Multipurpose low-altitude aircraft and control method thereof

Abstract

The invention discloses a multi-purpose low-altitude aircraft and a control method thereof.The multi-purpose low-altitude aircraft comprises a carrier assembly with a propelling function and an Evtol power assembly with a vertical take-off and landing function, the Evtol power assembly has a first assembly state and a second assembly state which can be switched, and under the first assembly state, the Evtol power assembly is driven by the first assembly state to rotate, and under the second assembly state, the Evtol power assembly is driven by the second assembly state to rotate; the Evtol power assembly is in a first assembly state, the Evtol power assembly is assembled with the tractor, the Evtol power assembly is assembled with the carrier assembly in a second assembly state, and the tractor can be a stock passenger car in the first assembly state. Compared with the prior art, the Evtol power assembly has two assembly states, can drive a tractor to execute a lift-off action and carry out urgent danger avoiding through the Evtol power assembly in the first assembly state, and can be combined into a low-altitude aircraft for use in the second assembly state to be used for middle and long-distance low-altitude flight; the system can be used in combination with a current new energy power automobile or a traditional power automobile, and the coverage is high.

Description

TECHNICAL FIELD

[0001] The present application relates to low-altitude aircraft, in particular a multi-purpose low-altitude aircraft and a control method thereof. BACKGROUND

[0002] With the development of low-altitude economy, various automobile enterprises are also trying to enter the low-altitude aircraft field and launch low-altitude aircraft with their own characteristics or even "land aircraft carriers". Although they have different characteristics and forms, in general, they are all different types of Evtol (electric Vertical Take-off and Landing) aircraft, which have the following disadvantages: low coverage, short endurance, and high cost. 1. Low coverage: current flying cars, even with new technologies such as new energy and intelligence, can only be realized through new products and cannot be used in combination with existing vehicles (including new energy vehicles or traditional vehicles). 2. Short endurance: current flying cars still face the problem of insufficient battery density and short endurance, and this problem will be more serious in the air. 3. High cost: since low-altitude flight can only be realized by launching new products, and automobile enterprises pursue comprehensive flying cars that can be used on land and in the air, the product materials, technology, and quality required for airworthiness are more stringent than conventional automobile projects, so the research and development, manufacturing, and process costs are much higher than those of conventional automobile development. Therefore, how to design a multi-purpose low-altitude aircraft and a control method thereof to solve the problems existing in the prior art is a technical problem that needs to be solved in the industry. SUMMARY

[0003] In view of the problem in the prior art that flying cars cannot be used in combination with existing vehicles such as new energy vehicles or traditional vehicles, the present application proposes a multi-purpose low-altitude aircraft and a control method thereof.

[0004] The technical solution of the present application is to propose a multi-purpose low-altitude aircraft, which includes a carrier assembly 100 with propulsion function and an Evtol power assembly 200 with vertical take-off and landing function. The Evtol power assembly 200 has a switchable first assembly state and a second assembly state. In the first assembly state, the Evtol power assembly 200 is assembled with a towing vehicle 300, and in the second assembly state, the Evtol power assembly 200 is assembled with the carrier assembly 100. In the first assembly state, the towing vehicle 300 can be an existing passenger car.

[0005] Further, the vehicle assembly 100 comprises a box body 110 provided with at least one cockpit, driving arms 130 arranged on both sides of the box body 110, and a propeller 140 arranged at the back of the box body 110 for providing propulsion function, in the first assembly state, the driving arms 130 are fixedly connected with the rear wheels of the towing vehicle 300, and in the second assembly state, the driving arms 130 are used as aerial bird repelling arms; The Evtol power assembly 200 comprises an assembly support 210, and a battery mounting rack 250 arranged at the bottom of the assembly support 210; A limiting groove 251 matched with the top luggage rack of the towing vehicle 300 is arranged on the battery mounting rack 250, and first limiting holes 252 matched with first assembly holes on the luggage rack are arranged on the opposite two side edges of the battery mounting rack 250, the first assembly holes and the first limiting holes 252 are used for assembling bolts, so as to assemble the Evtol power assembly 200 and the towing vehicle 300 in the first assembly state; Mounting seats 253 are arranged at both ends of the battery mounting rack 250, and second limiting holes 254 matched with second assembly holes arranged through the luggage rack are arranged on the mounting seats 253, and the second assembly holes and the second limiting holes 254 are used for fixing the luggage rack and the battery mounting rack 250 by fasteners.

[0006] Further, the vehicle assembly 100 further comprises a power output box 120 arranged in the box body 110, and the power output box 120 has a generator 121, an electromagnetic clutch 122, and a vehicle battery pack 123; In the second assembly state, when the multipurpose low-altitude aircraft executes flight range increasing control logic, the electromagnetic clutch 122 receives instructions issued by a second power domain controller Pdcu2, provides power for the propeller 140 of the vehicle assembly 100, and drives the generator 121 to charge; The generator 121 is connected to a power battery pack 220 in the Evtol power assembly 200 through a direct current bus, and the generator 121 can supply power to the power battery pack 220 when charging.

[0007] Further, a first power domain controller Pdcu1 for controlling the work of the Evtol power assembly 200, a second power domain controller Pdcu2 for controlling the work of the vehicle assembly 100, and a flight controller Hfcu for controlling flight are further included; In the first assembly state, the flight controller Hfcu only communicates with the first power domain controller Pdcu1 and the vehicle controller in the towing vehicle 300; In the second assembly state, the flight controller Hfcu only communicates with the first power domain controller Pdcu1 and the second power domain controller Pdcu2.

[0008] The application further provides a control method of the multipurpose low-altitude aircraft, which comprises the following steps: acquiring the working state of the multipurpose low-altitude aircraft; switching the corresponding control logic of the multipurpose low-altitude aircraft according to the working state of the multipurpose low-altitude aircraft; The control logic comprises at least one of standby flight control logic, vertical take-off control logic, flight range extension control logic, vertical landing control logic and emergency flight control logic.

[0009] Further, when the multipurpose low-altitude aircraft is in the parking mode, the flight controller Hfcu receives the flight request and the instruction that the vehicle battery pack 123 and the power battery pack 220 are ready, and the multipurpose low-altitude aircraft executes the standby flight control logic. Under the standby flight control logic, the flight controller Hfcu switches the multipurpose low-altitude aircraft into the vertical take-off and landing mode, sends the high-voltage instruction to the first power domain controller Pdcu1 and the second power domain controller Pdcu2, and executes the vertical take-off control logic.

[0010] Further, in the second assembly state, the power demand is sent to the first power domain controller Pdcu1 and the second power domain controller Pdcu2, and in the vertical take-off control logic, the flight controller Hfcu collects the height data, weather data and sound wave data of the multipurpose low-altitude aircraft, calculates the first target power demand in combination with the target take-off and landing height of the multipurpose low-altitude aircraft, and transmits the first target power demand to the first power domain controller Pdcu1. The first power domain controller Pdcu1 sends the corresponding torque instruction to the first master control unit MCU1 in the first power domain controller Pdcu1 according to the first target power demand, and the first master control unit MCU1 controls the operating state of the rotor propeller 240 in the Evtol power assembly 200 according to the torque instruction.

[0011] Further, when the multipurpose low-altitude aircraft reaches the target take-off and landing height, the multipurpose low-altitude aircraft executes the flight range extension control logic. Under the flight range-increasing control logic, the flight controller Hfcu provides a second target power requirement for maintaining a target take-off and landing height to the first power domain controller Pdcu1, and the flight controller Hfcu calculates a third target power requirement according to the target take-off and landing height and a speed requirement of the multi-purpose low-altitude aircraft, and transmits the third target power requirement to the second power domain controller Pdcu2; wherein the second target power requirement gradually decreases, the third target power requirement gradually increases, and when the second target power requirement decreases to zero, the first power domain controller Pdcu1 sends a zero torque instruction to the first master control unit MCU1; Under the flight range-increasing control logic, the second power domain controller Pdcu2 provides an instruction for controlling the attraction of the electromagnetic clutch 122 to the second master control unit MCU2, and the generator 121 works and charges the power battery pack 220.

