Carrier device and control method
By employing a hybrid drive module and switching control in the flying car, efficient switching between different driving modes and the provision of driving force are achieved, solving problems related to safety, environmental adaptability, and economy, and improving driving performance.
Patent Information
- Application Number
- CN202511218299.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-28
- Publication Date
- 2026-01-02
AI Technical Summary
Existing flying cars have poor safety, environmental adaptability, and economy in different scenarios, and their driving performance is unsatisfactory.
A hybrid drive module is used, which connects the flight device and the land device through a switch. The devices can be disconnected or connected in different driving modes, and they share the same hybrid drive module for driving. The power module and the engine module provide driving force to the motor. The controller adjusts the drive mode according to the power value.
It improves safety and environmental adaptability in flight mode, enhances power and economy in different driving modes, optimizes driving performance, and meets the needs of various driving scenarios.
Smart Images
Figure CN121246765A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of drive control technology, and more specifically, to a carrier device and control method. Background Technology
[0002] Flying cars, capable of functioning as vehicles on public roads and flying in the air, represent an emerging mode of transportation, making their power systems and control strategies crucial. Existing hybrid electric vehicles utilize electric motors, engines, generators, and batteries as their power systems to propel the vehicle. Helicopters or aircraft use internal combustion engines as their power systems to drive the vehicle. This separate-drive control method results in lower safety and environmental adaptability in different driving scenarios, poorer fuel economy, and a less than ideal driving experience, failing to meet current driving needs. Summary of the Invention
[0003] In view of this, the purpose of this application is to provide a carrier device and control method to improve the problem of poor driving effect of flying cars in the prior art.
[0004] To address the aforementioned issues, in a first aspect, embodiments of this application provide a carrier device, which includes: a hybrid drive module, a switching component, a flight component, and a land-based component; The hybrid drive module connects the flight device and the land-based device via the switch. In the land-based mode of the carrier device, the switch disconnects the flight device and the hybrid drive module; In the flight mode of the carrier device, the switch disconnects the land-going device and the hybrid drive module; The hybrid drive module is used to provide driving force for the flight device and the land-based device.
[0005] In the above implementation process, the carrier equipment is equipped with flight components required for flight operation and land-based components for land-based operation. The hybrid drive module is connected to the flight components and land-based components via a switch. In different flight modes, the switch can disconnect components in other flight modes, allowing the hybrid drive module to connect to the components required for the specific flight mode. This effectively improves the efficiency and effectiveness of switching between different flight modes. The hybrid drive module provides the necessary driving force to the flight components and land-based components to operate. The land-based and flight modes share the same hybrid drive module, effectively improving the safety and environmental adaptability of the carrier equipment in flight mode. It also enhances the power and economy of the carrier equipment in different flight modes, optimizing the driving performance and meeting the driving needs of various driving scenarios.
[0006] Optionally, the hybrid drive module includes: a power module, a starting module, and a motor; the switching element includes: a first switch and a second switch; The motor connects the power module and the starting module; The power module and the starting module are used to provide driving force for the motor; The motor is connected to the flight device via the first switch; The motor is connected to the land-going device via the second switch; The motor is used to control the operation of the flight device and the land-based device based on driving force.
[0007] In the above implementation process, the hybrid drive module includes an electric power module capable of providing electric driving force, an engine module capable of providing both electric and mechanical driving force, and a motor that drives and controls the operation of the flight and land-based devices based on electric driving force. This multi-module approach provides a hybrid driving force to the flight and land-based devices, effectively improving the driving control performance of the carrier equipment. The motor is connected to the flight and land-based devices respectively via a first and a second switch in the switching unit, enabling stop control when off and normal control when on based on the two switches, effectively improving the efficiency of switching between different driving modes.
[0008] Optionally, the carrier device further includes: a controller; The controller is connected to the power module and the engine module; If the controller determines that the current power value of the power module is lower than or equal to a first preset threshold, the controller controls the power module and the starter module to provide a hybrid driving force to the motor. If the controller determines that the current power level of the power module is higher than the first preset threshold, the controller controls the power module to provide electric driving force to the motor. In the flight mode of the carrier device, the controller is also used to: control the engine module to be in a normally open state.
[0009] In the above implementation process, the carrier device is also equipped with a controller connected to the power module and the engine module. When the controller determines that the current power level in the power module is lower than or equal to a first preset threshold, it indicates that the remaining power of the power module is low. The controller can then control the power module and the engine module to work together to provide hybrid driving force to the motor, so as to provide sufficient driving force for the flight and land-based devices to operate normally when the remaining power is low. When the controller determines that the current power level in the power module is higher than the first preset threshold, it indicates that the power module has a large remaining power. The controller can then directly control the power module to provide electric driving force to the motor, thereby reducing the driving cost of the engine module and improving the economy when the power module and engine module perform hybrid driving. Furthermore, considering the high safety requirements in flight mode, the controller can keep the engine module in a normally open state in flight mode, so that the engine module can handle unexpected situations that may occur during flight mode while in standby mode, further improving the safety of flight mode operation.
[0010] Optionally, if the controller determines that the current power level of the power module is lower than or equal to a second preset threshold, the controller is further configured to control the starting module to provide supplementary driving force to the motor; wherein the second preset threshold is less than the first preset threshold; If the controller determines that the current power value of the power module is higher than the second preset threshold and lower than the first preset threshold, the controller is further configured to control the starter module to work according to the required drive power of the carrier device and the starter module's starter power.
[0011] In the above implementation process, when the power module and the engine module work together to provide hybrid driving force to the motor, a second preset threshold smaller than the first preset threshold can be set. When the controller determines that the current power level in the power module is lower than or equal to the second preset threshold, it indicates that the remaining power level of the power module is very low and the power module cannot provide sufficient electric driving force. The controller can then control the engine module to provide supplementary driving force to the motor to meet the driving requirements of the flight and land-based devices. When the controller determines that the current power level in the power module is higher than the second preset threshold, it indicates that the remaining power level of the power module can provide partial driving force to the motor. The controller can then control the engine module to provide sufficient driving force to the motor based on the required driving power of the carrier equipment and the starting power of the engine module to meet the driving requirements of the flight and land-based devices. The ability to set different sub-modes for power supply during the collaborative operation of the power module and the engine module further optimizes the efficiency of hybrid drive and meets the driving requirements under different driving modes and needs.
[0012] Optionally, the hybrid drive module further includes a coupling device; The coupling device connects the motor and the starting module; The coupling device is connected to the flight device via the first switch and to the land device via the second switch; The coupling device is used to control the operation of the flight device and the land-based device based on dynamic coupling.
