Docking control method of flying car and land body in flying car

Abstract

This application provides a docking control method for a flying car and a land-based component within the flying car, relating to the field of automotive control technology. The method includes: acquiring deviation parameters between the land-based component and the flying vehicle collected by a detection unit; controlling the land-based component to perform parking adjustments so that the deviation parameters meet preset parking pause conditions; after the parking adjustment is completed, acquiring docking parameters between the land-based component and the flying vehicle; based on the docking parameters, controlling the land-based component to perform docking adjustments; and after the docking adjustments, controlling the land-based component to dock with the flying vehicle. Thus, the docking process between the land-based component and the flying vehicle is completed. During the docking process, only multiple adjustments to the land-based component are needed to precisely control and achieve docking between the land-based component and the flying vehicle. Furthermore, the docking process is collision-free, ensuring the safety and reliability of the docking between the land-based component and the flying vehicle.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and more specifically, to a docking control method for a flying car and a land-based body in the flying car. Background Technology

[0002] A flying car is an air transportation vehicle with dual land and air capabilities. Using flying cars can significantly shorten travel time and reduce road traffic, thereby improving travel efficiency and safety. A flying car consists of two parts: a land-based body and an air-based body. It can achieve flight through the air-based body and ground driving through the land-based body, allowing for flexible switching between these two modes of operation.

[0003] Docking process control is a crucial aspect of the control process for the integration of the land-based and air-based components of a flying car. How to control the docking of the land-based and air-based components in a flying car is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by providing a docking control method for a flying car and a land-based component within the flying car, so as to solve the problem of controlling the docking of the land-based component and the flying car, thereby enabling the docking process to be carried out safely and accurately.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a docking control method for a flying car, the flying car comprising: a land-based body and a flying body, wherein a detection unit is disposed on a slide of the land-based body; the method includes:

[0007] The deviation parameters between the land-based body and the flying body, collected by the detection unit, are obtained. The deviation parameters include: longitudinal angle, lateral distance, and longitudinal distance.

[0008] Based on the deviation parameter, the land vehicle is controlled to perform parking adjustments so that the deviation parameter meets the preset parking pause conditions.

[0009] The docking parameters of the land vehicle and the flying vehicle are obtained when the deviation parameters meet the preset parking pause conditions. Based on the docking parameters, the land vehicle is controlled to make docking adjustments, and after the docking adjustments, the land vehicle and the flying vehicle are controlled to dock.

[0010] Optionally, the preset parking suspension conditions include: the longitudinal angle between the land vehicle and the flying vehicle is less than or equal to a first threshold, the lateral distance between the land vehicle and the flying vehicle is less than or equal to a second threshold, and the longitudinal distance between the land vehicle and the flying vehicle is less than or equal to a third threshold.

[0011] Optionally, the docking parameters include: the height difference between the upper surface of the slide and the lower surface of the flying body;

[0012] Optionally, the parking adjustment includes: longitudinal angle adjustment, lateral distance adjustment and longitudinal distance adjustment.

[0013] Optionally, controlling the land vehicle to perform parking adjustments based on the deviation parameter includes:

[0014] Based on the deviation parameter, the longitudinal angle of the land vehicle is adjusted.

[0015] Based on the deviation parameter, the terrestrial vehicle is controlled to adjust its lateral distance.

[0016] Based on the deviation parameter, the longitudinal distance of the land vehicle is adjusted.

[0017] Optionally, controlling the longitudinal angle adjustment of the land vehicle based on the deviation parameter includes:

[0018] Based on the longitudinal angle in the deviation parameter, the land vehicle is controlled to perform multiple longitudinal angle adjustments, and the longitudinal angle after each adjustment is obtained;

[0019] If the adjusted longitudinal angle is less than or equal to the first threshold, then the longitudinal angle adjustment of the land vehicle is determined to be complete.

[0020] Optionally, controlling the terrestrial body to adjust its lateral distance based on the deviation parameter includes:

[0021] The lateral distance after the longitudinal angle adjustment is obtained, and the lateral distance after the longitudinal angle adjustment is obtained is controlled to perform multiple lateral distance adjustments on the land vehicle, and the lateral distance after each adjustment is obtained;

[0022] If the adjusted lateral distance is less than or equal to the second threshold, then the lateral distance adjustment of the land vehicle is determined to be complete.

[0023] Optionally, controlling the longitudinal distance adjustment of the land vehicle based on the deviation parameter includes:

[0024] Obtain the longitudinal distance after the lateral distance adjustment, and based on the longitudinal distance after the lateral distance adjustment, control the land vehicle to perform multiple longitudinal distance adjustments, and obtain the longitudinal distance after each longitudinal distance adjustment;

[0025] If the longitudinal angle after longitudinal distance adjustment is less than or equal to the third threshold, then the longitudinal distance adjustment of the land vehicle is determined to be completed.

[0026] Optionally, controlling the land vehicle to perform multiple longitudinal angle adjustments based on the longitudinal angle in the deviation parameter includes:

[0027] Obtain the first longitudinal angle after the previous longitudinal angle adjustment;

[0028] If the first longitudinal angle is greater than the first threshold and the direction is positive, then the first longitudinal angle is adjusted to a first preset value in the negative direction. The first preset value is positively correlated with the size of the first longitudinal angle.

[0029] If the first longitudinal angle is greater than the first threshold and the direction is negative, then the first longitudinal angle is adjusted to the first preset value along the positive direction.

[0030] Optionally, controlling the land vehicle to perform multiple lateral distance adjustments based on the lateral distance adjusted by the longitudinal angle includes:

[0031] Get the first horizontal distance after the previous horizontal distance adjustment;

[0032] If the first lateral distance is greater than the second threshold and the direction is positive, then the first lateral distance is adjusted to a second preset value along the negative direction. The second preset value is positively correlated with the magnitude of the first lateral distance.