[0012] Further, when the multi-purpose low-altitude aircraft reaches directly above the destination, the multi-purpose low-altitude aircraft executes the vertical landing control logic; Under the vertical landing control logic, the flight controller Hfcu calculates a fourth target power requirement according to height data, weather data, and sound wave data of the multi-purpose low-altitude aircraft, and transmits the fourth target power requirement to the first power domain controller Pdcu1, and the first power domain controller Pdcu1 sends a corresponding torque instruction to the first master control unit MCU1 in the first power domain controller Pdcu1 according to the fourth target power requirement, and the flight controller Hfcu provides a fifth target power requirement to the second power domain controller Pdcu2; wherein the fourth target power requirement gradually increases, and the fifth target power requirement gradually decreases; Under the vertical landing control logic, the second power domain controller Pdcu2 provides an instruction for controlling the disconnection of the electromagnetic clutch 122 to the second master control unit MCU2, and the second master control unit MCU2 gradually reduces the torque instruction provided to the propulsion propeller 140 to zero; When the flight speed of the multi-purpose low-altitude aircraft decreases to zero, the flight controller Hfcu gradually reduces the fourth target power requirement provided to the first power domain controller Pdcu1, until the multi-purpose low-altitude aircraft lands, and the fourth target power requirement is reduced to zero.

[0013] Further, the control method further comprises: obtaining a use requirement of the multi-purpose low-altitude aircraft; controlling the multi-purpose low-altitude aircraft in a first assembly state when the multi-purpose low-altitude aircraft is used as a ground carrier; controlling the multi-purpose low-altitude aircraft in a second assembly state when the multi-purpose low-altitude aircraft is used as a flying carrier; In the first assembly state, the control method further comprises: detecting whether a driver is in an emergency situation, the emergency situation being triggered by the driver through a device having a Bluetooth connection with the flight controller Hfcu; When it is determined that the driver is in an emergency situation, the multi-purpose low-altitude aircraft executes the emergency flight control logic; Under the emergency flight control logic, the flight controller Hfcu sends an instruction to control the operation of the rotor propeller 240 to the first master control unit MCU1 in the first power domain controller Pdcu1, so that the rotor propeller 240 operates to lift the towing vehicle 300, and the acceleration or deceleration operation under the emergency flight control logic is determined according to the throttle pedal opening value and the brake pedal opening value of the towing vehicle 300.

[0014] Compared with the prior art, the present application has at least the following beneficial effects: 1、The multi-purpose low-altitude aircraft in the present application is composed of a carrier assembly and an Evtol power assembly, in the first assembly state, the towing vehicle is driven by the Evtol power assembly to perform the lifting action for emergency avoidance, here the towing vehicle is not limited, and can be a new energy power automobile or a traditional power automobile, without the need to develop a new automobile, which has higher coverage and lower cost compared with the prior art. 2、The multi-purpose low-altitude aircraft in the present application can drive the towing vehicle to perform the lifting action for emergency avoidance in the first assembly state, and can be combined into a low-altitude aircraft for use in the second assembly state, which is used for medium and long distance low-altitude flight, and has a wider application range compared with the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0016] Figure 1 The figure shows the scene of the aircraft carrying the towing vehicle land in the first assembly state of some embodiments of the present application; Figure 2A schematic diagram of a scenario in the first assembled state of an aircraft according to some embodiments of the present invention is shown; Figure 3 A structural schematic diagram of an aircraft in a second assembled state, according to one perspective, is shown in some embodiments of the present invention. Figure 4 A structural schematic diagram of an aircraft in a second assembled state, according to one perspective, is shown in some embodiments of the present invention. Figure 5 A structural schematic diagram of an aircraft in a second assembled state, according to one perspective, is shown in some embodiments of the present invention. Figure 6 Structural block diagrams of aircraft according to some embodiments of the present invention are shown; Figure 7 A structural schematic diagram of an aircraft in a second assembled state, according to one perspective, is shown in some embodiments of the present invention. Figure 8 A schematic diagram of the circuit structure of an aircraft in the second assembly state range extender mode, according to some embodiments of the present invention, is shown. Figure 9 A schematic diagram of the vehicle assembly according to some embodiments of the present invention is shown; Figure 10 A top view of the housing of a vehicle assembly according to some embodiments of the present invention is shown; Figure 11 A schematic diagram of the Evtol powertrain according to some embodiments of the present invention is shown from one perspective. Figure 12 This diagram shows a structural schematic of the Evtol powertrain according to some embodiments of the present invention from another perspective; Figure 13 The diagram illustrates the assembly process of a power battery pack according to some embodiments of the present invention. Figure 14 The diagram shows a structural schematic of the Evtol powertrain according to some embodiments of the present invention; Figure 15 It shows Figure 14 A top view of the battery mounting bracket; Figure 16 It shows Figure 14 Front view of the battery mounting bracket; Figure 17 The overall topology diagram of the CAN network in this invention is shown; Figure 18 This invention illustrates the high-pressure architecture of the Evtol powertrain. Figure 19 A low-pressure architecture diagram of the Evtol powertrain in this invention is shown; Figure 20The function interaction diagram of the Evtol power assembly in the application is shown. Figure 21 The overall system architecture diagram of the Evtol power assembly in the application is shown. Figure 22 The high-voltage architecture diagram of the vehicle assembly in the application is shown. Figure 23 The low-voltage architecture diagram of the vehicle assembly in the application is shown. Figure 24 The function interaction diagram of the vehicle assembly in the application is shown. Figure 25 The overall system architecture diagram of the vehicle assembly in the application is shown. Among them, 100 is a vehicle assembly; 110 is a box body; 111 is a first cockpit; 112 is a second cockpit; 113 is a wing mounting slot; 114 is a first information plate; 115 is a second information plate; 116 is a mounting surface; 1161 is a first mounting hole; 1162 is a wing mounting hole; 120 is a power output box; 121 is a generator; 122 is an electromagnetic clutch; 123 is a vehicle battery pack; 124 is a first drive motor; 130 is a drive arm; 140 is a propeller; 150 is a moving device; 160 is a wing; 200 is an Evtol power assembly; 210 is an assembly support; 211 is a frame; 212 is a first support beam; 213 is a second support beam; 214 is an integrated box mounting hole; 215 is a hollow area; 220 is a power battery pack; 221 is a connecting part; 222 is an end part; 2211 is a second mounting hole; 230 is a second drive motor; 240 is a rotor propeller; 250 is a battery mounting bracket; 251 is a limiting groove; 252 is a first limiting hole; 253 is a mounting seat; 254 is a second limiting hole; 260 is a controller integrated box; 271 is a first fixed strip; 272 is a second fixed strip; 300 is a tractor; 310 is a rear wheel. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects of the application clearer, the application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0018] Thus, one of skill in the art will appreciate that the application provides for any number of features to be combined in any combination. Thus, unless otherwise noted, combinations of features are not limited to the specific combinations described herein.

[0019] The principles and structures of the present application will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0020] In view of the problems in the prior art, the present application provides a multipurpose low-altitude aircraft, which comprises a carrier assembly 100 with propulsion function and an Evtol power assembly 200 with vertical take-off and landing function, the Evtol power assembly 200 has a switchable first assembly state and a second assembly state, in the first assembly state, the Evtol power assembly 200 is assembled with a towing vehicle 300, and in the second assembly state, the Evtol power assembly 200 is assembled with the carrier assembly 100.