[0013] In the above implementation process, considering the different driving forces provided by different modules, in order to improve the efficiency of driving, the hybrid drive module is also equipped with a corresponding coupling device. The coupling device connects the motor and the engine module, and is connected to the flight device and the land device respectively through corresponding switches, so as to perform power coupling between the driving force provided by the engine module and the driving force of the motor through the coupling device, so as to control the flight device and the land device to work. It can integrate or switch the output of different power sources, and realize efficient distribution of driving force, mode switching or hybrid drive.
[0014] Optionally, the carrier device further includes: a clutch, a transmission, and a reducer; The transmission is connected to the engine module via the clutch; The speed reducer is connected to the motor.
[0015] In the above implementation process, the carrier equipment can also be equipped with corresponding clutches, transmissions, and reducers. The transmission is connected to the engine module via a clutch, which transmits or disconnects power between the engine module and the transmission to ensure that the carrier equipment can start smoothly, shift gears, or stop without the engine stalling. The transmission also regulates the speed and torque to improve the efficiency of the engine module. The reducer is connected to the motor and can effectively adjust the higher speed output of the transmission to ensure that the output driving force meets the driving requirements of the carrier equipment.
[0016] Optionally, the power module includes: a power battery, a resistor, and an energy storage capacitor; The power battery, the rheostat, and the energy storage capacitor are connected in parallel. The power battery and / or the energy storage capacitor provide electric driving force for the flight device or the land device; The rheostat is used to adjust the charging power of the power battery and the energy storage capacitor.
[0017] In the above implementation process, the power module may include a power battery, a variable resistor, and an energy storage capacitor connected in parallel. The power battery and the energy storage capacitor form a composite power source to provide corresponding electric driving force for flight or land-based devices. Compared to a power source formed by a single power battery, this application can provide greater discharge power and recharge recovery power, thereby ensuring sufficient power output for the motor based on greater amplification power and recovering more energy based on greater recharge recovery power. Furthermore, the parallel-connected variable resistor can also regulate the charging power of the power battery and energy storage capacitor to reduce the adverse effects of overcharging, further improving the safety of the power module during use.
[0018] Optionally, the starting module includes: an engine and a generator; The engine is connected to the generator, and the engine is used to provide mechanical driving force to the generator; The generator is connected to the motor and is used to provide electric driving force to the motor.
[0019] In the above implementation process, the engine module may include a corresponding engine and a generator. The engine provides the corresponding mechanical driving force to the generator to generate electricity, and the generator provides the electric driving force to the connected motor to drive the motor to control the flight device and the land device to work, which effectively improves the efficiency and stability of the engine module when it performs its functions.
[0020] Optionally, the engine is connected to the flight device and / or the land device, and the engine is also used to provide mechanical driving force for the flight device and / or the land device; The generator is connected to the power module, and the generator is also used to charge the power module.
[0021] In the above implementation process, the engine can also be connected to flight devices and / or land-based devices, directly providing mechanical driving force to drive the flight devices and / or land-based devices to operate. Furthermore, the generator can also be connected to the power module to charge the power module, thus replenishing the power module's remaining power in a timely manner when it is low, ensuring the normal operation of the power module.
[0022] Secondly, embodiments of this application also provide a control method, the method being applied to the carrier device described in any one of the first aspects above, the method comprising: In the land-based mode of the carrier equipment, the control switch disconnects the flight device and the hybrid drive module; In the flight mode of the carrier device, the control switch disconnects the land-going device and the hybrid drive module; The hybrid drive module provides driving force for both the flight device and the land-based device.
[0023] In the above implementation process, under different driving modes, the switching device can disconnect the devices in other driving modes respectively, so that the hybrid drive module can connect to the devices required by the driving mode, effectively improving the efficiency and effectiveness of switching between different driving modes. The hybrid drive module can provide the necessary driving force to the flight devices and land devices to drive them to work.
[0024] In summary, the embodiments of this application provide a carrier device and a control method, in which the land mode and flight mode share the same hybrid drive module for driving, which effectively improves the safety and environmental adaptability of the carrier device in flight mode, while also enhancing the power and economy of the carrier device in different driving modes, thereby optimizing the driving effect of the carrier device and meeting the driving needs in a variety of different driving scenarios. Attached Figure Description
[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0026] Figure 1 This is a schematic diagram of the structure of a carrier device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the specific structure of a carrier device provided in an embodiment of this application; Figure 3 A schematic diagram illustrating a mode switching method provided in an embodiment of this application; Figure 4 A schematic diagram of a power region provided in an embodiment of this application; Figure 5 A flowchart illustrating a control method provided in an embodiment of this application; Figure 6 This is a schematic diagram of the actual structure of the first carrier device provided in the embodiments of this application; Figure 7 This is a schematic diagram of the actual structure of the second type of carrier device provided in the embodiments of this application; Figure 8 This is a schematic diagram of the actual structure of the third carrier device provided in the embodiments of this application; Figure 9 This is a schematic diagram of the actual structure of the fourth carrier device provided in the embodiments of this application; Figure 10 This is a schematic diagram of the actual structure of the fifth carrier device provided in the embodiments of this application; Figure 11 This is a schematic diagram of the actual structure of the sixth carrier device provided in the embodiments of this application; Figure 12 This is a schematic diagram of the actual structure of the seventh carrier device provided in the embodiments of this application.
[0027] Icons: 100-Hybrid drive module; 200-Switch; 300-Flight component; 400-Land component; 110-Power module; 120-Engine module; 130-Motor; 210-First switch; 220-Second switch; 230-Controller; 111-Power battery; 112-Rheostat; 113-Energy storage capacitor; s1-First relay; s2-Second relay; 121-Engine; 122-Generator; 123-Clutch; 124-Transmission; 125-Reducer; 140-Coupling device; 150-Transfer transfer case; 131-First motor; 132-Second motor. Detailed Implementation
[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.
[0029] Currently, hybrid electric vehicles typically use an electric motor, engine, generator, and battery as their power system to drive the vehicle. Helicopters or aircraft use a gasoline engine as their power system to drive the vehicle. This separate drive control method results in lower safety and environmental adaptability in different driving scenarios, poorer fuel economy, and a less satisfactory driving experience, failing to meet current driving needs.
[0030] To address the aforementioned issues, this application provides a carrier device and control method. The land mode and flight mode share the same hybrid drive module for driving, which effectively improves the safety and environmental adaptability of the carrier device in flight mode. At the same time, it enhances the power and economy of the carrier device in different driving modes, thereby optimizing the driving effect of the carrier device and meeting the driving needs in various different driving scenarios.
[0031] Please see Figure 1 , Figure 1This is a schematic diagram of the structure of a carrier device provided in an embodiment of this application. The carrier device may include: a hybrid drive module 100, a switch 200, a flight device 300, and a land-based device 400.
[0032] Optionally, the carrier equipment can be a flying car capable of traveling in the air or on land, or other types of vehicles or drones capable of traveling in the air, on land, or on water.
