and operators can adapt to the control operations, resulting in a low probability of operational errors. However, in aerial flight mode, the control of flying cars involves multi-dimensional attitude adjustments in three-dimensional space. Its operational logic far exceeds the scope of experience in daily car driving. During the control process, it is necessary not only to control horizontal movement but also to simultaneously control multiple dimensions such as flight altitude, pitch, roll, and yaw. The complex operating commands and interaction methods can easily lead to operational errors.

[0056] Furthermore, the existing approach of using two separate control systems to control the flying car in two different modes, while seemingly resolving the operational differences between the modes, actually increases the learning and operational difficulty for operators. Operators need to learn two different control logics, memorize different operation buttons and interaction methods, and adapt to the new operating system when switching modes. In practice, operator unfamiliarity or errors can easily lead to low operational accuracy, inability to precisely control the flying car, and compromised driving safety.

[0057] To address the aforementioned problems, this embodiment proposes a control method for a flying car, such as... Figure 1 As shown, it includes:

[0058] Based on the demand information, a start signal for the corresponding control mode is generated, and the controller and the flying car form a virtual space mapping;

[0059] Based on the control mode of the flying car, control commands are generated according to the spatial position of the controller.

[0060] The flying car responds to control commands and performs corresponding actions.

[0061] By establishing a virtual space mapping between the controller and the flying car, with the controller as the operating end and the flying car as the execution end, the physical operation actions of the controller, such as movement and rotation, are converted into specific spatial position changes in the virtual space in real time. This allows the spatial position of the controller after each operation to accurately correspond to the expected action of the flying car. Combined with the control command generation logic of the corresponding control mode, the corresponding control commands can be generated accurately and quickly.

[0062] Moreover, this virtual space mapping method can achieve unified control of the two modes with a single controller. There is no need to learn two complex control logics. You only need to be familiar with the operation of one controller to accurately control the flying car in both land driving and air flight modes.

[0063] Whether it's two-dimensional space operation during land driving or three-dimensional space operation during flight, it can be easily achieved by adjusting the corresponding spatial position through displacement operation of the controller in real space. Simply move or rotate the controller within a familiar two-dimensional or three-dimensional space, and the target operating state of the flying car can be determined based on the controller's spatial position, thereby automatically generating corresponding control commands such as attitude, altitude, and direction of the flying car. This intuitive operation method can effectively reduce the learning cost and operation difficulty of flying car control operation.

[0064] The selection and switching of the control mode of the flying car is directly related to the basis and accuracy of the subsequent control command formulation. Therefore, it is necessary to capture demand signals in real time, determine the corresponding control mode of the flying car, determine the control logic of the corresponding mode, and then generate control commands under the corresponding mode. If there is a need to switch between different control modes, the corresponding control command generation strategy can also be adjusted in a timely manner.

[0065] Specifically, the corresponding demand information can be generated through manual operation, such as executing corresponding operation instructions to trigger the demand information of different control modes.

[0066] Once the control mode of the flying car is determined, a virtual space mapping between the controller and the flying car can be established to execute the corresponding driving control.

[0067] The controller forms a virtual space mapping with the flying car, including:

[0068] The origin is calibrated based on the original placement position of the controller, and the origin forms a virtual mapping with the front end of the flying car;

[0069] Based on the calibrated origin, construct a virtual control sphere and its virtual coordinate system.

[0070] Before the flying car starts, the controller is placed in a fixed, original position. Considering the limited operating space within the vehicle during control, the controller's spatial displacement is actually very small. If dynamic origin calibration were used, even slight jitter or attitude changes could easily cause origin shifts, affecting the accuracy of subsequent control commands. Therefore, a fixed, original position is chosen as the origin, and a stable virtual space mapping is performed based on this. This fixed origin method establishes a stable and unchanging reference point for the entire virtual space mapping. During subsequent operations, regardless of when the controller is operated, the correspondence between its actions and the flying car's response remains based on the same origin, preventing control logic confusion caused by dynamic changes in the origin's position.

[0071] Furthermore, this fixed origin setting aligns better with operators' expectations for a stable user interface. When using a flying car for the first time, users only need to familiarize themselves with the fixed origin-based operating logic and mapping relationships. Subsequent use does not require worrying about changes in the origin affecting the operating methods, which helps to quickly develop stable operating habits and muscle memory, effectively reducing the learning cost and operational difficulty of flying car control.