[0033] If the first lateral distance is greater than the second threshold and the direction is negative, then the first lateral distance is adjusted to a second preset value along the positive direction.

[0034] Optionally, controlling the land vehicle to perform multiple longitudinal distance adjustments based on the longitudinal distance adjusted by the lateral distance includes:

[0035] Get the first vertical distance after the previous vertical distance adjustment;

[0036] If the first longitudinal distance is greater than the third threshold and the direction is positive, then the first longitudinal distance is adjusted to a third preset value in the negative direction. The third preset value is positively correlated with the magnitude of the first longitudinal distance.

[0037] If the first longitudinal distance is greater than the third threshold and the direction is negative, then the first longitudinal distance is adjusted to a third preset value along the positive direction.

[0038] Optionally, before controlling the land vehicle to perform parking adjustments based on the deviation parameter, the method further includes:

[0039] The suspension on the land vehicle is controlled to perform height adjustment so that the height difference between the upper surface of the slide and the rear surface of the flight vehicle is less than a preset height difference.

[0040] Optionally, controlling the land vehicle to perform docking adjustments based on the docking parameters includes:

[0041] Based on the docking parameters, the land vehicle is controlled to perform multiple slide height adjustments, and the height difference between the upper surface of the slide and the lower surface of the flying vehicle is obtained after each slide height adjustment.

[0042] If the height difference between the upper surface of the slide and the lower surface of the aircraft after the slide height adjustment is less than or equal to the fourth threshold, the slide is controlled to extend and adjust until the preset stop extension condition is met.

[0043] Optionally, controlling the land-based body to perform multiple slide height adjustments based on the docking parameters includes:

[0044] Obtain the first height difference after the previous slide height adjustment;

[0045] If the first height difference is greater than the fourth threshold and the direction is positive, then the first height difference is adjusted to a fourth preset value in the negative direction. The fourth preset value is positively correlated with the magnitude of the first height difference.

[0046] Optionally, controlling the docking of the land-based vehicle with the air-based vehicle includes:

[0047] Check whether the ring lock on the slide and the tow hook on the aircraft are properly engaged;

[0048] If so, the ring lock on the slide will be controlled to perform a locking operation.

[0049] Secondly, embodiments of this application also provide a land-based component in a flying car, comprising: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the flying car is in operation, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method provided in the second aspect.

[0050] The beneficial effects of this application are:

[0051] This application provides a docking control method for a flying car and a land vehicle in the flying car. The method involves acquiring deviation parameters between the land vehicle and the flying vehicle, collected by a detection unit. These deviation parameters include longitudinal angle, lateral distance, and longitudinal distance. Based on the deviation parameters, the method controls the land vehicle to perform parking adjustments so that the deviation parameters meet preset parking conditions. After the parking adjustment is completed, docking parameters between the land vehicle and the flying vehicle are acquired. Based on the docking parameters, the method controls the land vehicle to perform docking adjustments, and after the docking adjustments, the method controls the land vehicle to dock with the flying vehicle. In this scheme, the docking process between the land-based vehicle and the flying vehicle is divided into two stages: a parking adjustment stage and a docking adjustment stage. A detection unit on the land-based vehicle's slide collects the deviation parameters between the land-based and flying vehicles in real time. Based on these deviation parameters, the land-based vehicle is controlled to perform parking adjustments to ensure that the land-based and flying vehicles are in a close proximity state after the adjustments. Then, docking parameters are acquired, and the land-based vehicle is controlled to perform docking adjustments to ensure that the height difference between the upper surface of the land-based vehicle's slide and the lower surface of the flying vehicle meets a preset height error range. After the docking adjustments, the land-based and flying vehicles dock, thus completing the docking process. Therefore, the entire docking control process of this scheme only requires multiple adjustments to the land-based vehicle to accurately control the docking of the land-based and flying vehicles, and the docking process is collision-free, ensuring the safety and reliability of the docking. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This application provides a schematic diagram of the structure of a flying car according to an embodiment of the present application.

[0054] Figure 2 A schematic diagram illustrating the docking process between a land-based vehicle and a flying vehicle, provided in an embodiment of this application;

[0055] Figure 3 A flowchart illustrating a docking control method for a flying car provided in an embodiment of this application;

[0056] Figure 4 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0057] Figure 5A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0058] Figure 6 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0059] Figure 7 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0060] Figure 8 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0061] Figure 9 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0062] Figure 10 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0063] Figure 11 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0064] Figure 12 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0065] Figure 13 A flowchart illustrating another docking control method for a flying car provided in this application embodiment;

[0066] Figure 14 This is a schematic diagram of the structure of a land vehicle provided in an embodiment of this application.

[0067] Icons: 100 - Flying car; 1 - Land vehicle; 2 - Flying vehicle; 3 - Detection unit. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0069] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0070] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0071] First, the technical terms used in this application will be introduced.

[0072] 1. Land-based vehicle refers to the part of a flying car used when it travels on the ground.

[0073] 2. The flying body refers to the part of a flying car used when it is flying in the air.

[0074] Optionally, to enable a smooth switching between flight and ground modes for the flying car, the flying body and the ground-based body are designed as independent modules, with mode switching achieved through mechanical connection or separation. Therefore, this application provides a docking control scheme for a flying car to address how to achieve docking control between the flying body and the ground-based body, ensuring a safe and precise docking process.

[0075] Optionally, refer to Figure 1 The diagram shown is a structural schematic of a flying car provided in an embodiment of this application. Figure 1 As shown, the flying car 100 includes: a land vehicle 1 and a flying vehicle 2, and a detection unit 3 is installed on the slide of the land vehicle 1.