[0033] For example, the flight device 300 can be a rotor or other device capable of flight, and the land-based device 400 can be a wheel or other device capable of traveling on land. The wheel can include various structures such as front-drive, rear-drive, and four-drive. The carrier device can also be equipped with a propeller or other water-based device. The connection structure of the water-based device is similar to that of the flight device 300 and the land-based device 400, and will not be described in detail here.
[0034] The hybrid drive module 100 is connected to the flight device 300 and the land-going device 400 via a switch 200. In the land-going mode of the carrier device, the switch 200 disconnects the flight device 300 and the hybrid drive module 100. In the flight mode of the carrier device, the switch 200 disconnects the land-going device 400 and the hybrid drive module 100. The hybrid drive module 100 is connected to both the flight device 300 and the land-going device 400 via the switch 200. In different flight modes, the switch 200 can disconnect devices in other flight modes, allowing the hybrid drive module 100 to connect to the devices required for each flight mode, effectively improving the efficiency and effectiveness of switching between different flight modes. The hybrid drive module 100 provides driving force for the flight device 300 and the land-based device 400. It can provide the necessary driving force to drive the flight device 300 and the land-based device 400 to work. The land-based mode and the flight mode share the same hybrid drive module 100 for driving, which effectively improves the safety and environmental adaptability of the carrier equipment in flight mode. At the same time, it improves the power and economy of the carrier equipment in different driving modes, so as to optimize the driving effect of the carrier equipment and meet the driving needs in a variety of different driving scenarios.
[0035] It should be noted that in flight mode, the hybrid drive module 100 is disconnected from the land travel device 400 and connected to the flight device 300, with the hybrid drive module 100 providing the driving force required for flight of the flight device 300. In land travel mode, the hybrid drive module 100 is disconnected from the flight device 300 and connected to the land travel device 400, with the hybrid drive module 100 providing the driving force required for ground travel of the land travel device 400.
[0036] Optionally, please refer to Figure 2, Figure 2 The present application provides a schematic diagram of the specific structure of a carrier device, wherein the hybrid drive module 100 may include: a power module 110, a starting module 120 and a motor 130; the switch 200 may include: a first switch 210 and a second switch 220.
[0037] Optionally, the first switch 210 and the second switch 220 can be configured as devices with disconnection and connection functions, such as disconnection devices.
[0038] The motor 130 is connected to the power module 110 and the engine module 120, which provide driving force to the motor 130. The motor 130 is connected to the flight device 300 via a first switch 210 and to the land device 400 via a second switch 220. The motor 130 is used to control the operation of the flight device 300 and the land device 400 based on the driving force. The hybrid drive module 100 includes the power module 110, which can provide electric driving force; the engine module 120, which can provide both electric and mechanical driving force; and the motor 130, which drives and controls the operation of the flight device 300 and the land device 400 based on the electric driving force. By providing hybrid driving force to the flight device 300 and the land device 400 through multiple modules, the effect of driving and controlling the carrier equipment is effectively improved. The motor 130 is connected to the flight device 300 and the land device 400 through the first switch 210 and the second switch 220 in the switching device 200, respectively, so as to realize the stop control when it is turned off and the normal control when it is turned on based on the two switches, which effectively improves the efficiency of switching between different driving modes.
[0039] Optionally, one or more motors 130 can be set to control the flight device 300 and the land-based device 400, depending on the actual situation and needs.
[0040] Optionally, the carrier equipment may further include: a clutch 123, a transmission 124, and a reducer 125. The transmission 124 is connected to the engine module 120 via the clutch 123, and the reducer 125 is connected to the motor 130. The transmission 124 is connected to the engine module 120 via the clutch 123 to transmit or disconnect power between the engine module 120 and the transmission 124, ensuring that the engine 121 does not stall when the carrier equipment starts, shifts gears, or stops smoothly. The transmission 124 also regulates the speed and torque to improve the efficiency of the engine module 120. The reducer 125 is connected to the motor 130 and can effectively adjust the higher speed output of the transmission 124 to ensure that the output driving force meets the driving requirements of the carrier equipment.
[0041] Optionally, considering the different driving forces provided by different modules, in order to improve the efficiency of driving, the hybrid drive module 100 may further include a coupling device 140. The coupling device 140 connects the motor 130 and the engine module 120. The coupling device 140 is connected to the flight device 300 via a first switch 210 and to the land device 400 via a second switch 220. The coupling device 140 is used to control the operation of the flight device 300 and the land device 400 based on power coupling. The coupling device 140 connects the motor 130 and the engine module 120, and is connected to the flight device 300 and the land device 400 respectively via corresponding switches, so as to perform power coupling between the driving force provided by the engine module 120 and the driving force of the motor 130, thereby controlling the operation of the flight device 300 and the land device 400. This allows for the integration or switching of the outputs of different power sources, achieving efficient distribution of driving force, mode switching, or hybrid drive.
[0042] Optionally, please refer to Figure 3 , Figure 3 This is a schematic diagram of a mode switching embodiment provided in this application. The carrier device may further include: a controller 230, which is connected to the power module 110 and the engine module 120 to transmit data with the power module 110 and the engine module 120 respectively, thereby realizing the switching between pure electric mode and hybrid mode during driving.
[0043] For example, the controller 230 can be a vehicle-mounted system installed on the carrier device, a server that communicates with the carrier device, or other similar devices.
[0044] It should be noted that the hybrid power mode may include: if the controller 230 determines that the current charge value of the power module 110 is lower than or equal to a first preset threshold, the controller 230 controls the power module 110 and the starter module 120 to provide hybrid driving force to the motor 130. When the controller 230 determines that the current charge value in the power module 110 is lower than or equal to the first preset threshold, it indicates that the remaining charge of the power module 110 is low. The controller 230 can control the power module 110 and the starter module 120 to work together to provide hybrid driving force to the motor 130, so as to provide sufficient driving force for the flight device 300 and the land device 400 to work normally when the remaining charge is low.
[0045] It should be noted that the pure electric mode may include: if the controller 230 determines that the current power value of the power module 110 is higher than the first preset threshold, the controller 230 controls the power module 110 to provide electric driving force to the motor 130. When the controller 230 determines that the current power value of the power module 110 is higher than the first preset threshold, it indicates that the power module 110 has a lot of remaining power. The controller 230 can directly control the power module 110 to provide electric driving force to the motor 130, so as to reduce the driving cost of the starter module 120 and improve the economy when the power module 110 and the starter module 120 are driven in a hybrid manner.
[0046] For example, the first preset threshold can be denoted as SOC1. The first preset threshold can be set according to the actual situation. Different first preset thresholds can also be set in different driving modes. For example, the first preset threshold in land driving mode is 30%, and the first preset threshold in flight mode is 40%, etc.
[0047] Optionally, if the controller 230 determines that the current power value of the power module 110, i.e., SOC, is higher than the first preset threshold + ΔSOC1 (e.g., 10%), the controller 230 can also control the mode switching and control the power module 110 to provide separate power to the motor 130.