[0072] To ensure an accurate virtual mapping between the origin and the front of the flying car, the position data of the front of the flying car must be collected synchronously after receiving the start signal, and then spatially aligned with the position data of the original placement location.

[0073] Then, a virtual control sphere is established based on the origin. With the fixed origin as the reference, the corresponding mapping rules between the controller's position angle and the flying car's driving direction, the controller's relative distance from the origin and the flying car's driving distance, etc., are determined according to the actual size and design parameters of the flying car. Furthermore, the control range of the controller is clarified through the boundary of the sphere.

[0074] When the controller moves within the sphere, its displacement and rotation can be converted into the target operating state of the flying car based on its relative position and angle within the sphere, using pre-set mapping rules. This allows for the corresponding setting of control commands such as driving direction, speed, and altitude. Furthermore, the parameters and mapping rules of the virtual control sphere in this embodiment can be customized according to specific requirements.

[0075] When constructing the virtual control sphere, its radius is further correlated with the maximum speed of the flying car. The maximum radius of the virtual control sphere is set as the maximum speed corresponding to the flying car. Subsequently, when operating the controller, the control speed is determined based on the distance between the controller within the virtual control sphere and its boundary or origin. This allows for precise control of the flying car's speed, achieving smooth adjustment from low to high speeds. Simultaneously, it further ensures that the flying car operates within a safe speed range during control. Even with significant movements during operation, the sphere's radius limits the control commands, preventing the flying car from exceeding the preset maximum speed. This avoids safety accidents such as loss of control and collisions due to excessive speed, ensuring the safe operation of the flying car.

[0076] Next, a virtual coordinate system corresponding to the virtual control sphere is constructed with a fixed origin as the center. The three axes of the virtual coordinate system must correspond to the direction of travel of the flying car. For example, the X-axis corresponds to the left-right movement of the flying car, the Y-axis corresponds to the forward-backward movement, and the Z-axis corresponds to the direction of altitude change. When the controller adjusts its position in real space, its position in the virtual coordinate system can be calculated to effectively quantify its specific spatial position after adjustment. Combined with the mapping rules of the virtual control sphere, corresponding control commands can be generated. Furthermore, the virtual coordinate system is synchronized according to the orientation and position of the operator and the flying car; the operator's forward position is the flying car's forward position, the operator's rear position is the flying car's rear position, the operator's upper position is the flying car's upper position, the operator's lower position is the flying car's lower position, the operator's right position is the flying car's right position, and the operator's left position is the flying car's left position.

[0077] Meanwhile, if the flying car is in flight control mode, the virtual coordinate system will be dynamically adjusted according to the real-time status of the flying car. For example, when the flying car makes an in-flight turn, the axis of the virtual coordinate system will rotate accordingly to ensure that the controller operation and the flying car action always maintain an accurate correspondence.

[0078] By establishing a virtual control sphere and a virtual coordinate system, complex flying car operations can be transformed into intuitive adjustments of the controller's position within a virtual space. Operators do not need to memorize complex operation codes or control logic; they can achieve omnidirectional control of the flying car simply by moving the controller within the virtual control sphere and rotating it around the origin. This effectively reduces the difficulty of controlling and learning to operate flying cars.

[0079] Furthermore, this fixed-point origin calibration and the virtual control system built upon it can effectively reduce instability caused by origin changes or chaotic mapping relationships. During long-term use, operation and control are always based on a fixed origin, preventing origin shifts or control logic errors due to operator hand tremors, posture changes, or environmental interference. Moreover, this explicit virtual mapping rule and coordinate system setting ensures more stable and efficient processing of controller operation signals, reducing the probability of malfunctions caused by signal processing errors and guaranteeing stable operation of the flying car under various conditions.

[0080] Traditional flying car control systems often employ a single logic to handle both land and flight modes. When driving on land, the complex three-dimensional operations are redundant and prone to interfering with normal driving, such as accidentally triggering flight-related control commands, affecting vehicle stability on the ground. In flight, the simple two-dimensional control logic cannot meet the demands of three-dimensional attitude adjustment, making precise altitude, pitch, roll, and yaw control difficult, thus increasing flight safety risks. Furthermore, this single control logic fails to consider the differences in vehicle motion characteristics and operating habits between the two modes, requiring operators to frequently switch between two drastically different operating experiences, resulting in high learning costs and a high risk of operational errors.