[0076] For example, the detection unit 3 can be an ultrasonic sensor, a laser rangefinder, an infrared sensor, or a vision sensor. The detection unit can collect deviation information between the land-based and air-based objects in real time. This deviation information includes: longitudinal angle, lateral distance, and longitudinal distance.

[0077] Understandable, for reference Figure 2 As shown, Figure 2 The left side is the terrestrial body. Figure 2 The flying vehicle is located on the right side of the center. During the docking process between the land-based vehicle and the flying vehicle, the following requirements must be observed:

[0078] 1. During the docking process, when the land vehicle approaches the flying vehicle, it is necessary to ensure that the longitudinal angle (YawAngle) between the land vehicle and the flying vehicle is less than or equal to the first threshold; and that the lateral deviation (dY) between the land vehicle and the flying vehicle is less than or equal to the second threshold; and that the longitudinal distance (dX) between the rear of the land vehicle and the rear surface of the flying vehicle is less than or equal to the third threshold, so that a collision does not occur.

[0079] 2. After fulfilling the above three requirements, the docking process needs to control the height difference dZ between the upper surface of the land vehicle's slide and the lower surface of the aircraft. At the same time, the slide needs to be extended to ensure that the upper surface of the slide is lower than the lower surface of the aircraft so that the ring lock on the slide can accurately dock with the locking hook installed on the lower surface of the aircraft and complete the locking of the ring lock.

[0080] This completes the docking control between the flying vehicle and the land-based vehicle.

[0081] The following will explain the implementation principle and corresponding beneficial effects of the control method steps for the flying car provided in this application through several specific embodiments.

[0082] refer to Figure 3 The diagram shown is a flowchart illustrating a docking control method for a flying car according to an embodiment of this application. Optionally, the execution entity of this method can be a control unit on the land-based body of the flying car. It should be understood that in other embodiments, the order of some steps in the control method for the flying car can be interchanged according to actual needs, or some steps can be omitted or deleted. Figure 3 As shown, the method includes:

[0083] S301. Obtain the deviation parameters between the land-based and air-based objects collected by the detection unit.

[0084] The deviation parameters include: longitudinal angle, lateral distance, and longitudinal distance.

[0085] Optionally, the suspension height of the land vehicle needs to be adjusted to the default value first. This default value can be set based on experience so that when the land vehicle and the flying vehicle are on the same level ground, the laser rangefinder on the land vehicle's slide can illuminate the rear surface of the flying vehicle, with a certain margin.

[0086] In this embodiment, for example, continuing to refer to Figure 2 As shown, the longitudinal angle YawAngle, lateral distance dY, and longitudinal distance dX between the land vehicle and the flying vehicle can be collected in real time by a laser rangefinder, and the collected deviation parameters are sent to the control unit in the land vehicle.

[0087] S302. Based on the deviation parameters, control the land vehicle to adjust its parking position so that the deviation parameters meet the preset parking pause conditions.

[0088] For example, the parking suspension condition is that the longitudinal angle YawAngle, the lateral distance dY, and the longitudinal distance dX between the land vehicle and the flying vehicle all meet the preset error range.

[0089] The parking adjustment process involves continuously adjusting the parking posture of the land vehicle to ensure it aligns with that of the aircraft. Therefore, after the parking adjustment is complete, the central axis of the land vehicle and the central axis of the aircraft are aligned, and the longitudinal distance between the rear of the land vehicle and the rear surface of the aircraft reaches approximately 10 cm. This means that the deviation parameters of the land vehicle and the aircraft both meet the preset error range.

[0090] Optionally, in this scheme, the docking process between the land vehicle and the flying vehicle is divided into two stages: the approach process between the land vehicle and the flying vehicle and the docking process between the land vehicle's sliding platform lock and the flying vehicle's tow hook.

[0091] During the approach between the land vehicle and the flying vehicle, the land vehicle needs to be controlled to make multiple parking adjustments based on the longitudinal angle YawAngle, lateral distance dY, and longitudinal distance dX between the land vehicle and the flying vehicle. This ensures that after the parking adjustment, the above-mentioned deviation parameters between the land vehicle and the flying vehicle all meet the preset error range. Then, it can be determined that the approach process between the rear of the land vehicle and the rear surface of the flying vehicle is complete, and the parking adjustment ends.

[0092] S303. Obtain the docking parameters of the land vehicle and the air vehicle under the preset parking pause conditions, based on the deviation parameters, control the land vehicle to make docking adjustments, and control the land vehicle and the air vehicle to dock after the docking adjustments.

[0093] Optionally, after parking adjustments are completed, the docking process between the land-based vehicle and the flying vehicle begins. First, a laser rangefinder sensor is used to collect the height difference dZ between the upper surface of the land-based vehicle's sliding platform and the lower surface of the flying vehicle in real time. Based on the docking parameters, the land-based vehicle is controlled to perform multiple docking adjustments to ensure that the height difference between the upper surface of the sliding platform and the lower surface of the flying vehicle meets the preset height error range after the adjustments. After the adjustments, the land-based vehicle and the flying vehicle are docked, thus completing the docking process. Therefore, the entire docking control process of this solution only requires multiple adjustments to the land-based vehicle to precisely control the docking between the land-based and flying vehicles, ensuring safety and reliability during docking without collisions.