[0021] Please refer to Figure 1 , Figure 2 and Figure 3 , the Evtol power assembly 200 is fixedly connected with the carrier assembly 100 to drive the carrier assembly 100 to fly synchronously, the carrier assembly 100 comprises a box body 110 and a moving device 150, a cockpit is formed in the box body 110, and the box body 110 is fixedly connected with the moving device 150. The multipurpose low-altitude aircraft of the present application is fixedly connected with the carrier assembly 100 through the Evtol power assembly 200, so that the carrier assembly 100 has propulsion function, the Evtol power assembly 200 has vertical take-off and landing function, and synchronous vertical take-off and flight can be realized under the cooperation of the carrier assembly 100 and the Evtol power assembly 200. The carrier assembly 100 comprises the box body 110 provided with at least one cockpit, and the driver moves synchronously with the carrier assembly 100 in the cockpit. That is to say, the carrier assembly 100 is a device with moving function and loading function but without flight function, and the Evtol power assembly 200 is a device with flight function but lacks moving function and loading function, and the combination of the carrier assembly 100 and the Evtol power assembly 200 makes the multipurpose low-altitude aircraft have moving function, loading function and flight function.

[0022] The Evtol power assembly 200 is assembled on the top of the towing vehicle 300 in the first assembly state by punching, bolting or the like, and thus the type of the towing vehicle 300 is not limited in the application, and the towing vehicle 300 can be a currently existing stock passenger vehicle. Therefore, the technical scheme of the application has higher coverage and lower cost.

[0023] Further, the box body 110 of the multipurpose low-altitude aircraft is provided with a cockpit which is installed in the carrier assembly 100. After the Evtol power assembly 200 is fixed to the carrier assembly 100, the multipurpose low-altitude aircraft can enter a take-off state, saving time and effort. There is no need to specially design a device and control algorithm for the Evtol to smoothly enter or leave the carrier, and the device has a simple and compact structure and low use cost. In addition, the multipurpose low-altitude aircraft only bears the weight of the carrier assembly 100 and the pilot in the air, without bearing additional weight, has strong endurance and low use cost.

[0024] In a specific embodiment, the Evtol power assembly 200 has a first assembly state and a second assembly state and can be switched between the first assembly state and the second assembly state.

[0025] In the first assembly state, the Evtol power assembly 200 is fixed to the luggage rack on the top of the towing vehicle 300 (as shown in Figure 1 and Figure 2 ), and the Evtol power assembly 200 drives the towing vehicle 300 to fly by itself; in the second assembly state, the Evtol power assembly 200 is fixedly connected with the carrier assembly 100, and the Evtol power assembly 200 drives the carrier assembly 100 to fly by itself.

[0026] The first assembly state of the Evtol power assembly 200 is used for the towing vehicle 300 in a land driving state, for example, the towing vehicle 300 drives the carrier assembly 100 to drive on land (see Figure 1 ), and the towing vehicle 300 drives alone on land without the carrier assembly 100 (see Figure 2 ). In this way, when the towing vehicle 300 encounters ground extreme conditions such as a chain car accident and mudslide, the towing vehicle 300 can be temporarily avoided by flying in the air driven by the Evtol power assembly 200, so as to improve the adaptability of the towing vehicle 300 to different road conditions.

[0027] It should be noted that when the towing vehicle 300 drives the carrier assembly 100 on land, the towing vehicle 300 is fixedly connected with the towing vehicle 300 through a special trailer hook. The driving of the towing vehicle 300 is not limited to acceleration, braking, uniform driving or turning on land.

[0028] The second assembly state of the Evtol power assembly 200 is used for a flight state of the vehicle assembly 100, and the flight state of the vehicle assembly 100 includes a pre-takeoff, takeoff, in-flight and landing stage of the vehicle assembly 100.

[0029] It should be noted that the towing vehicle 300 is a movable device with self-powered land travel. In terms of type and use of the car, the towing vehicle 300 can be a sedan, a van or an off-road vehicle; from the perspective of energy supply, the towing vehicle 300 can also be a pure electric car, a hybrid electric car or a hybrid electric car; from the perspective of automatic driving, it can be a car with assisted driving function, a car with automatic driving function, or a completely manual driving car.

[0030] In a specific embodiment, the Evtol power assembly 200 is detachably connected with the vehicle assembly 100 and detachably connected with the towing vehicle 300.

[0031] In the second assembly state, the Evtol power assembly 200 is fixedly connected with the vehicle assembly 100, and the Evtol power assembly 200 can be separated from the vehicle assembly 100 and installed on the towing vehicle 300, and the Evtol power assembly 200 can also be separated from the towing vehicle 300 and installed on the vehicle assembly 100.

[0032] The towing vehicle 300 needs to fly when it is on land, and the vehicle assembly 100 needs to fly after the towing vehicle 300 is parked. In this way, the vehicle assembly 100 and the towing vehicle 300 can share the same Evtol power assembly 200, further improving the versatility of the Evtol power assembly 200 and reducing the use cost of the Evtol power assembly 200.

[0033] In addition, the Evtol power assembly 200 detached from the towing vehicle 300 can also be stored in the vehicle compartment of the towing vehicle 300 or the box 110 of the vehicle assembly 100, so as to avoid the Evtol power assembly 200 exposed to the outside when not needed, which is easy to collide with other towing vehicles 300, prolonging the service life of the Evtol power assembly 200.

[0034] Further, when the Evtol power assembly 200 is in the first assembly state, the Evtol power assembly 200 can be fixed to the luggage rack of the towing vehicle 300 or to the chassis of the towing vehicle 300.

[0035] Please refer to Figures 3-7 In a specific embodiment, the vehicle assembly 100 includes a box 110 and a moving device 150, a cockpit is formed in the box 110, and the box 110 is fixedly connected with the moving device 150.

[0036] The box body 110 is provided with a cavity, and the power output box 120 is arranged in the cavity and divides the cavity into a first cockpit 111 and a second cockpit 112. The top of the first cockpit 111 and the second cockpit 112 is respectively provided with a first information board 114 (see Figure 10 ) and a second information board 115 (see Figure 10 ). The first information board 114 is used to display the Evtol assembly power output, height and other information, and the second information board 115 is used to display the route, flight path and temperature.

[0037] Of course, the cab can also be one, and the top of the cab is provided with the first information board 114 and the second information board 115. In the embodiment, the number of the cab and the number and position of the information board are only exemplary, and the protection of the application is not limited to the specific limitation of the embodiment.

[0038] It should be emphasized that: in addition to the function of loading the driver or the article, the cockpit is also provided with an operating device for controlling the take-off, flight and landing of the multipurpose low-altitude aircraft. That is, the driver can control the take-off, flight and landing of the multipurpose low-altitude aircraft in the cockpit through the operating device.

[0039] In this embodiment, the moving device 150 is a device that can walk on land under the traction provided by the tractor 300. The moving device 150 is not connected with the power output box 120 (shown below) of the vehicle assembly 100. The vehicle is a kind of accessory of the tractor 300 and does not have the ability to walk by itself, and needs to be moved under the traction of the tractor 300.

[0040] Specifically, the moving device 150 includes two wheel supports, each of which is provided with two walking wheels, and the two wheel supports are arranged in the left and right directions of the box body 110.

[0041] In this embodiment, two groups of wheel supports are used, each of which is provided with two walking wheels, which can not only make the vehicle assembly 100 stand stably on the ground after being separated from the tractor 300, but also can drive the box body 110 to move with the tractor 300 when the vehicle assembly 100 is fixed with the tractor 300.

[0042] Of course, the moving device 150 is not limited to the specific limitation of the embodiment. For example, the moving device 150 can also be a tracked moving device, an omni-directional wheel moving device, a leg-foot moving device or other devices that can drive the box body 110 to move on land.

[0043] Please continue to refer to Figures 3-7The vehicle assembly 100 further comprises a power output box 120, a driving arm 130, a propeller 140, and a wing 160.

[0044] The power output box 120 comprises a first driving motor 124, a vehicle battery pack 123, a generator 121, an electromagnetic clutch 122, and a combined controller (not shown in the figure).

