Split type flying car split and combination safety control method and related device

Abstract

Embodiments of the present application provide a split type flying car split and combination safety control method and related device, wherein the method comprises: obtaining a confirmation result for characterizing whether the land body satisfies the split and combination activation condition according to the initial state information of the land body; the initial state information comprises at least one of the following: gear information, vehicle speed information, motor state information, battery state information and communication state information; in the case of receiving a split and combination control request, feedback the confirmation result to the sender of the split and combination control request; the confirmation result is used to indicate whether the sender sends a split and combination control instruction; in the case that the confirmation result characterizes that the land body does not satisfy the split and combination activation condition, if the split and combination control instruction is received, the split and combination control instruction is not responded; in the case that the confirmation result characterizes that the land body satisfies the split and combination activation condition, if the split and combination control instruction is received, the split and combination operation is executed according to the split and combination control instruction.

Description

Technical Field

[0001] This invention relates to the field of flying car technology, and more specifically, to a method and related device for the safe control of the separation and assembly of a split-type flying car. Background Technology

[0002] With the development of pure electric vertical take-off and landing vehicles, in addition to integrated flying cars, related technologies have also proposed the research direction of split flying cars, which divides the function of flying cars into land-based and flight-based parts, including various different configurations such as two-part and three-part.

[0003] Regardless of the configuration, the land-based component of a flying car typically refers to the land-based body, while the flying component typically refers to the flying body. The land-based and flying bodies can be combined and separated. When combined, the land-based body can charge the flying body and also transport it. When separated, both the land-based and flying bodies can operate independently.

[0004] It is evident that the separation and combination of the flying body and the land-based body are involved. Although relevant technologies have proposed mechanical structures that can realize the separation and combination of the flying body and the land-based body, the safety issues involved in the separation and combination have not been considered, resulting in safety hazards and instability in the separation and combination of the flying body and the land-based body. Summary of the Invention

[0005] In view of this, in order to at least solve the potential safety problems in the separation and reunification control process of the flying body and the land-based body in the related technology, which easily leads to safety hazards and instability in the separation and reunification control of the flying body and the land-based body, the purpose of this invention is to provide a safety control method and related device for the separation and reunification of a split-type flying car.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] A first aspect of this invention provides a method for safety control of the separation and assembly of a split-type flying car, comprising:

[0008] Based on the initial state information of the land vehicle, a confirmation result is obtained to characterize whether the land vehicle meets the activation conditions for separation and engagement; the initial state information includes at least one of the following: gear information, vehicle speed information, motor status information, battery status information, and communication status information;

[0009] Upon receiving a split-merge control request, the system sends the confirmation result back to the sender of the split-merge control request; the confirmation result is used to indicate whether the sender should send a split-merge control command.

[0010] If the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and a separation and merging control command is received, then the vehicle will not respond to the separation and merging control command.

[0011] If the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and a separation and merging control command is received, then the separation and merging operation is performed according to the separation and merging control command.

[0012] In an optional implementation, the engagement / disengagement control command is a first torque control command; the step of performing the engagement / disengagement operation according to the engagement / disengagement control command includes:

[0013] Determine whether the first drive shaft associated with the first torque control command meets the drive requirements of the first torque control command;

[0014] If the first drive shaft does not meet the drive requirements, determine whether the second drive shaft meets the drive requirements.

[0015] If the second drive shaft meets the drive requirements, the first drive shaft is switched to the second drive shaft, and the sender is instructed to control the second drive shaft.

[0016] Upon receiving a second torque control command instructing the control of the second drive shaft, the second drive shaft is controlled according to the second torque control command.

[0017] In an optional implementation, the method further includes:

[0018] If the second drive shaft also fails to meet the drive requirements, the response to the torque control command will cease, and the cause of the current fault will be reported back to the sender.

[0019] In an optional implementation, the step of performing the split-combination operation according to the split-combination control command further includes:

[0020] If the second drive shaft also fails to meet the drive requirements, the torque boundaries of the first drive shaft and the second drive shaft are sent to the sender to instruct the sender to adjust the drive requirements.

[0021] In an optional implementation, the engagement / disengagement control command is a torque control command; the step of performing the engagement / disengagement operation according to the engagement / disengagement control command includes:

[0022] Obtain the torque boundary of the target drive shaft associated with the torque control command;

[0023] According to the torque control command, the target drive shaft is controlled to perform operations within the torque boundary.

[0024] In an optional implementation, the confirmation result further includes the torque boundaries of the first and second drive shafts in the land vehicle, to instruct the sender to issue torque control commands that do not exceed the torque boundaries of the first and second drive shafts.

[0025] In an optional implementation, if the confirmation result indicates that the terrestrial body meets the separation and activation conditions, the method further includes:

[0026] The process status information of the land vehicle is acquired periodically; the process status information includes at least one of the following: vehicle speed information, motor status information, and battery status information.

[0027] If the process status information does not meet the conditions for activation of separation and combination, the current abnormality reason is fed back to the sender, and the separation and combination control command received at the moment is responded to.