[0094] In summary, this application provides a docking control method for a flying car, which acquires deviation parameters between the land vehicle and the flying vehicle collected by a detection unit. The deviation parameters include: longitudinal angle, lateral distance, and longitudinal distance. Based on the deviation parameters, the land vehicle is controlled to perform parking adjustments so that the deviation parameters meet preset parking pause conditions. After the parking adjustment is completed, docking parameters between the land vehicle and the flying vehicle are acquired. Based on the docking parameters, the land vehicle is controlled to perform docking adjustments, and after the docking adjustments, the land vehicle and the flying vehicle are controlled to dock. In this scheme, the docking process between the land-based vehicle and the flying vehicle is divided into two stages: a parking adjustment stage and a docking adjustment stage. A detection unit on the land-based vehicle's slide collects the deviation parameters between the land-based and flying vehicles in real time. Based on these deviation parameters, the land-based vehicle is controlled to perform parking adjustments to ensure that the land-based and flying vehicles are in a close proximity state after the adjustments. Then, docking parameters are acquired, and the land-based vehicle is controlled to perform docking adjustments to ensure that the height difference between the upper surface of the land-based vehicle's slide and the lower surface of the flying vehicle meets a preset height error range. After the docking adjustments, the land-based and flying vehicles dock, thus completing the docking process. Therefore, the entire docking control process of this scheme only requires multiple adjustments to the land-based vehicle to accurately control the docking of the land-based and flying vehicles, and the docking process is collision-free, ensuring the safety and reliability of the docking.

[0095] Optionally, the longitudinal angle between the land vehicle and the flying vehicle is less than or equal to a first threshold, the lateral distance between the land vehicle and the flying vehicle is less than or equal to a second threshold, and the longitudinal distance between the land vehicle and the flying vehicle is less than or equal to a third threshold.

[0096] The first threshold, the second threshold, and the third threshold are all parameter values ​​set based on experience, and can also be adjusted according to the actual application scenario.

[0097] In one feasible approach, during parking adjustment, if the longitudinal angle between the land vehicle and the flying vehicle is detected to be less than or equal to a first threshold, and the lateral distance between the land vehicle and the flying vehicle is less than or equal to a second threshold, and the longitudinal distance between the land vehicle and the flying vehicle is less than or equal to a third threshold, then the deviation parameters are determined to meet the parking pause conditions. This can improve parking adjustment efficiency.

[0098] Optionally, the docking parameters include the height difference dZ between the upper surface of the slide and the lower surface of the aircraft. That is, during the docking adjustment process, the height difference between the upper surface of the slide and the lower surface of the aircraft is adjusted multiple times to ensure that the height difference between the upper surface of the slide and the lower surface of the aircraft meets the preset height threshold, thereby achieving precise and error-free docking control.

[0099] Therefore, during the docking process, it is necessary to control the land vehicle to approach the aircraft to ensure that the longitudinal angle (YawAngle) between the land vehicle and the aircraft is within a preset error range; and, during the docking process, it is necessary to control the land vehicle to approach the aircraft to ensure that the lateral deviation (dY) between the land vehicle and the aircraft is within a preset error range; and, during the docking process, it is necessary to control the longitudinal distance (dX) between the rear of the land vehicle and the rear surface of the aircraft to be within a preset error range (approximately 10cm) to prevent collision; and after fulfilling the above three requirements, the docking process must control the height difference (dZ) between the upper surface of the docking slide of the land vehicle and the lower surface of the aircraft to be within a certain error range.

[0100] Optionally, the docking control process provided in this application mainly involves error detection and accuracy assurance in four dimensions: longitudinal, lateral, vertical, and yaw directions, so that the docking process can be achieved safely and accurately.

[0101] The following examples will explain in detail how to achieve parking adjustment.

[0102] Optionally, parking adjustment includes: longitudinal angle adjustment, lateral distance adjustment, and longitudinal distance adjustment. In this solution, parking adjustment is divided into three stages: longitudinal angle adjustment, lateral distance adjustment, and longitudinal distance adjustment.

[0103] Optionally, refer to Figure 4 As shown, step S302 above includes:

[0104] S401. Based on the deviation parameters, control the longitudinal angle adjustment of the land vehicle.

[0105] S402. Based on the deviation parameters, control the lateral distance adjustment of the land vehicle.

[0106] S403. Based on the deviation parameters, control the longitudinal distance adjustment of the land vehicle.

[0107] Optionally, in this scheme, in order to improve the parking adjustment efficiency of the land vehicle, it is proposed to control the land vehicle to adjust the longitudinal angle based on the deviation parameter; after the longitudinal angle adjustment is completed, the land vehicle is controlled to adjust the lateral distance based on the deviation parameter; after the lateral distance adjustment is completed, the land vehicle is controlled to adjust the longitudinal distance based on the deviation parameter until the preset parking stopping condition is met, then the parking adjustment is determined to be completed.

[0108] Optionally, refer to Figure 5 As shown, step S401 above includes:

[0109] S501. Based on the longitudinal angle in the deviation parameters, control the land vehicle to perform multiple longitudinal angle adjustments and obtain the longitudinal angle after each adjustment.

[0110] S502. If the longitudinal angle after adjustment is less than or equal to the first threshold, then the longitudinal angle adjustment of the land vehicle is determined to be completed.

[0111] In this embodiment, the longitudinal angle of the land vehicle can be adjusted multiple times based on the longitudinal angle in the deviation parameters. After each adjustment, the longitudinal angle between the land vehicle and the flying vehicle is collected in real time by a laser rangefinder. If the adjusted longitudinal angle is less than or equal to a first threshold, the adjustment ends. If not, the adjustment continues to be performed again based on the current adjusted longitudinal angle, until the adjusted longitudinal angle is less than or equal to the first threshold.

[0112] Optionally, refer to Figure 6 As shown, step S402 above includes:

[0113] S601. Obtain the lateral distance after the longitudinal angle adjustment, and control the land vehicle to perform multiple lateral distance adjustments based on the lateral distance after the longitudinal angle adjustment, and obtain the lateral distance after each lateral distance adjustment.

[0114] S602. If the adjusted lateral distance is less than or equal to the second threshold, then the lateral distance adjustment of the land vehicle is determined to be complete.