[0048] Optionally, in the flight mode of the carrier device, the controller 230 is also used to control the engine module 120 to be in a normally open state. Considering the high safety requirements in flight mode, the controller 230 can control the engine module 120 to be in a normally open state in flight mode, so that the engine module 120 can deal with unexpected situations that may occur during flight mode while in standby mode, further improving the safety of driving in flight mode.
[0049] Optionally, when the power module 110 and the starter module 120 work together to provide hybrid driving force to the motor 130, a second preset threshold smaller than the first preset threshold can be set to set different sub-modes according to the second preset threshold.
[0050] It should be noted that sub-mode 1 can be as follows: If the controller 230 determines that the current power level of the power module 110 is higher than the second preset threshold and lower than the first preset threshold, the controller 230 is also used to control the starter module 120 to work according to the required drive power of the carrier equipment and the starter power of the starter module 120. When the controller 230 determines that the current power level of the power module 110 is higher than the second preset threshold, it indicates that the remaining power of the power module 110 can provide part of the driving force for the motor 130. The controller 230 can control the starter module 120 to provide sufficient driving force for the motor 130 according to the required drive power of the carrier equipment and the starter power of the starter module 120 to meet the driving requirements of the flight device 300 and the land device 400.
[0051] It should be noted that sub-mode 2 can be as follows: If the controller 230 determines that the current power level of the power module 110 is lower than or equal to a second preset threshold, the controller 230 is also used to control the starter module 120 to provide supplementary driving force to the motor 130. When the controller 230 determines that the current power level in the power module 110 is lower than or equal to the second preset threshold, it indicates that the remaining power of the power module 110 is very low, and the power module 110 cannot provide sufficient electric driving force. The controller 230 can then control the starter module to provide supplementary driving force to the motor 130 to meet the driving requirements of the flight device 300 and the land-based device 400.
[0052] Optionally, please refer to Figure 4 , Figure 4 This application provides a schematic diagram of a power region. Control measurements for sub-mode 1 may include: such as... Figure 4As shown, based on the required drive power at the engine 121, when the required drive power P_drive_dmd ≤ P1 (in region A), the load is considered low and the engine 121 efficiency is low. At this time, the engine 121 stops, the clutch 123 disengages, and the motor 130 is used to drive the vehicle based on the required torque. When the required drive power P1 < P_drive_dmd ≤ P2 (in region B), the load is considered moderate and the engine 121 efficiency is high. At this time, the clutch 123 engages, and the engine 121 drives the vehicle alone. When the required drive power P2 < P_drive_dmd (in region C), the load is considered large and the engine 121 efficiency is low. At this time, the engine 121 operating power = P2, and the insufficient power is supplemented by multiple motors 130. The power of each motor 130 is (P_drive_dmd - P2) / 2. The control strategy for sub-mode 2 may include: clutch 123 disengaging, engine 121 driving generator 122 to generate electricity, the generated power being the sum of the drive power of multiple motors 130, and the motor 130 that operates is determined based on the required torque. Different sub-modes can be set for power supply during the collaborative operation of the power module 110 and the engine module 120, further optimizing the efficiency of hybrid drive and meeting the drive requirements under different driving modes and needs.
[0053] For example, the second preset threshold can be denoted as SOC2. The second preset threshold can be set according to the actual situation, for example, the first preset threshold is 20%, etc.
[0054] Optionally, the system defaults to sub-mode 1. If the controller 230 determines that the current power value of the power module 110 is higher than the second preset threshold + ΔSOC2 (e.g., 5%), the controller 230 can also control the mode switching from sub-mode 2 to sub-mode 1.
[0055] Optionally, referring to section 2, the power module 110 may include a power battery 111, a variable resistor 112, and an energy storage capacitor 113. The power battery 111, variable resistor 112, and energy storage capacitor 113 are connected in parallel. The power battery 111 and / or energy storage capacitor 113 provide electric driving force for the flight device 300 or the land-based device 400. The variable resistor 112 is used to regulate the charging power of the power battery 111 and the energy storage capacitor 113. The power battery 111 and energy storage capacitor 113 form a composite power supply to provide corresponding electric driving force for the flight device 300 or the land-based device 400. Compared to a power supply formed by a single power battery 111, this application can provide greater discharge power and recharge recovery power, thereby ensuring sufficient power output for the motor 130 based on greater amplification power and recovering more energy based on greater recharge recovery power. Furthermore, the parallel-connected rheostats 112 can also adjust the charging power of the power battery 111 and the energy storage capacitor 113 to reduce the adverse effects of overcharging of the power battery 111 and the energy storage capacitor 113, thereby further improving the safety of the power module 110 during use.
[0056] For example, the energy storage capacitor 113 can be a corresponding supercapacitor, and the rheostat 112 can be a corresponding sliding rheostat 112 or other devices.
[0057] Optionally, the engine module 120 may include an engine 121 and a generator 122, which are connected. The engine 121 provides mechanical driving force to the generator 122, and the generator 122 is connected to a motor 130, providing electric driving force to the motor 130. The engine 121 provides the corresponding mechanical driving force to the generator 122 for power generation, and the generator 122 provides electric driving force to the connected motor 130 to drive the motor 130 to control the flight device 300 and the land-based device 400, effectively improving the efficiency and stability of the engine module 120 when it performs its functions.
[0058] Optionally, the models of engine 121 and generator 122 can be selected according to the actual situation.
[0059] Optionally, engine 121 is connected to flight device 300 and / or land device 400, and engine 121 is also used to provide mechanical driving force for flight device 300 and / or land device 400. Generator 122 is connected to power module 110, and generator 122 is also used to charge power module 110. Engine 121 can also be connected to flight device 300 and / or land device 400, and engine 121 can directly provide mechanical driving force to flight device 300 and / or land device 400 to drive flight device 300 and / or land device 400 to operate. In addition, generator 122 can also be connected to power module 110 to charge power module 110, thereby replenishing the power module 110 in a timely manner when the remaining power of power module 110 is low, so as to ensure the normal operation of power module 110.
[0060] Please see Figure 5 , Figure 5 This is a flowchart illustrating a control method provided in an embodiment of this application. The method is applied to a carrier device in any of the above embodiments and may include steps S510-S530.
[0061] In step S510, in the land mode of the carrier device, the control switch 200 disconnects the flight device 300 and the hybrid drive module 100.
[0062] In step S520, in the flight mode of the carrier device, the control switch 200 disconnects the land travel device 400 and the hybrid drive module 100.
[0063] In step S530, the hybrid drive module 100 provides driving force to the flight device 300 and the land-based device 400.