[0028] A second aspect of the present invention provides a safety control device for the separation and reassembly of a split-type flying car, comprising:

[0029] The confirmation module is configured to: obtain a confirmation result based on the initial state information of the land vehicle to characterize whether the land vehicle meets the conditions for activation; the initial state information includes at least one of the following: gear information, vehicle speed information, motor status information, battery status information, and communication status information;

[0030] The feedback module is configured to: upon receiving a split-combination control request, send the confirmation result back to the sender of the split-combination control request; the confirmation result is used to indicate whether the sender should send a split-combination control command.

[0031] The control module is configured to: if the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and a separation and merging control command is received, then not respond to the separation and merging control command; if the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and a separation and merging control command is received, then perform the separation and merging operation according to the separation and merging control command.

[0032] A third aspect of the present invention provides a split-type flying car split-and-join safety control system, applied to the land vehicle in a split-type flying car, the system including a central controller and a vehicle control unit connected in communication;

[0033] The central controller is used to send a separation / coupling control request to the vehicle control unit when it receives a separation / coupling command sent by the user terminal.

[0034] The vehicle control unit is used to connect to the battery controller and motor controller in the land vehicle respectively, and to realize the separation and reassembly safety control based on the separation and reassembly control request through the separation and reassembly safety control method for the split-type flying car provided in any of the first aspects above.

[0035] A fourth aspect of the present invention provides a split-type flying car, including the split-type flying car split-and-combination safety control system provided in the third aspect above.

[0036] A fifth aspect of the present invention provides an electronic device including a processor and a memory, the memory storing machine-executable instructions executable by the processor, the processor executing the machine-executable instructions to implement the split-type flying car separation and reassembly safety control method provided in any of the first aspects above.

[0037] A sixth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the split-type flying car split-and-combination safety control method provided in any of the first aspects above.

[0038] The split-type flying car split-and-join safety control method and related apparatus provided in this invention can obtain a determination result characterizing whether the land vehicle meets the split-and-join activation conditions based on the initial state information of the land vehicle in real time or at regular intervals before receiving a split-and-join control request. This allows for immediate feedback of the confirmation result to the sender upon receiving the split-and-join control request, improving the efficiency of safety information feedback. The real-time or timed processing ensures the accuracy of the confirmation result. Since the confirmation result has the function of instructing the sender whether to send a split-and-join control command, feedback of the confirmation result can prevent the sender from sending a split-and-join control command when the land vehicle does not meet the split-and-join activation conditions, thus avoiding control hazards to the land vehicle. Furthermore, if a split-and-join control command is received when the land vehicle does not meet the split-and-join activation conditions, no response is made, thus avoiding control hazards to the land vehicle from responding to the split-and-join control command at a second level. This allows for the determination of whether the land-based vehicle meets the activation conditions for separation and reunification before separation and reunification control is implemented. Only when the activation conditions are met will the separation and reunification control command be responded to and the separation and reunification operation be executed, thus ensuring the safety, reliability, and control stability of the separation and reunification control process for both the air-based and land-based vehicles.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] 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.

[0041] Figure 1 This diagram illustrates a structural block diagram of an electronic device provided by an embodiment of the present invention.

[0042] Figure 2 This figure shows a system block diagram of a split-type flying car split-and-join safety control system provided by an embodiment of the present invention;

[0043] Figure 3 A flowchart of a split-type flying car separation and reassembly safety control method provided by an embodiment of the present invention is shown;

[0044] Figure 4 The diagram shows a functional block diagram of a split-type flying car split-and-join safety control device provided by an embodiment of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0047] It should be noted that 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] To address the potential safety issues in the separation and merging control process of flying and land vehicles in related technologies, which can easily lead to safety hazards and instability in the separation and merging control of flying and land vehicles, this invention provides a safety control method for the separation and merging of a split-type flying car. Before receiving a separation and merging control request, the method can obtain a determination result characterizing whether the land vehicle meets the separation and merging activation conditions based on the initial state information of the land vehicle in real time or at regular intervals. This allows for immediate feedback of the confirmation result to the sender upon receiving the separation and merging control request, improving the efficiency of safety information feedback. The real-time or timed processing ensures the accuracy of the confirmation result. Since the confirmation result has the function of instructing the sender whether to send a separation and merging control command, feedback of the confirmation result can prevent the sender from sending a separation and merging control command when the land vehicle does not meet the separation and merging activation conditions, thus avoiding control hazards to the land vehicle caused by responding to the separation and merging control command. Furthermore, if a separation and merging control command is received when the land vehicle does not meet the separation and merging activation conditions, no response is made, thus avoiding control hazards to the land vehicle caused by responding to the separation and merging control command at a second level. This allows for the determination of whether the land-based vehicle meets the activation conditions for separation and reunification before separation and reunification control is implemented. Only when the activation conditions are met will the separation and reunification control command be responded to and the separation and reunification operation be executed, thus ensuring the safety, reliability, and control stability of the separation and reunification control process for both the air-based and land-based vehicles.