[0081] Therefore, separate control command generation schemes were designed for both flight and land modes to accurately match the operational requirements of different modes, improve control efficiency and safety, and reduce the operational difficulty of flying car control.

[0082] Specifically, for the flight control mode of flying cars, control commands are generated based on the spatial position of the controller, including:

[0083] When the flying car is in flight control mode, the position coordinates of the controller in the virtual coordinate system are obtained based on the spatial position of the controller;

[0084] Based on the location coordinates, generate the driving direction and speed;

[0085] Control commands are generated based on the driving direction and speed.

[0086] In flight control mode, the controller's position information in real-time can be acquired using high-precision sensors and converted into three-dimensional position coordinates in a virtual coordinate system. Based on these three-dimensional position coordinates, the controller's position angle and relative distance to the origin are calculated.

[0087] For example, when the controller tilts upwards at a certain angle, the specific tilt angle can be calculated based on the coordinate values. This tilt angle represents the target flight direction of the flying car. Combined with preset rules, corresponding commands are generated to make the flying car pitch up and increase its altitude, enabling it to travel in the target flight direction. The distance of the controller's position relative to the origin corresponds to the flying car's acceleration speed. By accurately mapping the position coordinates to the flying car's direction of travel and speed parameters, complete control commands containing information such as direction, speed, and attitude adjustments are generated to drive the flying car to perform corresponding actions. Simultaneously, the system monitors the flying car's status feedback in real time and dynamically corrects the control commands to ensure flight stability and accuracy.

[0088] For the land control mode of flying cars, the generation of control commands based on the spatial location of the controller also includes:

[0089] When the flying car is in land control mode, the controller's position coordinates in the horizontal direction of the virtual coordinate system are obtained based on the controller's spatial position.

[0090] Based on the location coordinates, the flying car's driving direction and speed are generated;

[0091] Control commands are generated based on the driving direction and speed.

[0092] When the flying car is in land control mode, the focus is on acquiring the controller's horizontal position coordinates in the virtual coordinate system, ignoring vertical coordinate changes to simplify the operational logic. By moving the controller forward and backward, the distance and orientation relative to the origin can be calculated based on the horizontal coordinates, which are then converted into acceleration or deceleration commands for the vehicle. Moving the controller left and right generates steering control commands by calculating the horizontal coordinates' position angle relative to the origin. Similarly, during the control process, real-time feedback information such as the vehicle's speed and steering angle is incorporated to optimize and adjust the generated control commands, ensuring the vehicle's stability and safety when driving on land.

[0093] This multi-mode control command generation scheme enables the flying car to achieve precise control in different modes. In flight mode, three-dimensional coordinate control ensures that the flying car can accurately adjust its attitude and trajectory, effectively coping with complex aerial environments, such as traversing narrow airspace and avoiding obstacles. In land mode, the control method focuses on horizontal coordinates, avoiding unnecessary interference, making vehicle steering and speed control more sensitive and accurate, reducing the risk of collisions on the ground, and improving driving safety.

[0094] Whether in flight control mode or land control mode, the driving direction and speed need to be determined based on the position coordinates of the controller. The position coordinates can effectively quantify the adjustment requirements, thereby accurately translating the operator's actions into control commands for the flying car and ensuring the accuracy of the control commands.

[0095] Specifically, based on location coordinates, the driving direction and speed are generated, including:

[0096] Based on the position coordinates, calculate the position angle and relative distance of the controller from the origin;

[0097] The flying car's direction of travel is set according to the position and angle of the controller;

[0098] The flying car's speed is calculated based on the relative distance to the controller and the flying car's maximum speed.

[0099] After obtaining the position coordinates, the distance the controller has moved relative to the farthest point can be calculated using trigonometric functions. Taking two-dimensional planar operation as an example, if the controller's coordinates in the virtual coordinate system are (x, y) and the origin coordinates are (0, 0), the corresponding position angle can be calculated using the arctangent function. This angle corresponds to the flying car's direction of travel. Similarly, in three-dimensional space, the principles of spatial vector operations can be used to determine the offset angles in multiple dimensions such as pitch, roll, and yaw, thereby precisely setting the flying car's direction of travel.