[0064] Since the principle of the control method in this embodiment is similar to that in the aforementioned embodiment of the carrier device, the implementation of the control method in this embodiment can refer to the description in the aforementioned embodiment of the carrier device, and the repeated parts will not be described again.
[0065] For example, please refer to Figures 6-12 , Figure 6 This is a schematic diagram of the actual structure of the first carrier device provided in the embodiments of this application. Figure 7 This is a schematic diagram of the actual structure of the second type of carrier device provided in the embodiments of this application. Figure 8 This is a schematic diagram of the actual structure of the third carrier device provided in the embodiments of this application. Figure 9 This is a schematic diagram of the actual structure of the fourth carrier device provided in the embodiments of this application. Figure 10 This is a schematic diagram of the actual structure of the fifth carrier device provided in the embodiments of this application. Figure 11 This is a schematic diagram of the actual structure of the sixth carrier device provided in the embodiments of this application. Figure 12 This is a schematic diagram of the actual structure of the seventh carrier device provided in the embodiments of this application.
[0066] Figures 6-7 The structure of a four-drive system using dual motors 130 and three switches (two second switches 220) is described, including an engine 121, a generator 122, a clutch 123, a power battery 111, an energy storage capacitor 113, a rheostat 112, a first relay s1, a second relay s2, a first motor 131, a second motor 132, a reducer 125, a transmission 124, a first switch 210, a second switch 220, and a coupling device 140. Generator 122 is mechanically connected to engine 121. Engine 121 is mechanically connected to clutch 123. Clutch 123 is mechanically connected to transmission 124, and then connected to coupling device 140. First motor 131 is mechanically connected to coupling device 140. Coupling device 140 is connected to second switch 220. Second switch 220 is connected to land vehicle 400. First motor 131 is connected to second switch 221, and transmission 124 is connected to second switch 222. Second motor 132 is mechanically connected to reducer 125. Reducer 125 is mechanically connected to first switch 210. Reducer 125 is directly connected to coupling device 140. Engine 121 and first motor 131 can drive the front axle of land vehicle 400 via second switch 220. Figure 6 ) or rear axle ( Figure 7 The second motor 132 drives the rear axle of the carrier equipment land-going device 400 via the second switch 220. Figure 6 ) or front axle ( Figure 7The first motor 131, the second motor 132, and the engine 121 can be coupled by the coupling device 140, and the flight device 300 can be driven to operate by the first switch 210; the reducer 125 can be set to only one gear, and the gearbox 124 has two or more speed ratios. The energy storage capacitor 113 is electrically connected to the variable resistor 112, the first relay S1, the second relay S2, and the power battery 111 to form a composite power system. This composite power system is also electrically connected to the first motor 131, the second motor 132, and the generator 122. The composite power system can supply power to the first motor 131, the second motor 132, and the generator 122 (when the generator 122 acts as a starter to start the engine 121). The first motor 131 and the second motor 132 can recover braking energy to generate electricity and charge the composite power system. The engine 121 drives the generator 122, which can also generate electricity to charge the composite power system. The generator 122 can also directly supply power to the first motor 131 and the second motor 132. The composite power system is composed of the energy storage capacitor 113, the variable resistor 112, and the power battery 111 connected in parallel. The energy storage capacitor 113 is more resistant to low temperatures than the power battery 111, and can output greater power at low temperatures, thus improving the performance of the power system at low temperatures. The variable resistor 112 can precisely adjust the resistance value. When the regenerative braking power is too large and exceeds the regeneration capacity of the power battery 111 and the energy storage capacitor 113, the resistance value can be adjusted by the variable resistor 112 so that the current flows to the variable resistor 112, shares part of the power, and is converted into heat to dissipate, thus preventing the battery and energy storage capacitor 113 from being overcharged.
[0067] The control strategy for land driving mode may include: the controller 230 can determine the state of charge (SOC) of the power battery 111 in the power module 110, such as... Figure 3 As shown, the default mode is pure electric mode. When the battery SOC is lower than the SOC1 of the land driving mode (e.g., 30%), it enters hybrid mode. When the battery charge is higher than SOC1 (30%) + ΔSOC1 (e.g., 10%), it enters pure electric mode.
[0068] The control strategy for pure electric drive in the land travel mode may include: the first switch 210 is disconnected, the clutch 123 is disconnected, and the engine 121 is shut down. It is judged according to the magnitude of the required torque T_drive of the driver at the motor end. When 0 < T_drive ≤ T1_max, the second switch 220 connected to the second motor 132 is disconnected, the second switch 220 connected to the first motor 131 is connected, the second motor 132 does not work, and the first motor 131 drives the carrier device alone, and the required torque T1_dmd of the first motor 131 = T_drive. When T1_max < T_drive ≤ T1_max + T2_max * i * η (T1_max and T2_max are the maximum driving torque capabilities of the first motor 131 and the second motor 132 respectively, i is the speed ratio of the reducer 125, and η is the efficiency of the reducer 125), the second switch 220 connected to the second motor 132 is connected, the second switch 220 connected to the first motor 131 is connected, the first motor 131 and the second motor 132 jointly drive the carrier device, the required torque T1_dmd of the first motor 131 = min{T_drive / 2, T1_max}, and the required torque T2_dmd of the second motor 132 = (T_drive - T1_dmd) / i / η. The first relay s1 is disconnected. When the driver's required driving power < P_drive_dmd ≤ P_batt_max_dischar (the maximum discharge power capability of the power battery 111), the second relay s2 is disconnected, and the power battery 111 alone provides the required driving power; when P_batt_max_dischar < P_drive_dmd, the second relay s2 is engaged, and the power battery 111 and the energy storage capacitor 113 jointly provide the required driving power. Compared with the traditional system without using the energy storage capacitor 113, the use of the energy storage capacitor 113 can provide a larger and faster power response, better dynamic performance. In addition, it can also reduce the starting frequency of the engine 121, prevent the engine 121 from starting frequently, and improve the NVH experience of the whole vehicle.