[0115] It is understandable that after adjusting the longitudinal angle, the central axis of the land vehicle and the central axis of the flight vehicle may or may not be on the same horizontal line (i.e., they may be parallel to each other). Therefore, it is also necessary to adjust the central axis of the land vehicle and the central axis of the flight vehicle to the same horizontal line based on the lateral distance after adjusting the longitudinal angle.

[0116] In one feasible approach, for example, after the longitudinal angle adjustment is completed, the lateral distance between the land vehicle and the flying vehicle after the longitudinal angle adjustment is first collected in real time by a laser rangefinder. Based on the lateral distance between the land vehicle and the flying vehicle, the land vehicle is controlled to perform multiple lateral distance adjustments. After each lateral distance adjustment, the lateral distance between the land vehicle and the flying vehicle is collected in real time by a laser rangefinder. It is determined whether the lateral distance after the lateral distance adjustment is less than or equal to a second threshold. If so, the lateral distance adjustment ends; otherwise, the land vehicle is controlled to perform lateral distance adjustment again based on the current lateral distance after the lateral distance adjustment, until the lateral distance after the lateral distance adjustment is less than or equal to the second threshold.

[0117] The rear surface of the flying vehicle is coated with reflective enhancement material (or film) and reflective attenuation material. If the laser rangefinder receives strong reflection, it indicates that the lateral distance between the land vehicle and the flying vehicle is within the allowable range; otherwise, it is outside the allowable range. If the lateral distance exceeds the allowable range, the deviation value is fed back to the land vehicle, requesting it to re-park and adjust its posture. The land vehicle automatic parking control system can visually identify the lateral distance between the land vehicle and the flying vehicle. Although the recognition accuracy is low, it can identify the direction of deviation when the deviation exceeds the allowable range.

[0118] Optionally, refer to Figure 7 As shown, step S403 above includes:

[0119] S701. Obtain the longitudinal distance after the lateral distance adjustment, and control the land vehicle to perform multiple longitudinal distance adjustments based on the longitudinal distance after the lateral distance adjustment, and obtain the longitudinal distance after each longitudinal distance adjustment.

[0120] Optionally, after the lateral distance adjustment ends, the longitudinal distance between the land vehicle and the flying vehicle after the lateral distance adjustment is collected in real time by the laser rangefinder. Based on the longitudinal distance between the land vehicle and the flying vehicle, the land vehicle is controlled to perform multiple longitudinal distance adjustments. After each longitudinal distance adjustment, the longitudinal distance between the land vehicle and the flying vehicle is collected in real time by the laser rangefinder. If the longitudinal distance after the longitudinal distance adjustment is less than or equal to the third threshold, the longitudinal distance adjustment ends. If not, the land vehicle is controlled to perform longitudinal distance adjustment again based on the current longitudinal distance after the longitudinal distance adjustment, until the longitudinal distance after the longitudinal distance adjustment is less than or equal to the third threshold.

[0121] S702. If the longitudinal angle after longitudinal distance adjustment is less than or equal to the third threshold, then the longitudinal distance adjustment of the land vehicle is determined to be completed.

[0122] Optionally, after the longitudinal distance adjustment is completed, the parking adjustment is considered complete when the distance between the rear of the land vehicle and the rear surface of the flying vehicle reaches approximately 10cm.

[0123] In this scheme, after each adjustment, the deviation parameters between the land vehicle and the flying vehicle can be accurately measured by a laser rangefinder, and the deviation parameters are fed back to the automatic parking system running on the land vehicle to control the land vehicle to make parking adjustments. This can avoid the land vehicle from colliding with the flying vehicle during the parking adjustment process, thus improving the reliability and safety of the parking adjustment.

[0124] The following examples will illustrate how an automatic parking system operating on a land vehicle controls the land vehicle to make multiple longitudinal angle adjustments, multiple lateral distance adjustments, and multiple longitudinal distance adjustments based on deviation parameters.

[0125] Optionally, refer to Figure 8 As shown, step S501 above includes:

[0126] S801, Obtain the first longitudinal angle after the previous longitudinal angle adjustment.

[0127] S802. If the first longitudinal angle is greater than the first threshold and the direction is positive, then the first longitudinal angle is adjusted to the first preset value along the negative direction.

[0128] The first preset value can also be called the adjustment step size of the longitudinal angle.

[0129] The first preset value is positively correlated with the size of the first vertical angle. For example, if the first vertical angle is 20°, the first preset value can be 10°; or if the first vertical angle is 10°, the first preset value can be 5°. That is, the larger the first vertical angle, the larger the first preset value, which ensures both the efficiency and accuracy of the vertical angle adjustment.

[0130] In one feasible approach, for example, if the first threshold is 1°, and after controlling the land vehicle to perform three longitudinal angle adjustments, the first longitudinal angle after the third adjustment is found to be 10°, then it can be determined that the first longitudinal angle is greater than the first threshold and is positive. Therefore, the land vehicle needs to be controlled in the negative direction for the next longitudinal angle adjustment, with an adjustment step size of a first preset value, which is 5°. Thus, it can be determined that the first longitudinal angle after the fourth adjustment is 5°.

[0131] S803. If the first longitudinal angle is greater than the first threshold and the direction is negative, then adjust the first longitudinal angle to the first preset value along the positive direction.

[0132] In another possible implementation, for example, after controlling the land vehicle to perform three longitudinal angle adjustments, if the first longitudinal angle after the third adjustment is -5°, it can be determined that the first longitudinal angle is greater than a first threshold and is negative. Therefore, the land vehicle needs to be controlled in the positive direction for the next longitudinal angle adjustment, with an adjustment step size of a first preset value, which is 2°. Thus, the first longitudinal angle after the fourth adjustment can be determined to be -3°.

[0133] Therefore, based on the size and direction of the first longitudinal angle after the previous longitudinal angle adjustment, the adjustment direction and adjustment step size for the next longitudinal angle adjustment can be determined, thus improving the parking adjustment efficiency of the land vehicle.