[0100] Simultaneously, the movement distance is calculated based on Euclidean distance. In this embodiment, the relative distance between the controller and the origin represents the flying car's speed, while the ratio of the controller's straight-line distance relative to the origin to the radius of the virtual control sphere represents the ratio of the flying car's real-time speed to its maximum speed. After obtaining the movement distance, the corresponding flying car speed can be calculated by combining it with the flying car's maximum speed according to the corresponding proportional relationship.

[0101] By using position coordinates for control, an intuitive and clear correspondence is established between controller operations and flying car movements. Simply moving or rotating the controller precisely translates its operations into the flying car's driving target, making operation simple. Furthermore, this precise control command generation mechanism reduces instability caused by control deviations, allowing the flying car to execute commands more accurately, maintain stable operation, and lower the risk of accidents caused by directional errors or loss of speed control.

[0102] Taking the scenario of controlling a flying car's movement via a controller in flight control mode as an example, at time t1, a start signal is generated based on demand information. The controller then marks its original placement position as the virtual origin of the virtual control sphere's coordinates. The constructed virtual space is specifically as follows: Figure 2 As shown. At time t2, the controller is located at the corresponding spatial coordinates ( , , The position of ) and its specific position within the virtual control sphere are as follows: Figure 3 As shown, based on this, the controller issues a signal to ( , ( ) represents the direction of travel, and the flight speed is The control commands, among which, Given the maximum flight speed of the flying car, the specific movement of the flying car at time t2 under the control of this control command is as follows: Figure 4 As shown. Furthermore, the flight speed can be other variations that are positively correlated with the distance from the origin.

[0103] The above control logic is for the translational movement of the flying car. However, during the operation of the flying car, there are also requirements for rotational motion control, such as turning and steering. Although a gyroscope can be installed inside the controller, and the controller body can be rotated by wrist control to complete the steering operation, wrist movement is constrained and the range of motion is limited, allowing only small control movements. Moreover, this procedural control language makes it difficult for the operator to grasp the final adjusted motion form during the control process, which can easily lead to errors in control commands.

[0104] Therefore, this embodiment adopts a result-oriented control language, which does not require an internal gyroscope, and uses the spatial position change of the controller to generate corresponding control commands.

[0105] Specifically, control commands for the rotational motion of the flying car are generated based on the controller's relative position within the virtual mapped sphere, including:

[0106] Upon receiving a rotation trigger signal, the controller's position coordinates in the virtual coordinate system are obtained based on the controller's spatial position.

[0107] Calculate the rotation angle of the controller relative to the virtual origin based on the controller's position coordinates;

[0108] Control commands are generated based on the rotation angle.

[0109] Furthermore, considering that rotation commands are prone to misjudgment in space, and that flying cars inevitably need to turn or turn around during actual operation, in order to improve the accuracy of control over the direction of movement, a corresponding rotation trigger signal is set up. The logic for constructing the control command for rotational movement is to execute only for a period of time after receiving the rotation trigger signal or for a period of time during which the rotation trigger signal is continuously received.

[0110] For example, taking a pressure sensor as a sensing component that sends a rotation trigger signal, when there is a need for rotation, the operator can hold the sensing component for a long time and make a corresponding rotation operation relative to the origin to generate the corresponding control command for rotational motion. After releasing the sensing component, the operator can return to the control command generation logic for translational motion and adjust the flying car's driving direction and display speed according to the spatial position of the controller.

[0111] Taking a scenario where a flying car is steered via a controller in flight mode as an example, the operator sends a rotation trigger signal at time t3 by gripping the controller and adjusts it to the desired target position. The rotation angle of the controller relative to the virtual origin can be calculated from the position coordinates of this target position. At time t3, the controller, compared to its previous spatial position, is adjusted to the desired target position through the operator's rotation. The specific changes in its spatial position within the corresponding virtual control sphere are as follows: Figure 5 As shown.

[0112] Based on this, at time t3, the controller issues a control command for the flying car to rotate according to the specified angle. According to this control command, the flying car's rotation at time t2, compared to its previous operating state, is as follows: Figure 6 As shown.

[0113] Whether in flight control mode or land control mode, the rotation angle can be calculated using the corresponding position coordinates, the only difference being in the three-dimensional coordinates and the horizontal coordinates.