[0069] The braking control strategy for pure electric drive in the land travel mode may include: disconnecting the clutch 123 and stopping the engine 121. It is judged according to the magnitude of the driver's motor-side required braking torque T_brake_dmd. When 0 < T_brake_dmd ≤ T1_max_brake (the maximum regenerative torque capacity of the first motor 131), the second switch 220 connected to the second motor 132 is disconnected, the second switch 220 connected to the first motor 131 is connected, the second motor 132 does not work, and the first motor 131 performs braking energy recovery alone. The required braking torque T1_dmd_brake of the first motor 131 = T_brake_dmd; when T1_max_brake < T_brake_dmd ≤ T1_max_brake + T2_max_brake*i / η (T2_max_brake is the maximum braking regeneration torque capacity of the second motor 132), the second switch 220 connected to the second motor 132 is connected, the second switch 220 connected to the first motor 131 is connected, the first motor 131 and the second motor 132 jointly perform braking energy recovery. The required braking torque T1_dmd_brake of the first motor 131 = min{ T_brake_dmd / 2, T1_max_brake}, and the required torque T2_dmd_brake of the second motor 132 = ( T_brake_dmd - T1_dmd_brake)*η / i. Here, both the braking torque and the required braking torque refer to absolute values and are positive values.When the braking demand drives the power such that \(0 < P_{brake\_dmd} \leq P_{batt\_max\_char}\) (the maximum power recovery capacity of the power battery 111), the second relay s2 is disconnected, the first relay s1 is disconnected, and the mechanical brake does not participate. The two motors 130 perform braking energy recovery, and the recovered electric energy flows to the power battery 111. When \(P_{batt\_max\_char} < P_{brake\_dmd} \leq P_{batt\_max\_char}+P_{capa\_max\_char}\), the first relay s1 is disconnected, the second relay s2 is engaged, the mechanical brake does not participate, and the two motors 130 perform braking energy recovery. The electric energy is recovered to the power battery 111 and the energy storage capacitor 113. When \(P_{brake\_dmd}>P_{batt\_max\_char}+P_{capa\_max\_char}\), the temperatures of the four brake discs are detected. When the average temperature of the four brake discs is lower than a certain value \(Tem1\), it is considered that the temperature of the mechanical brake discs is normal and not overheated. At this time, the first relay s1 is disconnected, and S2 is engaged. At this time, the pressure of the mechanical brake master cylinder is controlled so that the mechanical brake bears the excess braking demand. The mechanical braking demand driving power \(P_{mech\_dmd}=P_{brake\_dmd}-P_{batt\_max\_char}-P_{capa\_max\_char}\). At this time, the two motors 130 and the mechanical brake perform braking together. When the average temperature of the four brake discs is higher than a certain value \(Tem2\) (\(Tem2>Tem1\)), it is considered that the temperature of the mechanical brake discs is too high and overheated. At this time, the first relay s1 is engaged, the second relay s2 is engaged, and the rheostat 112 is adjusted to a certain resistance value so that the power consumed by it \(P_{resistance}=P_{brake\_dmd}-P_{batt\_max\_char}-P_{capa\_max\_char}\). At this time, the mechanical brake does not participate, and the two motors 130 perform braking together. In this way, through the application of the rheostat 112, it is possible to prevent the mechanical brake discs from overheating, extend their service life, and ensure the vehicle safety under long downhill or frequent braking conditions.
[0070] The hybrid power control strategy in land driving mode can include the following: Engine 121 start control: Clutch 123 engages, and by default, the power battery 111 supplies power to the generator 122. The generator 122 acts as a starter motor to start the engine 121. At this time, the second relay s2 is disconnected. When the temperature of the power battery 111 is low or the power of the power battery 111 is low, resulting in insufficient power from the power battery 111 to start the engine 121, the second relay s2 engages, and the energy storage capacitor 113 and the power battery 111 jointly supply power to the generator 122 to start the engine 121. This improves the environmental adaptability of the vehicle equipment. Compared with traditional hybrid systems, this system can adapt to lower ambient temperatures because the energy storage capacitor 113 has stronger low-temperature resistance than the power battery 111, and can provide greater power even at lower temperatures, thus starting the engine 121 more easily. Figure 3 As shown, it is divided into hybrid sub-mode 1 and hybrid sub-mode 2. The switching strategy between the two is determined based on the battery's State of Charge (SOC). It defaults to sub-mode 1. When the battery level is below SOC2 (e.g., 20%, where SOC2 is less than SOC1), it switches to sub-mode 2. When the battery level is above SOC2 (e.g., 20%) + ΔSOC2 (e.g., 5%), it switches back to sub-mode 1. The control strategy for hybrid sub-mode 1 is as follows: Figure 4As shown, based on the driving demand of engine 121, when the required driving power P_drive_dmd≤P1 (in region A), the load is considered low and the efficiency of engine 121 is low. At this time, engine 121 stops, clutch 123 disengages, and the first motor 131 or the second motor 132 is driven according to the required torque. The specific strategy is the same as the driving strategy in EV mode, as described above. When the required driving power P1<P_drive_dmd≤P2 (in region B), the load is considered moderate and the efficiency of engine 121 is high. At this time, clutch 123 engages, and engine 121 drives the carrier equipment alone. The second switch 220 connected to the first motor 131 is connected, and the first motor 131 rotates accordingly. The second switch 220 connected to the second motor 132 is disconnected, and the second motor 132 does not participate in the work. When the required drive power P2 < P_drive_dmd (in region C), the load is considered large, and the efficiency of engine 121 is low. At this time, the working power of engine 121 = P2. The insufficient power is supplemented by the first motor 131 and the second motor 132. The power of both the first motor 131 and the second motor 132 is (P_drive_dmd - P2) / 2. The second switch 220 connected to the second motor 132 is connected, and the second switch 220 connected to the first motor 131 is also connected. The control strategy for hybrid sub-mode 2 is as follows: Clutch 123 is disengaged, and engine 121 drives generator 122 to generate electricity. The generated power is the sum of the drive power of the first motor 131 and the second motor 132. The drive mode is determined based on the required torque, whether it is driven by the first motor 131 or by both the first motor 131 and the second motor 132. The specific strategy is the same as the strategy for the EV mode described above.
[0071] The hybrid braking strategy in land mode can include: during braking, clutch 123 disengages, engine 121 idles, and braking energy is recovered by the first motor 131 and the second motor 132 according to the braking torque demand. The specific strategy is the same as the braking control strategy in EV mode. In land mode, whether driving or braking, whether in pure electric mode or hybrid mode, the first switch 210 is disconnected, and the flight device 300 does not operate.
[0072] The flight mode control strategy may include: judging based on the state of charge (SOC) of the power battery 111, defaulting to pure electric flight mode, entering hybrid drive flight mode when the battery charge is lower than the SOC1 of the flight mode (e.g., 40%), and entering pure electric mode when the battery charge is higher than SOC1 + ΔSOC1 (e.g., 10%).
[0073] The control strategy for pure electric drive in flight mode can include: connecting the first switch 210 and disconnecting the second switch 220, thereby reducing drag losses on the front and rear axles of the carrier equipment and improving economy. When clutch 123 is disengaged, engine 121 stops, the first switch 210 engages, and the first motor 131 and the second motor 132 jointly drive the flight device 300. The flight drive torque T_fly_dmd is evenly distributed between the first motor 131 and the second motor 132. The drive torque demand of the first motor 131 is T1_drive_dmd = T_fly_dmd / 2, and the drive torque demand of the second motor 132 is T2_drive_dmd = T_fly_dmd / 2 / i / η (where i is the speed ratio of reducer 125 and η is the efficiency of reducer 125). When the first relay s1 is disconnected and the second relay s2 is engaged, the energy storage capacitor 113 and the power battery 111 jointly provide drive power to the first motor 131 to ensure sufficient and timely power supply, making flight smoother and safer.