[0045] The output shaft of the first driving motor 124 is detachably connected to the propeller 140, and when the Evtol power assembly 200 is in the second assembly state, the output shaft of the first driving motor 124 is connected to the propeller 140 to drive the rotation of the propeller 140. When the Evtol power assembly 200 is in the first assembly state (the land state of the tractor 300), the propeller 140 is detached from the output shaft of the first driving motor 124. On the one hand, the propeller 140 can provide propulsion when the aircraft is flying, improve the movement ability of the aircraft, and indirectly improve the endurance of the aircraft. On the other hand, the propeller 140 can also avoid being collided by obstacles or being damaged by people when it is idle, thereby prolonging the service life of the propeller 140.

[0046] Further, when the Evtol power assembly 200 is in the second assembly state, the propeller 140 is located at the rear of the box body 110 and is arranged vertically to the ground, so as to provide forward and backward traction for the multi-purpose low-altitude aircraft flying in the air, instead of providing upward or downward buoyancy.

[0047] The power supply mode provided in the present application is that the vehicle assembly 100 further comprises a power output box 120 arranged in the box body 110, and the power output box 120 has a generator 121, an electromagnetic clutch 122, and a vehicle battery pack 123. In the first assembly state, the generator 121 is connected to the power battery pack 220. In the second assembly state, when the multi-purpose low-altitude aircraft executes the flight range control logic, the electromagnetic clutch 122 receives the instruction issued by the second power domain controller Pdcu2 to provide power for the propeller 140 of the vehicle assembly 100 and drive the generator 121 to charge. The generator 121 is connected to the power battery pack 220 in the Evtol power assembly 200 through a direct current bus, and the generator 121 can supply power to the power battery pack 220 when charging.

[0048] Please refer to Figure 8In one embodiment, the power generator 121 and the vehicle battery pack 123 are arranged on the vehicle assembly 100, and the power battery pack 220 is arranged on the Evtol power assembly 200. When the Evtol power assembly 200 is in the second assembly state, the power generator 121 charges the power battery pack 220.

[0049] Thus, in the second assembly state of the multipurpose low-altitude aircraft, the range extender mode uses the power generator 121, greatly improving the utilization efficiency of the power generator 121. The power battery pack 220 and the vehicle battery pack 123 both output electric energy in the second assembly state, thereby improving the endurance and safety performance of the aircraft.

[0050] For example, the power generator 121 is connected to the power battery pack 220 through a direct current bus.

[0051] Further, when the Evtol power assembly 200 is in the first assembly state, only the power battery pack 220 is used to supply power to the Evtol power assembly 200, and the endurance is limited. The self-weight of the tractor 300 is large, and the endurance is limited, which is only suitable for short-distance flight to deal with extreme ground conditions such as continuous car accidents or mudslides. When the Evtol power assembly 200 is in the second assembly state, the vehicle assembly 100 itself is relatively light compared with the tractor 300, and the power generator 121 supplies power to the power battery pack 220, which can improve the endurance of the aircraft and enable longer flight.

[0052] Again referring to Figure 1 and Figure 5 In one embodiment, the vehicle assembly 100 further includes two drive arms 130 located on the left and right sides of the box body 110. When the Evtol power assembly 200 is in the first assembly state, the drive arm 130 is connected to the rear wheel 310 of the tractor 300 to drive the rear wheel 310 of the tractor 300 to rotate, thereby dealing with the scene where the endurance of the tractor 300 is insufficient and emergency is needed.

[0053] Specifically, the drive arm 130 is provided with a support arm body, a driving member, a transmission steel belt, and a pawl, i.e., the fixing structure mentioned above. The driving member and the pawl are arranged on opposite ends of the support arm body, and the transmission steel belt is sleeved on the output shaft of the driving member and the pawl. The driving member drives the pawl through the transmission steel belt.

[0054] The pawl can be fixed to the axle of the rear wheel 310 of the tractor 300 or released from the rear wheel 310 of the tractor 300.

[0055] When the Evtol power assembly 200 is in the first assembly state, the pawl is fixed on the axle of the rear wheel 310, the output shaft of the driving member rotates to drive the pawl to rotate synchronously, thereby driving the rear wheel 310 of the tractor 300 to rotate synchronously. When the Evtol power assembly 200 is in the second assembly state, the pawl is released from the rear wheel of the tractor 300, and the force transmission arm is separated from the rear wheel 310 of the tractor 300.

[0056] When the carrier assembly 100 is driven by the Evtol power assembly 200 to fly in the air, the driving arm 130 can be used as a bird repelling arm, which can reduce the probability of the aircraft's box 110 being hit by birds and enhance the safety of the aircraft flying in the air. In summary, the driving arm 130 has different functions in the first assembly state and the second assembly state, has high utilization rate, and the structure of the aircraft is simple and compact.

[0057] Please refer to Figure 8 , the power output box 120 includes an electromagnetic clutch 122, which uses electromagnetic force to control the connection or disconnection of the generator 121 and the power battery pack 220, and controls the connection or disconnection of the first driving motor 124 and the propeller 140.

[0058] Specifically, when the Evtol power assembly 200 drives the carrier assembly 100 to fly, the electromagnetic clutch 122 controls the generator 121 to supply power to the power battery pack 220, and controls the first driving motor 124 to be in driving connection with the propeller 140, so as to drive the propeller 140 to rotate. When the Evtol power assembly 200 drives the carrier assembly 100 to be on the ground, the electromagnetic clutch 122 controls the generator 121 to be disconnected from the power battery pack 220 and connected with the carrier battery pack 123, so as to make the generator 121 supply power to the carrier battery, and the first driving motor 124 is disconnected from the propeller 140.

[0059] In one embodiment, the power output box 120 includes a combination controller, which is electrically connected with the carrier battery pack 123, the electromagnetic clutch 122, the first driving motor 124 and the generator 121 respectively.

[0060] The carrier generator 121 is controlled by the combination controller, so that the generator 121 can be selectively electrically connected with the carrier battery pack 123 or the power battery pack 220, and the carrier battery pack 123 is controlled to supply power to the first driving motor 124, which has high automation degree.

[0061] Please refer to Figure 3 , Figure 4 and Figure 9 , in one embodiment, the carrier assembly 100 includes two wings 160, which are detachably connected with the box 110.

[0062] When the towing vehicle 300 is running on the ground, the wings 160 are removed from the box 110 to reduce the width of the wings 160 on the vehicle assembly 100, which can effectively avoid the wings 160 colliding with other vehicles or pedestrians, and has high safety.

[0063] When the vehicle assembly 100 follows the Evtol power assembly 200 to fly, the wings 160 can provide upward buoyancy, which greatly improves the endurance of the aircraft.

[0064] Specifically, the opposite two side walls of the box 110 are provided with wing installation grooves 113 matched with the wings 160. When the Evtol power assembly 200 is switched to the second assembly state, the two wings 160 are inserted into the wing installation grooves 113, respectively. The top wall of the box 110 forms a mounting surface 116, and two groups of wing installation holes 1162 are formed at the left and right edges of the mounting surface 116. The wings 160 are provided with third assembly holes (not shown in the figure) corresponding to the wing installation holes 1162. The fasteners are inserted into the wing installation holes 1162 and the third assembly holes to fix the wings 160 on the box 110, so as to further improve the stability of the wings 160 mounted on the box 110. The wings 160 provide effective lift in the air of the aircraft, which greatly improves the working efficiency and range of the aircraft.

[0065] The wing installation grooves 113 can increase the contact area of the wings 160 and the box 110, so as to enhance the mechanical strength of the connection between the wings 160 and the box 110.

[0066] Please refer to Figure 11 and Figure 12 In a specific embodiment thereof, the Evtol power assembly 200 further comprises an assembly support 210, a controller integrated box 260, a second driving motor 230, and a rotor propeller 240.

[0067] The assembly support 210 is rectangular, and one second driving motor 230 is arranged at each corner of the rectangle. The output shaft of the second driving motor 230 is in transmission connection with the rotor propeller 240, and is used to drive the rotor propeller 240 to rotate. Among them, two rotor propellers 240 are arranged on the output shaft of the same driving motor in the axial direction. That is, the Evtol power assembly 200 is provided with four second driving motors 230 and eight rotor propellers 240.