[0134] Optionally, refer to Figure 9 As shown, step S601 above includes:

[0135] S901, Get the first horizontal distance after the previous horizontal distance adjustment.

[0136] S902. If the first horizontal distance is greater than the second threshold and the direction is positive, then the first horizontal distance is adjusted to the second preset value along the negative direction.

[0137] The second preset value can also be referred to as the adjustment step size of the lateral distance.

[0138] The second preset value is positively correlated with the size of the first horizontal distance. For example, if the first horizontal distance is 20cm, the second preset value can be 10cm; or if the first horizontal distance is 10cm, the second preset value can be 4cm. That is, the larger the first horizontal distance, the larger the second preset value will be. This ensures both the efficiency and accuracy of the horizontal distance adjustment.

[0139] In one feasible approach, for example, if the second threshold is 0.1cm, and after controlling the land vehicle to perform three lateral distance adjustments, the first lateral distance after the third adjustment is found to be 10cm, then it can be determined that the first lateral distance is greater than the second threshold and is positive. Therefore, the land vehicle needs to be controlled in the negative direction for the next lateral distance adjustment, with an adjustment step size of the second preset value. In this case, the second preset value is 4cm. Therefore, the first lateral distance after the fourth adjustment can be determined to be 6cm.

[0140] S903. If the first horizontal distance is greater than the second threshold and the direction is negative, then adjust the first horizontal distance to the second preset value along the positive direction.

[0141] In another possible implementation, for example, after controlling the land vehicle to perform three lateral distance adjustments, if the first lateral distance after the third adjustment is -5cm, it can be determined that the first lateral distance is greater than a second threshold and is negative. Therefore, the land vehicle needs to be controlled in the positive direction for the next lateral distance adjustment, with an adjustment step size of a second preset value, which is 2cm. Thus, the first lateral distance after the fourth adjustment can be determined to be -3cm.

[0142] Therefore, based on the magnitude and direction of the first lateral distance after the previous lateral distance adjustment, the adjustment direction and adjustment step size for the next lateral distance adjustment can be determined, thus improving the parking adjustment efficiency of the land vehicle.

[0143] Optionally, refer to Figure 10 As shown, step S701 above includes:

[0144] S1001, Obtain the first longitudinal distance after the previous longitudinal distance adjustment.

[0145] S1002. If the first longitudinal distance is greater than the third threshold and the direction is positive, then adjust the first longitudinal distance to the third preset value along the negative direction.

[0146] The third preset value can also be referred to as the adjustment step size of the longitudinal distance.

[0147] The third preset value is positively correlated with the magnitude of the first vertical distance. For example, if the first vertical distance is 40cm, the third preset value can be 10cm; or if the first vertical distance is 20cm, the second preset value can be 5cm. That is, the larger the first vertical distance, the larger the third preset value will be. This ensures both the efficiency and accuracy of the vertical distance adjustment.

[0148] In one feasible approach, for example, if the third threshold is 10cm, and after controlling the land vehicle to perform three longitudinal distance adjustments, the first longitudinal distance after the third adjustment is found to be 20cm, then it can be determined that the first longitudinal distance is greater than the third threshold and is positive. Therefore, the land vehicle needs to be controlled in the negative direction for the next longitudinal distance adjustment, with an adjustment step size of the third preset value. In this case, the third preset value is 5cm. Therefore, the first longitudinal distance after the fourth adjustment can be determined to be 15cm.

[0149] S1003. If the first longitudinal distance is greater than the third threshold and the direction is negative, then adjust the first longitudinal distance to the third preset value along the positive direction.

[0150] In another possible implementation, for example, after controlling the land vehicle to perform three longitudinal distance adjustments, if the first longitudinal distance after the third adjustment is -15cm, it can be determined that the first longitudinal distance is greater than the third threshold and is negative. Therefore, the land vehicle needs to be controlled in the positive direction for the next longitudinal distance adjustment, with the adjustment step size being the third preset value, which is 2cm. Thus, the first longitudinal distance after the fourth lateral distance adjustment can be determined to be -13cm.

[0151] Therefore, the adjustment direction and step size for the next longitudinal distance adjustment can be determined based on the magnitude and direction of the first longitudinal distance after the previous longitudinal distance adjustment, which can improve the parking adjustment efficiency of the land vehicle.

[0152] Optionally, before step S302 above, the method further includes:

[0153] Control the suspension on the land vehicle to perform height adjustment so that the height difference between the upper surface of the slide and the rear surface of the flying vehicle is less than the preset height difference.

[0154] Optionally, in order to make the upper surface of the land vehicle's slide and the rear surface of the aircraft on the same horizontal plane, the suspension on the land vehicle can be controlled to perform height adjustment until the height difference between the upper surface of the slide and the rear surface of the aircraft is less than a preset height difference, then the height adjustment is paused, so that the laser rangefinder on the land vehicle's slide can illuminate the rear surface of the aircraft.

[0155] Optionally, refer to Figure 11 As shown, in step S303 above, based on the docking parameters, the land vehicle is controlled to perform docking adjustments, including:

[0156] S1101. Based on the docking parameters, control the land vehicle to perform multiple slide height adjustments, and obtain the height difference between the upper surface of the slide and the lower surface of the flying vehicle after each slide height adjustment.

[0157] In this embodiment, the land vehicle can be controlled to perform multiple slide height adjustments based on docking parameters. After each adjustment, a laser rangefinder sensor collects the height difference between the upper surface of the slide and the lower surface of the flight vehicle in real time. The system determines if the adjusted height difference is less than or equal to a fourth threshold. If so, the adjustment ends; otherwise, the land vehicle continues to adjust its slide height based on the current height difference, gradually reducing the suspension height until the adjusted slide height is less than or equal to the fourth threshold. For example, if the height difference from the laser rangefinder sensor jumps to more than approximately 50cm, the upper surface of the land vehicle's slide and the lower surface of the flight vehicle are essentially at the same height. Then, the land vehicle's suspension is controlled to continue descending a certain distance as a safety margin.