[0074] The braking control strategy for pure electric drive in flight mode may include: disengaging clutch 123 and shutting down engine 121. The first switch 210 is engaged, and the first motor 131 and the second motor 132 work together to recover braking energy. The second relay s2 is engaged. When the recovered power P_fly_brake ≤ P_batt_max_char + P_capa_max_char, it is considered normal braking. The first relay s1 is disengaged, and the second switch 220 is disengaged. The recovered electrical energy charges the power battery 111 and the energy storage capacitor 113 to ensure economy. When the recovered power P_fly_brake > P_batt_max_char + P_capa_max_char, it is considered high-intensity emergency braking. At this time, the second switch 220 is engaged, the first switch 210 is engaged, and the clutch 123 is engaged. The resistance of the front and rear axles of the carrier equipment and the engine 121 is fully utilized for deceleration. At the same time, the rheostat 112 adjusts the resistance value to the maximum to ensure that a large enough braking feedback power is consumed, avoiding overcharging and damage to the power battery 111. This multi-mode approach can maximize flight safety.
[0075] The hybrid power control strategy in flight mode can include: the engine 121 start-up strategy is the same as the strategy for starting the engine 121 in HEV mode during land driving. The first switch 210 is connected, and the second switch 220 is disconnected. The clutch 123 is disengaged, and the engine 121 drives the generator 122 to generate electricity. The generated power is the sum of the drive power of the first motor 131 and the second motor 132. The flight drive torque T_fly_dmd is evenly distributed between the first motor 131 and the second motor 132. The drive torque demand of the first motor 131 is T1_drive_dmd = T_fly_dmd / 2, and the drive torque demand of the second motor 132 is T2_drive_dmd = T_fly_dmd / 2 / i / η (where i is the speed ratio of the reducer 125, and η is the efficiency of the reducer 125). The engine 121 runs continuously without interruption, avoiding frequent start-stop cycles, resulting in safer and smoother flight.
[0076] The braking control strategy for hybrid power in flight mode may include: The second relay s2 engages; when the recovered power P_fly_brake ≤ P_batt_max_char + P_capa_max_char, it is considered normal braking; the first relay s1 disengages, the second switch 220 disengages, and the clutch 123 disengages; the first motor 131 and the second motor 132 jointly perform braking recovery, and the recovered electrical energy charges the power battery 111 and the energy storage capacitor 113 to ensure economy; when the recovered power P_fly_brake > P_batt_max_char + P_capa_max_char, the braking control strategy for hybrid power in flight mode may include: the second relay s2 engages; when the recovered power P_fly_brake > P_batt_max_char + P_capa_max_char, it is considered normal braking; the first relay s1 disengages, the second switch 220 disengages, and the clutch 123 disengages; the first motor 131 and the second motor 132 jointly perform braking recovery, and the recovered electrical energy charges the power battery 111 and the energy storage capacitor 113 to ensure economy; when the recovered power P_fly_brake > P_batt_max_char + P_capa_max_char, the braking control strategy for hybrid power in flight mode is: the second relay s2 engages ... When apa_max_char is reached, it is considered a high-intensity emergency braking. The first motor 131 and the second motor 132 perform braking recovery, and the recovered power charges the power battery 111 and the energy storage capacitor 113. At this time, the second switch 220 is engaged, the clutch 123 is engaged, and the resistance of the front and rear axles of the carrier equipment and the resistance of the engine 121 are fully utilized to decelerate. At the same time, the rheostat 112 adjusts the resistance value to the maximum to ensure that a large enough braking feedback power is consumed, and to avoid overcharging and damaging the power battery 111. This multi-method approach can maximize the safety of flight.
[0077] Figures 8-9The structure of a dual-drive system using dual motors 130 and two switches is described, including an engine 121, a generator 122, a clutch 123, a power battery 111, an energy storage capacitor 113, a rheostat 112, a first relay s1, a second relay s2, a first motor 131, a second motor 132, a reducer 125, a transmission 124, a first switch 210, a second switch 220, and a coupling device 140. The generator 122 is mechanically connected to the engine 121; the engine 121 is mechanically connected to the clutch 123; the clutch 123 is mechanically connected to the transmission 124, and then connected to the coupling device 140; the first motor 131 is mechanically connected to the coupling device 140; the coupling device 140 is connected to the first switch 210; the first switch 210 is connected to the flight device 300; the first motor 131 is connected to the second switch 220; the transmission 124 is connected to the second switch 220; the second motor 132 is mechanically connected to the reducer 125; the reducer 125 is connected to the front axle differential. Figure 9 ) or rear axle differential ( Figure 8 ) connection; engine 121 and first motor 131 can drive the front axle of the land-going device 400 of the carrier equipment via second switch 220 ( Figure 8 ) or rear axle ( Figure 9 The second motor 132 drives the rear axle of the carrier equipment land vehicle 400 via the reducer 125. Figure 8 ) or front axle ( Figure 9 The first motor 131 and engine 121 can be power-coupled through coupling device 140, and drive the flight device 300 to operate through the first switch 210; the reducer 125 can be set with only one gear, and the gearbox 124 has two or more speed ratios. The energy storage capacitor 113 is electrically connected to the rheostat 112, the first relay s1, the second relay s2, and the power battery 111 to form a composite power system; the composite power system is electrically connected to the first motor 131, the second motor 132, and the generator 122, and the composite power system can supply power to the first motor 131, the second motor 132, and the generator 122 (when the generator 122 acts as a starter to start the engine 121); the first motor 131 and the second motor 132 can perform braking energy recovery to generate electricity to charge the composite power system, the engine 121 drives the generator 122, and the generator 122 can also generate electricity to charge the composite power system, and the electricity generated by the generator 122 can also be directly supplied to the first motor 131 and the second motor 132.
[0078] Figures 8-9 The control strategy in the embodiment and Figures 6-7 The control strategies in the embodiments are similar, except that the second motor 132 is no longer connected to the front or rear axle of the land vehicle 400 of the carrier device through the disconnection device, and the second motor 132 no longer drives the flight vehicle 300. The repeated content will not be described again.