[0068] In the related art, a plurality of extension arms are usually arranged on the assembly support 210, and the second driving motor 230 is mounted on the extension arm. The Evtol power assembly 200 of the present application cancels the extension arm, and directly arranges the second driving motor 230 on the assembly support 210, which has simple and compact structure.

[0069] The power battery pack 220 is used to supply power to the second driving motor 230 when the multipurpose low-altitude aircraft is flying. For example, when the Evtol power assembly 200 is in the first assembly state, the Evtol power assembly 200 drives the tractor 300 to fly for a short distance. When the Evtol power assembly 200 is in the second assembly state, the generator 121 is used to supply power to the power battery pack 220, and the power battery pack 220 is used to supply power to the second driving motor 230, and the Evtol power assembly 200 drives the vehicle assembly 100 to fly for a relatively longer time.

[0070] Specifically, the assembly support 210 includes a frame 211, a first support beam 212, and a second support beam 213, the first support beam 212 and the second support beam 213 are arranged perpendicular to each other, and both ends of the first support beam 212 are connected with the frame 211, and both ends of the second support beam 213 are connected with the frame 211. And the frame 211, the first support beam 212 and the second support beam 213 jointly constitute four hollowed-out areas 215.

[0071] On the one hand, forming the hollowed-out area 215 on the assembly support 210 can reduce the manufacturing cost, on the other hand, reducing the impact of the downward airflow generated by the rotor propeller 240 when working on the assembly support 210, improving the aerodynamic efficiency and reducing air interference. In this way, the negative effects of the second driving motor 230 arranged on the assembly support 210 can be reduced, and the use cost can be kept relatively low under the premise of ensuring flight stability.

[0072] Further, the shapes and sizes of the four hollowed-out areas 215 are kept substantially the same to ensure the stability of the Evtol power assembly 200 flying.

[0073] Among them, the second driving motor 230 drives the rotor propeller 240 to rotate to drive the entire Evtol power assembly 200 to move vertically upward or vertically downward.

[0074] Please refer to Figure 12 In a specific embodiment thereof, the bottom of the assembly support 210 is provided with battery mounting racks 250 arranged parallel to each other and spaced apart, the power battery pack 220 is arranged between the battery mounting racks 250 and the assembly support 210, and the battery mounting racks 250 and the assembly support 210 clamp the power battery pack 220. In this way, the assembly support 210 and the battery mounting racks 250 clamp the power battery pack 220 from the top and bottom directions respectively, the battery mounting racks 250 can overcome the weight of the power battery pack 220, and can also balance any external force in the horizontal direction through the static friction between the power battery pack 220 and the battery mounting racks 250, so that the assembly support 210 and the power battery pack 220 remain relatively stationary.

[0075] Please refer to Figure 13In one embodiment, the power battery pack 220 includes a connecting portion 221 and two end portions 222, the two ends of the connecting portion 221 are connected with the two end portions 222 respectively, and the connecting portion 221 extends from between the two battery mounting racks. That is, when the Evtol power assembly 200 is in the second assembly state, the bottom surface of the connecting portion 221 can be attached to the mounting surface 116 of the box body 110.

[0076] In this embodiment, by setting the connecting portion 221 of the power battery pack 220 to extend from between the two battery mounting racks 250, the battery mounting racks 250 can be prevented from interfering with the attachment of the power battery pack 220 to the mounting surface 116 of the box body 110, thereby ensuring the stability of the connection between the vehicle assembly 100 and the Evtol power assembly.

[0077] Further, the two end portions 222 are arranged in parallel and spaced apart from each other, and the connecting portion 221 is arranged perpendicular to the end portions 222. That is, the power battery pack 220 is similar to an H shape. The two end portions of the power battery pack 220 are in contact with the two battery mounting racks 250.

[0078] Referring to Figure 10 , Figure 12 and Figure 13 In one embodiment, a plurality of first mounting holes 1161 are formed on the mounting surface 116 of the box body 110, and a plurality of second mounting holes 2211 corresponding to the first mounting holes 1161 are formed on the power battery pack 220. Fasteners (not shown in the figure) are arranged in the first mounting holes 1161 and the second mounting holes 2211 to fix the Evtol power assembly 200 to the vehicle assembly 100. The fasteners can be screws.

[0079] Specifically, the first mounting holes 1161 are formed on the connecting portion 221 of the power battery pack 220, and the two battery mounting racks 250 are arranged in parallel and spaced apart from each other to avoid interference with the fasteners passing through the connecting portion of the battery pack and the mounting surface 116 of the box body 110.

[0080] Referring again to Figure 11 In one embodiment, the controller integrated box 260 is arranged on the assembly bracket 210, and a fastener passes through the first fixing strip 271 and the assembly bracket 210, and another fastener passes through the second fixing strip 272 and the assembly bracket 210 to fix the controller integrated box 260 on the assembly bracket 210.

[0081] It should be noted that: Figure 11 The position of the controller integrated box 260 in is below the first fixing strip 271 and the second fixing strip 272 and above the assembly bracket 210.

[0082] Specifically, the controller integrated box 260 is fixed at the joint of the first support beam 212 and the second support beam 213. In this way, on the one hand, the center of gravity of the multipurpose low-altitude aircraft can be kept at the geometric center of the Evtol power assembly 200, improving the stability of the flight of the Evtol power assembly 200. On the other hand, the flow of the controller integrated box 260 to the buffer airflow of the hollowed-out area 215 is reduced, and the interference with the airflow flow is reduced to improve the flight stability of the Evtol power assembly 200.

[0083] Six integrated box mounting holes 214 are formed on the first support beam 212, and the six integrated box mounting holes 214 are arranged on the left and right sides. The two ends of the first fixing strip 271 are provided with fastening holes (not shown in the figure), and two fasteners are inserted into the fastening holes and the two integrated box mounting holes 214 to fix the controller integrated box 260 on the assembly bracket 210. Among them, the two integrated box mounting holes 214 participating in the fastener are respectively located on the front and rear sides of the controller integrated box 260. The fastener can be a screw.

[0084] Correspondingly, two integrated box mounting holes 214 are formed on the second support beam 213, and the two integrated box mounting holes 214 are arranged on the left and right sides. The two ends of the second fixing strip 272 are provided with fastening holes, and two fasteners are inserted into the fastening holes and the two integrated box mounting holes 214 to fix the controller integrated box 260 on the assembly bracket 210. In this way, the first fixing strip 271 and the second fixing strip 272 are clamped from the top and bottom sides of the controller integrated box 260, and the screw can limit the side slip of the integrated box, and the installation stability of the controller integrated box 260 is good.

[0085] Of course, in other embodiments, only the first support beam 212 or the second support beam 213 can be used.

[0086] Please refer to Figure 1 , Figure 14 , Figure 15 and Figure 16 In one specific embodiment, a limiting groove 251 is formed in the battery mounting bracket 250, which is matched with the luggage rack of the towing vehicle 300. The luggage rack is also provided with a matching limiting hole (not shown in the figure) penetratingly arranged.

[0087] First limiting holes 252 are arranged on the opposite two side walls of the battery mounting bracket 250, and studs are inserted into the matching first assembly hole and the two first limiting holes 252, and two nuts are respectively sleeved on the two ends of the studs to fix the battery mounting bracket 250 with the luggage rack of the towing vehicle 300. Among them, the first limiting hole 252 is in communication with the limiting groove.

[0088] In this embodiment, the battery mounting rack 250 is provided with a limiting groove 251, and a first limiting hole 252 is arranged on the opposite two side walls of the battery mounting rack 250. The luggage rack is also provided with a matching limiting hole, and the battery mounting rack and the luggage rack are fixed by studs and nuts, so that the Evtol power assembly 200 is fixed to the towing vehicle 300. In this way, the battery mounting rack 250 is used not only for fixing the power battery pack 220, but also participates in the fixing of the luggage rack, which is simple and compact in structure and has strong practicability. The limiting groove 251 can improve the contact area between the battery mounting rack 250 and the luggage rack, and further improve the stability of the installation of the battery mounting rack 250.