[0158] Alternatively, the air suspension of each wheel of the land vehicle can be adjusted so that the upper surface of the land vehicle's ramp is on the same horizontal plane as the lower surface of the aircraft.

[0159] S1102. If the height difference between the upper surface of the slide and the lower surface of the aircraft after the slide height adjustment is less than or equal to the fourth threshold, then control the slide to extend and adjust until the preset stop extension condition is met.

[0160] The stopping extension condition is that the ring lock installed on the slide table contacts the tow hook at the bottom of the aircraft. For example, a pressure sensor is installed inside the ring lock. During the extension of the slide table, when the pressure sensor detects that the pressure on the surface of the ring lock exceeds a set threshold, it can be determined that the ring lock has contacted the tow hook at the bottom of the aircraft, thus satisfying the stopping extension condition.

[0161] Optionally, after the slide height adjustment is completed, the slide is controlled to extend slowly until the interlock on the slide touches the tow hook at the bottom of the aircraft, thus meeting the preset stop extension condition, and the slide is controlled to pause the extension. This avoids collisions between the slide and the aircraft during the extension process.

[0162] Optionally, refer to Figure 12 As shown, step S1101 above includes:

[0163] S1201, Obtain the first height difference after the previous slide height adjustment.

[0164] S1202. If the first height difference is greater than the fourth threshold and the direction is positive, then adjust the first height difference to the fourth preset value in the negative direction.

[0165] The fourth preset value is the adjustment step size of the slide height.

[0166] The fourth preset value is positively correlated with the magnitude of the first height difference. For example, if the first height difference is 10cm, the fourth preset value can be 5cm; or if the first height difference is 5cm, the fourth preset value can be 2cm. That is, the larger the first height difference, the larger the fourth preset value will be. This ensures both the efficiency and accuracy of the slide height adjustment.

[0167] In one feasible approach, for example, if the fourth threshold is 0.1cm, after controlling the land vehicle to perform three slide height adjustments, if the first height difference after the third adjustment is 10cm, then it can be determined that the first height difference is greater than the fourth threshold and is positive. Therefore, the land vehicle needs to be controlled in the negative direction for the next slide height adjustment, with an adjustment step size of the fourth preset value. At this point, the third preset value is 5cm. Therefore, it can be determined that the first height difference after the fourth slide height adjustment is 5cm.

[0168] Therefore, the adjustment direction and adjustment step size for the next slide height adjustment can be determined based on the magnitude and direction of the first height difference after the previous slide height adjustment, which can improve the docking adjustment efficiency of the land-based vehicle.

[0169] refer to Figure 13 As shown, controlling the docking of the land-based vehicle and the air-based vehicle in step S303 above includes:

[0170] S1301. Check whether the ring lock on the slide and the tow hook on the aircraft are properly connected.

[0171] S1302. If so, then control the ring lock on the slide to perform the locking operation.

[0172] In this embodiment, after the docking adjustment is completed, a laser rangefinder sensor can be used to detect whether the ring lock on the slide and the tow hook on the aircraft are properly docked. If so, the ring lock on the slide is controlled to perform a locking operation. At this point, the docking process between the ring lock on the land vehicle's slide and the tow hook of the aircraft is completed, realizing the docking of the land vehicle and the aircraft.

[0173] Optionally, the docking control method for the flying car provided in this solution can accurately measure the longitudinal angle, lateral distance, and longitudinal distance between the land vehicle and the flying vehicle, improving the efficiency of parking and adjustment of the land vehicle; it can also accurately measure the height difference between the sliding platform on the land vehicle and the lower surface of the flying vehicle, enabling collision-free and interference-free docking process control. Therefore, this solution achieves error detection and accuracy assurance in four dimensions—longitudinal, lateral, vertical, and yaw—to ensure the safe and precise implementation of the docking process.

[0174] Optionally, to achieve more accurate and closer longitudinal distance measurement between land-based and air-based vehicles, this solution uses a laser rangefinder sensor as the detection unit, compared to solutions that rely on vision or ultrasonic ranging. This enables higher precision and more reliable distance measurement, achieving an accuracy of 1mm, and the laser rangefinder has a very small blind zone of approximately 5cm. Furthermore, this solution allows for more accurate measurement of the height difference between land-based and air-based vehicles, avoiding collisions during docking and ensuring the reliability and safety of the docking process.

[0175] Figure 14 This is a schematic diagram of the structure of a land vehicle on a flying car provided in an embodiment of this application. The land vehicle may integrate a terminal device or a chip of the terminal device. The terminal device may be a computing device with data processing function.

[0176] The land vehicle includes: processor 1101 and memory 1102.

[0177] The memory 1102 is used to store programs, and the processor 1101 calls the programs stored in the memory 1102 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described again here.

[0178] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0179] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0180] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0181] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0182] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. 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.

Claims

1. A method for docking control of an air car, characterized by, The flying car includes: a land-based body and a flying body, wherein a detection unit is installed on the slide of the land-based body; the method includes: The deviation parameters between the land-based body and the flying body, collected by the detection unit, are obtained. The deviation parameters include: longitudinal angle, lateral distance, and longitudinal distance. Based on the deviation parameter, the land vehicle is controlled to perform parking adjustments so that the deviation parameter meets the preset parking pause conditions. The docking parameters of the land vehicle and the flying vehicle are obtained when the deviation parameters meet the preset parking pause conditions. Based on the docking parameters, the land vehicle is controlled to make docking adjustments, and after the docking adjustments, the land vehicle and the flying vehicle are controlled to dock.