[0114] Furthermore, considering that in a control mode without virtual boundaries, hand tremors, excessive force, or misoperation may cause the controller to exceed its reasonable operating range. For example, accidentally swinging the controller too much when adjusting the flight attitude may trigger the flying car to pitch or roll violently, or even cause a stall risk. When driving on land, excessive rotation of the controller may cause the vehicle to overturn due to excessive steering angle.

[0115] Therefore, virtual boundaries are set based on the virtual space mapping formed by the controller and the flying car;

[0116] Based on the positional relationship of the controller within the virtual boundary range, and combined with the control mode of the flying car, control commands are generated according to the spatial position of the controller.

[0117] Specifically, when the controller's spatial position is on or outside the virtual boundary, the corresponding maximum speed is determined based on the current control mode of the flying car, and the flying car travels at the corresponding maximum speed. When the controller's spatial position is within the virtual boundary, the settings are based on the corresponding distance relationships.

[0118] The control range of the controller is clearly defined by the boundary of the virtual control sphere. The corresponding control command is only executed when the controller's spatial position is within or on the corresponding virtual boundary. Once the virtual boundary is exceeded, the flying car is controlled at the maximum speed and an alarm is issued, thus reducing the safety hazards caused by loss of control due to operation from the source.

[0119] Furthermore, traditional flying car control methods often rely on indirect perception of operational effects through the vehicle's actual operating status, lacking real-time and intuitive feedback. For example, when adjusting flight attitude, the specific correspondence between the controller's actions and the flying car's attitude changes is unclear, requiring judgment based solely on experience and observation. This not only increases operational difficulty but also increases the risk of operational deviations due to misjudgment, impacting flight safety. Therefore, this embodiment further establishes a virtual space mapping and visualized feedback of the controller's position to reduce the risk of operational errors.

[0120] Specifically, the establishment of the virtual space mapping and the visualization feedback of the controller position includes:

[0121] The virtual spatial mapping between the controller and the flying car, as well as the spatial position of the controller, are projected onto the flying car's display interface in real time.

[0122] During the control process, the spatial position data of the controller and the position data of the flying car are acquired in real time. Then, using graphics rendering technology, the virtual space mapping and the real-time position information of the controller are presented in a visual form on the display interface.

[0123] During the display process, the projected content is optimized and adjusted according to the operator's perspective and operational needs to ensure that key information is displayed clearly and accurately. For example, when the operator adjusts the perspective, the display interface updates the content in real time, always maintaining the visibility and readability of the virtual space mapping and controller position.

[0124] The flying car's display interface shows the controller's position in the virtual space and the flying car's corresponding actions in real time, creating a good interactive experience. This allows operators to promptly detect potential operational errors or abnormalities, ensuring the flying car's operational safety.

[0125] Another aspect of this embodiment also provides a control system for the flying car, such as... Figure 7 As shown, it includes:

[0126] Sensing component 1, which is connected to the control module, is used to sense demand information to identify the control mode of the flying car and generate a corresponding start signal;

[0127] The control device 2 includes at least a controller 21 and a control module 22. The control module responds to the start signal generated by the sensing component and is communicatively connected to the controller and the flying car 4, respectively. It is used to establish a virtual space mapping between the controller and the flying car and to sense the spatial position of the controller to generate control commands for the flying car.

[0128] The flying car has an original placement location, and the controller is detachably mounted in the original placement location.

[0129] The controller described in this embodiment is a handheld controller. When there is no need to control the flying car, the controller will be placed in its original position. When there is a need to control the flying car, the position of the controller can be adjusted to control the flying car.

[0130] Specifically, the controller can be fixed using magnetic induction, suspending it in its original position. When control of the flying car is required, the controller's position can be directly adjusted. Alternatively, the controller can be detachably connected using mechanical rails, pneumatic levitation, or other methods.

[0131] The controller is also equipped with positioning modules such as an ultra-wideband positioning module, an inertial measurement unit, a Bluetooth positioning module, or a WiFi positioning module. The control module can effectively sense the spatial position of the controller through the positioning module, and achieve accurate acquisition of the spatial position of the controller.

[0132] The control module can be a control chip installed on the controller or the control system of the flying car, with built-in algorithms for virtual space mapping and control command generation.