[0089] It can be understood that, by such arrangement of the battery mounting rack 250, the detachable connection of the Evtol power assembly 200 and the vehicle body 300 is also achieved.

[0090] Further, the two ends of the battery mounting rack 250 are also provided with mounting seats 253, and the mounting seats 253 are also provided with second limiting holes 254. The luggage rack is also provided with a throughly arranged matching limiting hole (not shown in the figure), and the second limiting hole 254 and the second assembly hole are matched by a fastener, so as to fix the luggage rack and the battery mounting rack 250. In this way, by arranging the mounting seat, the stability of the connection between the luggage rack and the battery mounting rack 250 is further improved.

[0091] In other embodiments, the battery mounting rack 250 can be configured to have only the first mounting hole 252, or can be configured to have only the mounting seat 253, and the mounting seat 253 is provided with the second limiting hole 254. The number, shape and position of the first limiting hole 253 and the second limiting hole 254 can be adaptively adjusted according to the use requirements, and are not limited to the specific limitations of the embodiment.

[0092] Further, the present application also includes a first power domain controller Pdcu1 for controlling the work of the Evtol power assembly 200, a second power domain controller Pdcu2 for controlling the work of the vehicle assembly 100, and a flight controller Hfcu for controlling flight; In the first assembly state, the flight controller Hfcu only communicates with the first power domain controller Pdcu1 and the vehicle controller in the towing vehicle 300; In the second assembly state, the flight controller Hfcu only communicates with the first power domain controller Pdcu1 and the second power domain controller Pdcu2.

[0093] The Evtol power assembly 200 also includes a first main control unit, which controls the charging and discharging state of the power battery pack 220 and the running state of the second drive motor 230 for controlling the movement of the rotor propeller 240 of the Evtol power assembly 200 through the CAN network of the first power domain controller Pdcu1. The vehicle assembly 100 further comprises a second master control unit, which controls the charging and discharging state of the vehicle battery pack 123 and the running state of the first drive motor 124 that controls the propulsion propeller 140 of the vehicle assembly 100 through the CAN network of the second power domain controller Pdcu2; The second master control unit at least one DC voltage conversion unit, the second master control unit also controls the running state of the DC voltage conversion unit through the CAN network of the second power domain controller Pdcu2.

[0094] Please refer to Figure 17 , the first power domain controller Pdcu1, that is, Pdcu1 (Evtol power domain control), the second power domain controller Pdcu2, that is, Pdcu2 (vehicle assembly power domain control), the flight controller Hfcu, that is, Hfcu (flight control), the first master control unit is MCU1, the second master control unit is MCU2, BMS A is the power battery pack 220, BMS B is the vehicle battery pack 123, DC / DC 28V and DC / DC 14V are DC voltage conversion units; The CAN network of the above-mentioned first power domain controller Pdcu1 is composed of the communication network among the first power domain controller Pdcu1, the first master control unit and the power battery pack 220, and the independent control of the Evtol power assembly 200 is realized through the first power domain controller Pdcu1; The CAN network of the above-mentioned second power domain controller Pdcu2 is composed of the second power domain controller Pdcu2, the second master control unit, the vehicle battery pack 123 and the DC voltage conversion unit, and the independent control of the vehicle assembly 100 is realized through the second power domain controller Pdcu2; The flight controller Hfcu can communicate with the first power domain controller Pdcu1 and the second power domain controller Pdcu2 at the same time, so as to realize the information interaction between the two communication networks.

[0095] Based on the above-mentioned multipurpose low-altitude aircraft, the application further proposes a control method of a multipurpose low-altitude aircraft, the control method comprising: Obtaining the working state of the multipurpose low-altitude aircraft; Switching the corresponding control logic of the multipurpose low-altitude aircraft according to the working state of the multipurpose low-altitude aircraft; Among them, the control logic includes at least one of the standby flight control logic, the vertical take-off control logic, the flight range-increasing control logic, the vertical landing control logic and the emergency flight control logic.

[0096] Among them, the execution flow and action of each control logic are: When the multi-purpose low-altitude aircraft is in the parking mode, and the flight controller Hfcu receives the flight request, and the instruction that the vehicle battery pack 123 and the power battery pack 220 are ready, the multi-purpose low-altitude aircraft executes the standby flight control logic; Under the standby flight control logic, the flight controller Hfcu switches the multi-purpose low-altitude aircraft into the vertical take-off and landing mode, and sends high-voltage instructions to the first power domain controller Pdcu1 and the second power domain controller Pdcu2, while executing the vertical take-off control logic.

[0097] In the second assembly state, the power requirement is sent to the first power domain controller Pdcu1 and the second power domain controller Pdcu2, and under the vertical take-off control logic, the flight controller Hfcu collects the height data, weather data, and sound wave data of the multi-purpose low-altitude aircraft, and calculates the first target power requirement in combination with the target take-off and landing height of the multi-purpose low-altitude aircraft, and transmits the first target power requirement to the first power domain controller Pdcu1, and the first power domain controller Pdcu1 sends corresponding torque instructions to the first master control unit MCU1 in the first power domain controller Pdcu1 according to the first target power requirement, and the first master control unit MCU1 controls the operating state of the rotor propeller 240 in the Evtol power assembly 200 according to the torque instructions.

[0098] When the multi-purpose low-altitude aircraft reaches the target take-off and landing height, the multi-purpose low-altitude aircraft executes the flight range extension control logic; Under the flight range extension control logic, the flight controller Hfcu provides the first power domain controller Pdcu1 with the second target power requirement for maintaining the target take-off and landing height, and the flight controller Hfcu calculates the third target power requirement according to the target take-off and landing height and the speed requirement of the multi-purpose low-altitude aircraft, and transmits the third target power requirement to the second power domain controller Pdcu2; Wherein, the second target power requirement gradually decreases, the third target power requirement gradually increases, and when the second target power requirement decreases to zero, the first power domain controller Pdcu1 sends a zero torque instruction to the first master control unit MCU1; Under the flight range extension control logic, the second power domain controller Pdcu2 provides the second master control unit MCU2 with an instruction to control the attraction of the electromagnetic clutch 122, and the generator 121 works and charges the power battery pack 220.

[0099] When the multi-purpose low-altitude aircraft reaches the destination directly above, the multi-purpose low-altitude aircraft executes the vertical landing control logic; Under the vertical landing control logic, the flight controller Hfcu calculates a fourth target power demand according to the height data, meteorological data, and sound wave data of the multi-purpose low-altitude aircraft, and transmits the fourth target power demand to the first power domain controller Pdcu1, the first power domain controller Pdcu1 sends a corresponding torque instruction to the first master control unit MCU1 in the first power domain controller Pdcu1 according to the fourth target power demand, and the flight controller Hfcu provides a fifth target power demand for the second power domain controller Pdcu2; Wherein, the fourth target power demand gradually increases, and the fifth target power demand gradually decreases; Under the vertical landing control logic, the second power domain controller Pdcu2 provides an instruction to control the electromagnetic clutch 122 to be disconnected for the second master control unit MCU2, and the torque instruction provided by the second master control unit MCU2 for the propulsion propeller 140 gradually decreases to zero; When the flight speed of the multi-purpose low-altitude aircraft decreases to zero, the flight controller Hfcu gradually reduces the fourth target power demand provided to the first power domain controller Pdcu1 until the multi-purpose low-altitude aircraft lands, and controls the fourth target power demand to decrease to zero.