2. The method of claim 1, wherein, The preset parking suspension conditions include: the longitudinal angle between the land vehicle and the flying vehicle is less than or equal to a first threshold, the lateral distance between the land vehicle and the flying vehicle is less than or equal to a second threshold, and the longitudinal distance between the land vehicle and the flying vehicle is less than or equal to a third threshold.

3. The method according to claim 1, characterized in that, The docking parameters include the height difference between the upper surface of the slide and the lower surface of the flight body.

4. The method according to claim 1, characterized in that, in, The parking adjustments include: longitudinal angle adjustment, lateral distance adjustment, and longitudinal distance adjustment.

5. The method according to claim 1, characterized in that, The step of controlling the land vehicle to perform parking adjustments based on the deviation parameter includes: Based on the deviation parameter, the longitudinal angle of the land vehicle is adjusted. Based on the deviation parameter, the terrestrial vehicle is controlled to adjust its lateral distance. Based on the deviation parameter, the longitudinal distance of the land vehicle is adjusted.

6. The method according to claim 5, characterized in that, The step of controlling the longitudinal angle adjustment of the land vehicle according to the deviation parameter includes: Based on the longitudinal angle in the deviation parameter, the land vehicle is controlled to perform multiple longitudinal angle adjustments, and the longitudinal angle after each adjustment is obtained; If the adjusted longitudinal angle is less than or equal to the first threshold, then the longitudinal angle adjustment of the land vehicle is determined to be complete.

7. The method according to claim 6, characterized in that, The step of controlling the terrestrial vehicle to adjust its lateral distance based on the deviation parameter includes: The lateral distance after the longitudinal angle adjustment is obtained, and the lateral distance after the longitudinal angle adjustment is obtained is controlled to perform multiple lateral distance adjustments on the land vehicle, and the lateral distance after each adjustment is obtained; If the adjusted lateral distance is less than or equal to the second threshold, then the lateral distance adjustment of the land vehicle is determined to be complete.

8. The method according to claim 7, characterized in that, The step of controlling the longitudinal distance adjustment of the land vehicle according to the deviation parameter includes: Obtain the longitudinal distance after the lateral distance adjustment, and based on the longitudinal distance after the lateral distance adjustment, control the land vehicle to perform multiple longitudinal distance adjustments, and obtain the longitudinal distance after each longitudinal distance adjustment; If the longitudinal angle after longitudinal distance adjustment is less than or equal to the third threshold, then the longitudinal distance adjustment of the land vehicle is determined to be completed.

9. The method according to claim 6, characterized in that, The step of controlling the land vehicle to perform multiple longitudinal angle adjustments based on the longitudinal angle in the deviation parameter includes: Obtain the first longitudinal angle after the previous longitudinal angle adjustment; If the first longitudinal angle is greater than the first threshold and the direction is positive, then the first longitudinal angle is adjusted to a first preset value in the negative direction. The first preset value is positively correlated with the size of the first longitudinal angle. If the first longitudinal angle is greater than the first threshold and the direction is negative, then the first longitudinal angle is adjusted to the first preset value along the positive direction.

10. The method according to claim 7, characterized in that, The step of controlling the land vehicle to perform multiple lateral distance adjustments based on the adjusted longitudinal angle includes: Get the first horizontal distance after the previous horizontal distance adjustment; If the first lateral distance is greater than the second threshold and the direction is positive, then the first lateral distance is adjusted to a second preset value along the negative direction. The second preset value is positively correlated with the magnitude of the first lateral distance. If the first lateral distance is greater than the second threshold and the direction is negative, then the first lateral distance is adjusted to a second preset value along the positive direction.

11. The method according to claim 8, characterized in that, The step of controlling the land vehicle to perform multiple longitudinal distance adjustments based on the longitudinal distance adjusted from the lateral distance includes: Get the first vertical distance after the previous vertical distance adjustment; If the first longitudinal distance is greater than the third threshold and the direction is positive, then the first longitudinal distance is adjusted to a third preset value in the negative direction. The third preset value is positively correlated with the magnitude of the first longitudinal distance. If the first longitudinal distance is greater than the third threshold and the direction is negative, then the first longitudinal distance is adjusted to a third preset value along the positive direction.

12. The method according to claim 1, characterized in that, Before controlling the land vehicle to perform parking adjustments based on the deviation parameter, the method further includes: The suspension on the land vehicle is controlled to perform height adjustment so that the height difference between the upper surface of the slide and the rear surface of the flight vehicle is less than a preset height difference.

13. The method according to claim 1, characterized in that, The step of controlling the land vehicle to perform docking adjustments based on the docking parameters includes: Based on the docking parameters, the land vehicle is controlled to perform multiple slide height adjustments, and the height difference between the upper surface of the slide and the lower surface of the flying vehicle is obtained after each slide height adjustment. If the height difference between the upper surface of the slide and the lower surface of the aircraft after the slide height adjustment is less than or equal to the fourth threshold, the slide is controlled to extend and adjust until the preset stop extension condition is met.

14. The method according to claim 13, characterized in that, The step of controlling the land-based body to perform multiple slide height adjustments based on the docking parameters includes: Obtain the first height difference after the previous slide height adjustment; If the first height difference is greater than the fourth threshold and the direction is positive, then the first height difference is adjusted to a fourth preset value in the negative direction. The fourth preset value is positively correlated with the magnitude of the first height difference.

15. The method according to claim 1, characterized in that, The control of docking the land-based vehicle with the flying vehicle includes: Check whether the ring lock on the slide and the tow hook on the aircraft are properly engaged; If so, the ring lock on the slide will be controlled to perform a locking operation.

16. A land-based component in a flying car, characterized in that, include: The system includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the flying car is in operation, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1-15.

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