[0133] The sensing components can be installed on the controller or on the flying car. They can be one or a combination of pressure sensors or control buttons. Different signals can be generated through adjustments such as touch or press operations, including start signals and rotation trigger signals.

[0134] In addition, the control system also includes:

[0135] The display interface 3 communicates with the control module and is used to show the virtual space mapping between the controller and the flying car, as well as the spatial position of the controller.

[0136] The display interface can be a display device such as an in-vehicle display screen, which can display the corresponding projected content in real time.

[0137] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A control method for a flying car, characterized in that, include: Based on the demand information, a start signal for the corresponding control mode is generated, and the controller and the flying car form a virtual space mapping; Based on the control mode of the flying car, control commands are generated according to the spatial position of the controller. The flying car responds to control commands and performs corresponding actions. The controller forms a virtual space mapping with the flying car, including: The origin is calibrated based on the original placement position of the controller, and the origin forms a virtual mapping with the front end of the flying car; Based on the calibrated origin, construct a virtual control sphere and its virtual coordinate system; When constructing the virtual control sphere, the maximum radius of the virtual control sphere is set to the maximum speed corresponding to the flying car; Also includes: Virtual boundaries are set based on the virtual space mapping formed by the controller and the flying car; Based on the spatial position of the controller and the positional relationship of the virtual boundary, combined with the control mode of the flying car, control commands are generated according to the spatial position of the controller. The control modes include flight control mode and land control mode; In flight control mode, the position information of the controller in real space can be obtained in real time through high-precision sensors and converted into three-dimensional position coordinates in a virtual coordinate system. When the flying car is in land control mode, it focuses on acquiring the horizontal position coordinates of the controller in the virtual coordinate system, ignoring the coordinate changes in the vertical direction.

2. The control method for a flying car according to claim 1, characterized in that, The control mode combined with the flying car generates control commands based on the spatial position of the controller, including: When the flying car is in flight control mode, the position coordinates of the controller in the virtual coordinate system are obtained based on the spatial position of the controller; Based on the location coordinates, generate the driving direction and speed; Control commands are generated based on the driving direction and speed.

3. The control method for a flying car according to claim 1, characterized in that, The control mode combined with the flying car, which generates control commands based on the spatial position of the controller, also includes: When the flying car is in land control mode, the controller's position coordinates in the horizontal direction of the virtual coordinate system are obtained based on the controller's spatial position. Based on the location coordinates, the flying car's driving direction and speed are generated; Control commands are generated based on the driving direction and speed.

4. The control method for a flying car according to claim 1, characterized in that, The control mode combined with the flying car, which generates control commands based on the spatial position of the controller, also includes: Upon receiving a rotation trigger signal, the controller's position coordinates in the virtual coordinate system are obtained based on the controller's spatial position. Calculate the rotation angle of the controller relative to the virtual origin based on the controller's position coordinates; Control commands are generated based on the rotation angle.

5. The control method for a flying car according to claim 2 or 3, characterized in that, The generation of driving direction and speed based on position coordinates includes: Based on the position coordinates, calculate the position angle and relative distance of the controller from the origin; The flying car's direction of travel is set according to the position and angle of the controller; The flying car's speed is calculated based on the relative distance to the controller and the flying car's maximum speed.

6. The control method for a flying car according to claim 1, characterized in that, Also includes: The virtual spatial mapping between the controller and the flying car, as well as the spatial position of the controller, are projected onto the flying car's display interface in real time.

7. A control system for a flying car, used to execute the control method for a flying car according to any one of claims 1 to 6, characterized in that, include: The sensing component, which communicates with the control module, is used to sense demand information to identify the control mode of the flying car and generate a corresponding start signal. The control device includes at least a controller and a control module. The control module responds to the start signal generated by the sensing component and is communicatively connected to both the controller and the flying car. It is used to establish a virtual space mapping between the controller and the flying car and to sense the spatial position of the controller in order to generate control commands for the flying car.

8. The control system for the flying car according to claim 7, characterized in that, Also includes: The display interface communicates with the control module and is used to show the virtual spatial mapping between the controller and the flying car, as well as the spatial position of the controller.

9. The control system for the flying car according to claim 7, characterized in that, The flying car has an original placement location, and the controller is detachably mounted in the original placement location.

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