[0100] The above control method further comprises: Obtaining the use demand of the multi-purpose low-altitude aircraft; When the multi-purpose low-altitude aircraft is used as a ground vehicle, controlling the multi-purpose low-altitude aircraft to be in a first assembly state; When the multi-purpose low-altitude aircraft is used as a flying vehicle, controlling the multi-purpose low-altitude aircraft to be in a second assembly state; In the first assembly state, the control method further comprises: Detecting whether the driver is in an emergency situation, the emergency situation being triggered by the driver through a device having a Bluetooth connection with the flight controller Hfcu; When it is determined that the driver is in an emergency situation, the multi-purpose low-altitude aircraft executes an emergency flight control logic; Under the emergency flight control logic, the flight controller Hfcu sends an instruction to control the operation of the rotor propeller 240 to the first master control unit MCU1 in the first power domain controller Pdcu1, so that the rotor propeller 240 operates to lift the tractor 300, and simultaneously determines the acceleration or deceleration operation under the emergency flight control logic according to the throttle pedal opening value and the brake pedal opening value of the tractor 300.

[0101] Figure 1 is a schematic diagram of an Evtol power assembly 200 according to an embodiment of the present application; Figure 18 Figure 2 is a schematic diagram of an Evtol power assembly 200 according to an embodiment of the present application; Figure 21 Figure 3 is a functional block diagram of the Evtol power assembly 200 part according to an embodiment of the present application; Figure 22 Figure 4 is a functional block diagram of the Evtol power assembly 200 part according to an embodiment of the present application; Figure 25As a functional block diagram of the above-mentioned vehicle assembly 100, based on the arrangement of the above-mentioned vehicle assembly 100 and Evtol power assembly 200, the present application can realize the control of the flight of the multi-purpose low-altitude aircraft in the second assembly state, and in combination with the above-mentioned control logic, the specific operation process of the present application is as follows: 1. The pilot enters the vehicle assembly 100, turns on the low-voltage power-on button, connects the flight controller Hfcu through the mobile phone APP or Bluetooth, and applies for the flight airspace and route through the flight controller Hfcu online. (In this step, the Evtol power assembly 200 and the power battery pack 220 of the vehicle assembly 100 and the vehicle battery pack 123 are self-checked and pre-charged by the BMS A / B control); 2. After receiving the online approval and the BMS A / B preparation completion message feedback from the flight controller Hfcu, the flight controller Hfcu is switched from the on-board mode to the Evtol mode (vertical take-off and landing mode) and sends a high-voltage command to the first power domain controller Pdcu1 and the second power domain controller Pdcu2 through the message, and the Evtol indicator light of the vehicle assembly 100 turns green; 3. The pilot turns on the take-off button, and the first power domain controller Pdcu1 sends a torque command corresponding to the first target power demand to the MCU1 through the first target power demand transmitted by the flight controller Hfcu (the flight controller Hfcu calculates the first target power demand by collecting height data, weather data and sound wave data in combination with the target take-off height), and the MCU1 controls the coaxial counter-propeller motor set to execute the torque command; When the target take-off and landing height is reached, the flight controller Hfcu sends a second target power requirement to maintain the height to the first power domain controller Pdcu1, while also sending a third target power requirement to the second power domain controller Pdcu2 (the third target power requirement calculated by the flight controller Hfcu in combination with the established target take-off and landing height, speed requirement), when the target take-off and landing height has been reached (at this stage, the second target power requirement given by the flight controller Hfcu to the first power domain controller Pdcu1 gradually decreases, and the third target power requirement given by the flight controller Hfcu to the second power domain controller Pdcu2 gradually increases), when the flight controller Hfcu gives the first power domain controller Pdcu1 a zero power requirement, the first power domain controller Pdcu1 also gives the MCU1 an established zero torque command, at the same time, the second power domain controller Pdcu2 not only responds to the third target power requirement of the flight controller Hfcu, but also commands the MCU2 to control the electromagnetic clutch 122 in the vehicle assembly 100 to be attracted, so that the vehicle assembly 100 drives the motor to rotate the propeller 140, and at the same time drives the generator in the vehicle assembly 100 to work, charging the vehicle battery pack 123, realizing the range charging of the Evtol power assembly 200 when the vehicle assembly 100 is powered by the power battery pack 220 in the vehicle assembly 100 (controlled by the BMS B); 4、When the multi-purpose low-altitude aircraft reaches directly above the destination (landing site), the flight controller Hfcu sends a fourth target power requirement to the first power domain controller Pdcu1, the first power domain controller Pdcu1 responds to the fourth target power requirement and sends a target torque value to the MCU1, the MCU1 controls the coaxial counter-propeller group motor on the Evtol power assembly 200 to reach the torque value (in this process, both the fourth target power requirement and the corresponding torque command value are gradually increased to the Evtol power assembly 200 for execution), at the same time, the flight controller Hfcu gives the first power domain controller Pdcu1 the fourth target power requirement, and reduces the fifth target power requirement given to the second power domain controller Pdcu2, at this moment, the second power domain controller Pdcu2 commands the MCU2 to exit the range charging mode, the MCU2 controls the electromagnetic clutch 122 to disengage, and reduces the generator speed command in the vehicle assembly 100 to 0, at this moment, the torque command given by the MCU2 to the first drive motor 124 is also reduced.

[0102] In this process, the flight speed of the multi-purpose low-altitude aircraft is reduced but the height is not reduced until the flight controller Hfcu learns from the Beidou remote sensing and navigation signal that it is directly above the landing site, at which time the flight speed is 0 (the fifth target power requirement of the flight controller Hfcu to the second power domain controller Pdcu2 is reduced to 0, and the torque command of the second power domain controller Pdcu2 to MCU2 is 0), and the flight controller Hfcu gradually reduces the fourth target power requirement of the first power domain controller Pdcu1 (the first power domain controller Pdcu1 gradually reduces the torque command value of MCU1) to gradually land the multi-purpose low-altitude aircraft towards the landing point, and this process is the switching from the hybrid flight mode to the vertical take-off and landing mode, and the Evtol light of the vehicle assembly 100 is on and the hybrid flight light is off.

[0103] In the first assembled state of the multi-purpose low-altitude aircraft of the application, first, the pilot enters the emergency mode by pressing the emergency mode button on the control panel (which can be an aircraft APP on the mobile phone) when encountering an emergency, at which time the flight controller Hfcu can obtain the throttle pedal opening value and the brake pedal opening value from the ECU of the towing vehicle through CAN communication connection, and the flight controller Hfcu will preferentially perform the take-off action when the pilot enters the emergency mode, and the rotor propeller 240 operates to lift the towing vehicle 300 to a predetermined height, while combining the identified speed intention of the pilot to quickly avoid dangerous road conditions. At this time, the steering signal of the ECU is also given to the flight controller Hfcu through CAN for the flight controller Hfcu to identify the pilot's direction control intention, so as to control the rotation speed of different propellers to control the flight direction. When the pilot considers that he has reached a safe area, he exits the emergency mode through the control panel or the mobile phone APP, at which time the rotor propeller 240 Hfcu adjusts the rotation speed and its decreasing speed of the rotor propeller 240, and combines the height sensor to identify that the towing vehicle 300 has landed safely, and then returns the control to the ECU of the towing vehicle.

[0104] Compared with the prior art, the application has at least the following beneficial effects: 1. The multi-purpose low-altitude aircraft in the application is composed of a vehicle assembly and an Evtol power assembly, in the first assembled state, the Evtol power assembly drives the towing vehicle to perform the take-off action for emergency avoidance, and here the towing vehicle is not limited to a new energy power vehicle or a traditional power vehicle, without the need to develop a new vehicle, which has higher coverage and lower cost compared with the prior art. 2. The multipurpose low-altitude aircraft can execute the lifting action by the Evtol power assembly driving the towing vehicle in the first assembly state to perform emergency escape, and can be combined into a low-altitude aircraft for use in the second assembly state, for medium and long distance low-altitude flight, and has a wider application range compared with the prior art.

[0105] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-purpose low-altitude aircraft, comprising a vehicle assembly (100) with propulsion function and an Evtol powertrain (200) with vertical takeoff and landing function, characterized in that, The Evtol powertrain (200) has a switchable first assembly state and a second assembly state. In the first assembly state, the Evtol powertrain (200) is assembled with a tractor (300), and in the second assembly state, the Evtol powertrain (200) is assembled with the vehicle assembly (100). In the first assembly state, the tractor (300) can be an existing passenger vehicle.