[0079] Figure 10 The structure of a four-wheel drive system using a single motor 130 and two switches is described, including an engine 121, a generator 122, a clutch 123, a power battery 111, an energy storage capacitor 113, a rheostat 112, a first relay s1, a second relay s2, a motor 130, a transmission 124, a first switch 210, a second switch 220, a coupling device 140, and a transfer case 150. The engine 121 is mechanically connected to the clutch 123, the clutch 123 is mechanically connected to the transmission 124, and the engine 121 is mechanically connected to the generator 122, which can drive the generator 122 to generate electricity; the generator 122 can also act as a starter to start the engine 121. The transmission 124 and the motor 130 are both mechanically connected to the coupling device 140, which is connected to the second switch 220, which is connected to the transfer case 150. The coupling device 140 is also mechanically connected to the first switch 210, which is connected to the flight device 30. The system is as follows: Engine 121 can drive the carrier equipment via clutch 123, transmission 124, coupling device 140, second switch 220, and transfer case 150. Motor 130 can also drive the carrier equipment via coupling device 140, second switch 220, and transfer case 150. Engine 121 can drive the flight device 300 via clutch 123, transmission 124, coupling device 140, and first switch 210. Energy storage capacitor 113 is electrically connected to rheostat 112, first relay S1, second relay S2, and power battery 111 to form a composite power system. This composite power system is electrically connected to motor 130 and can supply power to motor 130. When the carrier equipment is traveling on land, motor 130 can recover braking energy to generate electricity and charge the composite power system.
[0080] Figure 10 The control strategy in the embodiment and Figures 6-7 The control strategies in the embodiments are similar, and repeated content will not be described again.
[0081] Figures 11-12The structure of a dual-drive system using a single motor 130 and two switches is described, including an engine 121, a generator 122, a clutch 123, a power battery 111, an energy storage capacitor 113, a rheostat 112, a first relay s1, a second relay s2, a motor 130, a transmission 124, a first switch 210, a second switch 220, and a coupling device 140. Engine 121 is mechanically connected to clutch 123, clutch 123 is mechanically connected to transmission 124, and engine 121 is mechanically connected to generator 122, which can drive generator 122 to generate electricity. Generator 122 can also act as a starter to start engine 121. Transmission 124 and motor 130 are both mechanically connected to coupling device 140, which is connected to first switch 210 and second switch 220. First switch 210 is connected to flight device 300. Engine 121 can drive the front axle of land vehicle device 400 through clutch 123, transmission 124, coupling device 140, and second switch 220. Figure 11 ) or rear axle ( Figure 12 The motor 130 can be driven by the coupling device 140, the second switch 220, and the front axle of the land-going device 400 of the driving carrier equipment. Figure 11 ) or rear axle ( Figure 12 The engine 121 can drive the flight device 300 through the clutch 123, transmission 124, coupling device 140, and first switch 210. The motor 130 can also drive the flight device 300 through the coupling device 140 and first switch 210. The energy storage capacitor 113 is electrically connected to the rheostat 112, the first relay S1, the second relay S2, and the power battery 111 to form a composite power system. The composite power system is electrically connected to the generator 122 and can supply power to the generator 122. The generator 122 acts as a starter to start the engine 121. The generator 122 can also generate electricity to charge the composite power system. The generator 122 can also directly supply power to the motor 130. The composite power system is also electrically connected to the motor 130 and can supply power to the motor 130. When the carrier equipment is traveling on land, the motor 130 can recover braking energy to generate electricity and charge the composite power system.
[0082] Figures 11-12 The control strategy in the embodiment and Figures 6-7 The control strategies in the embodiments are similar, and repeated content will not be described again.
[0083] In the several embodiments provided in this application, it should be understood that the disclosed device can also be implemented in other ways. The device embodiments described above are merely illustrative; for example, the block diagrams in the accompanying drawings illustrate the possible architecture, functions, and operations of the device according to various embodiments of this application. In this regard, each block in the block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram, and combinations of block diagrams, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0084] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0085] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0086] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.
[0088] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.
Claims
1. A carrier device, characterized in that, The carrier device includes: a hybrid drive module, switching components, flight components, and land-based components; The hybrid drive module connects the flight device and the land-based device via the switch. In the land-based mode of the carrier device, the switch disconnects the flight device and the hybrid drive module; In the flight mode of the carrier device, the switch disconnects the land-going device and the hybrid drive module; The hybrid drive module is used to provide driving force for the flight device and the land-based device.
2. The carrier device according to claim 1, characterized in that, in, The hybrid drive module includes: a power module, a starter module, and a motor; the switching components include: a first switch and a second switch; The motor connects the power module and the starting module; The power module and the starting module are used to provide driving force for the motor; The motor is connected to the flight device via the first switch; The motor is connected to the land vehicle via the second switch; The motor is used to control the operation of the flight device and the land-based device based on driving force.
3. The carrier device according to claim 2, characterized in that, The carrier device further includes: a controller; The controller is connected to the power module and the engine module; If the controller determines that the current power value of the power module is lower than or equal to a first preset threshold, the controller controls the power module and the starter module to provide a hybrid driving force to the motor. If the controller determines that the current power level of the power module is higher than the first preset threshold, the controller controls the power module to provide electric driving force to the motor. In the flight mode of the carrier device, the controller is also used to: control the engine module to be in a normally open state.
4. The carrier device according to claim 3, characterized in that, in, If the controller determines that the current power level of the power module is lower than or equal to a second preset threshold, the controller is further configured to control the starting module to provide supplementary driving force to the motor; wherein the second preset threshold is less than the first preset threshold; If the controller determines that the current power value of the power module is higher than the second preset threshold and lower than the first preset threshold, the controller is further configured to control the starter module to work according to the required drive power of the carrier device and the starter module's starter power.
5. The carrier device according to claim 2, characterized in that, in, The hybrid drive module further includes: a coupling device; The coupling device connects the motor and the starting module; The coupling device is connected to the flight device via the first switch and to the land device via the second switch; The coupling device is used to control the operation of the flight device and the land-based device based on dynamic coupling.
6. The carrier device according to claim 2, characterized in that, The carrier equipment also includes: a clutch, a transmission, and a reducer; The transmission is connected to the engine module via the clutch; The speed reducer is connected to the motor.
7. The carrier device according to claim 2, characterized in that, in, The power module includes: a power battery, a resistor, and an energy storage capacitor; The power battery, the rheostat, and the energy storage capacitor are connected in parallel. The power battery and / or the energy storage capacitor provide electric driving force for the flight device or the land device; The rheostat is used to adjust the charging power of the power battery and the energy storage capacitor.
8. The carrier device according to claim 2, characterized in that, in, The starting module includes: an engine and a generator; The engine is connected to the generator, and the engine is used to provide mechanical driving force to the generator; The generator is connected to the motor and is used to provide electric driving force to the motor.
9. The carrier device according to claim 8, characterized in that, in, The engine is connected to the flight device and / or the land device, and the engine is also used to provide mechanical driving force for the flight device and / or the land device; The generator is connected to the power module, and the generator is also used to charge the power module.
10. A control method, characterized in that, The method is applied to the carrier device according to any one of claims 1-9, and the method includes: In the land-based mode of the carrier equipment, the control switch disconnects the flight device and the hybrid drive module; In the flight mode of the carrier device, the control switch disconnects the land-going device and the hybrid drive module; The hybrid drive module provides driving force for both the flight device and the land-based device.