2. The multi-purpose low-altitude aircraft according to claim 1, characterized in that, The vehicle assembly (100) includes a housing (110) with at least one cockpit, drive arms (130) disposed on both sides of the housing (110), and a propulsion propeller (140) disposed on the back of the housing (110) for providing propulsion. In the first assembly state, the drive arms (130) are fixedly connected to the rear wheels of the tractor (300). In the second assembly state, the drive arms (130) are used as aerial bird deterrent arms. The Evtol powertrain (200) includes an assembly bracket (210) and a battery mounting bracket (250) disposed at the bottom of the assembly bracket (210). The battery mounting bracket (250) is provided with a limiting groove (251) that matches the luggage rack on the top of the tractor (300). On the two opposite sides of the battery mounting bracket (250), there are first limiting holes (252) that mate with the first mounting holes on the luggage rack. The first mounting holes and the first limiting holes (252) are used to install bolts for assembling the Evtol powertrain (200) with the tractor (300) in the first assembly state. Mounting seats (253) are provided at both ends of the battery mounting bracket (250). The mounting seats (253) are provided with second limiting holes (254) that match the second mounting holes that are provided through the luggage rack. The second mounting holes and the second limiting holes (254) are used to fix the luggage rack and the battery mounting bracket (250) with fasteners.

3. The multi-purpose low-altitude aircraft according to claim 2, characterized in that, The vehicle assembly (100) also includes a power output box (120) disposed within the housing (110), the power output box (120) having a generator (121), an electromagnetic clutch (122), and a vehicle battery pack (123). In the second assembly state, when the multi-purpose low-altitude aircraft executes the flight range extension control logic, the electromagnetic clutch (122) receives the command issued by the second power domain controller Pdcu2 to provide power to the propeller (140) of the vehicle assembly (100) and drive the generator (121) to charge. The generator (121) is connected to the power battery pack (220) in the Evtol powertrain (200) via a DC bus, and the generator (121) can supply power to the power battery pack (220) when it is charging.

4. The multi-purpose low-altitude aircraft according to claim 3, characterized in that, It also includes a first power domain controller Pdcu1 for controlling the operation of the Evtol powertrain (200), a second power domain controller Pdcu2 for controlling the operation of the vehicle assembly (100), and a flight controller Hfcu for controlling flight; In the first assembly state, the flight controller Hfcu communicates only with the first power domain controller Pdcu1 and the vehicle controller in the tractor (300); In the second assembly state, the flight controller Hfcu communicates only with the first power domain controller Pdcu1 and the second power domain controller Pdcu2.

5. A control method for a multi-purpose low-altitude aircraft as described in claim 4, characterized in that, The control method includes: Obtain the operational status of the multi-purpose low-altitude aircraft; The corresponding control logic is switched according to the working status of the multi-purpose low-altitude aircraft. The control logic includes at least one of the following: standby flight control logic, vertical takeoff control logic, flight range extension control logic, vertical landing control logic, and emergency flight control logic.

6. The control method for a multi-purpose low-altitude aircraft according to claim 5, characterized in that, When the multi-purpose low-altitude aircraft is in the parking mode, and the flight controller Hfcu receives a flight request and an instruction that the vehicle battery pack (123) and the power battery pack (220) are ready, the multi-purpose low-altitude aircraft executes the standby flight control logic. Under the standby flight control logic, the flight controller Hfcu switches the multi-purpose low-altitude aircraft into vertical take-off and landing mode, and sends high-voltage commands to the first power domain controller Pdcu1 and the second power domain controller Pdcu2, while executing the vertical take-off control logic.

7. The control method for a multi-purpose low-altitude aircraft according to claim 6, characterized in that, In the second assembly state, power requirements are issued to the first power domain controller Pdcu1 and the second power domain controller Pdcu2. During the vertical takeoff control logic, the flight controller Hfcu collects the altitude data, meteorological data, and acoustic data of the multi-purpose low-altitude aircraft, and calculates the first target power requirement in combination with the target takeoff and landing altitude of the multi-purpose low-altitude aircraft. The first target power requirement is then transmitted to the first power domain controller Pdcu1. The first power domain controller Pdcu1 sends a corresponding torque command to the first main control unit MCU1 in the first power domain controller Pdcu1 according to the first target power requirement. The first main control unit MCU1 controls the operating state of the rotor propeller (240) in the Evtol powertrain (200) according to the torque command.

8. The control method for a multi-purpose low-altitude aircraft according to claim 7, characterized in that, When the multi-purpose low-altitude aircraft reaches the target take-off and landing altitude, the multi-purpose low-altitude aircraft executes flight range extension control logic; Under the flight range extension control logic, the flight controller Hfcu provides the first power domain controller Pdcu1 with a second target power requirement to maintain the target take-off and landing altitude. At the same time, the flight controller Hfcu calculates a third target power requirement based on the target take-off and landing altitude and the speed requirement of the multi-purpose low-altitude aircraft, and transmits the third target power requirement to the second power domain controller Pdcu2. Among them, the second target power demand gradually decreases, the third target power demand gradually increases, and when the second target power demand decreases to zero, the first power domain controller Pdcu1 sends a zero torque command to the first main control unit MCU1. Under the flight range extension control logic, the second power domain controller Pdcu2 provides the second main control unit MCU2 with instructions to control the engagement of the electromagnetic clutch (122), and the generator (121) operates and charges the power battery pack (220).

9. The control method for a multi-purpose low-altitude aircraft according to claim 8, characterized in that, When the multi-purpose low-altitude aircraft reaches directly above the destination, the multi-purpose low-altitude aircraft executes the vertical landing control logic; Under the vertical landing control logic, the flight controller Hfcu calculates the fourth target power requirement based on the altitude data, meteorological data, and acoustic data of the multi-purpose low-altitude aircraft, and transmits the fourth target power requirement to the first power domain controller Pdcu1. The first power domain controller Pdcu1 sends a corresponding torque command to the first main control unit MCU1 in the first power domain controller Pdcu1 based on the fourth target power requirement. The flight controller Hfcu provides the fifth target power requirement to the second power domain controller Pdcu2. Among them, the fourth target power requirement gradually increases, while the fifth target power requirement gradually decreases; Under the vertical landing control logic, the second power domain controller Pdcu2 provides the second main control unit MCU2 with a command to control the electromagnetic clutch (122) to disconnect, and the torque command provided by the second main control unit MCU2 to the propeller (140) is gradually reduced to zero; When the flight speed of the multi-purpose low-altitude aircraft decreases to zero, the flight controller Hfcu gradually reduces the fourth target power demand provided to the first power domain controller Pdcu1 until the multi-purpose low-altitude aircraft lands, at which point the control of the fourth target power demand is reduced to zero.

10. The control method for a multi-purpose low-altitude aircraft according to claim 7, characterized in that, The control method further includes: To obtain the usage requirements of the multi-purpose low-altitude aircraft; When the multi-purpose low-altitude aircraft is used as a ground vehicle, the multi-purpose low-altitude aircraft is controlled to be in the first assembly state; When the multi-purpose low-altitude aircraft is used as a flight vehicle, the multi-purpose low-altitude aircraft is controlled to be in the second assembly state; In the first assembly state, the control method further includes: Detects whether the pilot is in an emergency situation, which is triggered by the pilot via a device connected to the flight controller Hfcu via Bluetooth; When the pilot is determined to be in an emergency situation, the multi-purpose low-altitude aircraft executes the emergency flight control logic. Under the emergency flight control logic, the flight controller Hfcu sends a command to the first main control unit MCU1 in the first power domain controller Pdcu1 to control the operation of the rotor propeller (240), so that the rotor propeller (240) drives the tractor (300) to take off. At the same time, the acceleration or deceleration operation under the emergency flight control logic is determined according to the throttle pedal opening value and brake pedal opening value of the tractor (300).

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