[0049] The split-type flying car safety control method provided by this invention can be applied to electronic devices. Please refer to [reference needed]. Figure 1 This is a structural block diagram of an electronic device. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0050] The memory is used to store programs or data. The memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0051] The processor is used to read / write data or programs stored in memory and to perform the corresponding functions.

[0052] The communication module is used to establish communication connections between electronic devices and other communication terminals via a network, and to send and receive data via the network.

[0053] It should be understood that, Figure 1 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0054] In some embodiments, the electronic device can be configured in the land body of the split-type flying car, for example, it can be used as a vehicle control unit (VCU) in the land body to realize the safe control of the separation and combination of the land body and the flying body based on the separation and combination control request sent by the central controller of the land body and combined with the initial state information of the land body.

[0055] The aforementioned separation and combination control can include separation control and combination control. Separation control refers to the process of controlling the land-based and air-based components of a split-type flying car to separate, allowing each component to perform its own tasks independently. Combination control refers to the process of controlling the land-based and air-based components to combine, allowing the air-based component to be stored inside the land-based component's compartment. The land-based component can then charge and transport the air-based component, as well as access the data stored within it.

[0056] Based on this, the split-type flying car separation and reassembly safety control method provided in this embodiment of the invention can be applied to the split-type flying car separation and reassembly safety control system. Please refer to [link / reference]. Figure 2 , Figure 2 This is a system block diagram of a split-type flying car split-and-join safety control system provided in an embodiment of the present invention. The split-type flying car split-and-join safety control system 200 is applied in the above-mentioned land vehicle and may include a central controller and a vehicle control unit that are connected in communication.

[0057] The central controller is used to send a separation / coupling control request to the vehicle control unit when it receives a separation / coupling command sent by the user terminal.

[0058] The vehicle control unit is used to connect to the battery controller and motor controller in the land vehicle respectively, and implements the split-type flying car split-and-combination safety control method provided by the embodiments of the present invention to realize split-and-combination safety control based on the split-and-combination control request.

[0059] The vehicle control unit can obtain the current battery status information from the battery controller and the current motor status information from the motor controller.

[0060] Based on this, embodiments of the present invention can also provide a split-type flying car, which includes the above-mentioned split-type flying car separation and reassembly safety control system.

[0061] The following combination Figure 3 The method for safety control of the split-type flying car assembly and disassembly provided in the embodiments of the present invention will be described. Figure 3 This is a flowchart of a safety control method for the separation and reassembly of a split-type flying car provided by an embodiment of the present invention. The safety control method for the separation and reassembly of a split-type flying car includes:

[0062] In step S100, based on the initial state information of the land vehicle, a confirmation result is obtained to characterize whether the land vehicle meets the activation conditions for separation and engagement; the initial state information includes at least one of the following: gear information, vehicle speed information, motor state information, battery state information, and communication state information;

[0063] In step S200, upon receiving a split-combination control request, the confirmation result is sent back to the sender of the split-combination control request; the confirmation result is used to indicate whether the sender should send a split-combination control command.

[0064] In step S300, if the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and a separation and merging control command is received, then no response is made to the separation and merging control command.

[0065] In step S400, if the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and a separation and merging control command is received, then the separation and merging operation is performed according to the separation and merging control command.

[0066] The following describes the working principle of steps S100 to S400 above, using the vehicle control unit as the split-type flight body provided in this embodiment of the invention and the central controller as the transmitter:

[0067] To ensure that the vehicle control unit can immediately and promptly provide accurate confirmation results to the central controller when it receives a separation control request, thereby shortening the feedback time, the vehicle control unit can periodically or in real time obtain the initial state information of the land vehicle during its operation and execute step S100.

[0068] During step S100, to improve the comprehensive and accurate assessment of engagement / disengagement safety and obtain more accurate confirmation results, the initial state information may include: gear position information, vehicle speed information, motor status information, battery status information, and communication status information. Then, the confirmation result can be obtained based on the initial state information. For example, if the current gear position information indicates that the vehicle is in P or N gear, it means that the current gear position information meets the engagement / disengagement activation conditions; if the current vehicle speed information indicates that the current vehicle speed is less than a set speed threshold, for example, 3 m / h, but not limited to this, it means that the current vehicle speed information meets the engagement / disengagement activation conditions; if the current motor status information indicates that the motor is in normal operating condition, it means that the current motor status information meets the engagement / disengagement activation conditions; if the current battery status information indicates that the current remaining battery charge of the vehicle is greater than a set charge threshold, it means that the current battery status information meets the engagement / disengagement activation conditions; if the communication status information indicates that the vehicle control unit and the central controller have successfully handshaked, it means that the current communication status information meets the engagement / disengagement activation conditions.

[0069] Based on this, given that the initial state information includes gear position information, vehicle speed information, motor status information, battery status information, and communication status information, if the current gear position information, vehicle speed information, motor status information, battery status information, and communication status information all meet their respective activation conditions, then the land vehicle meets the activation conditions, and the confirmation result indicates that the land vehicle does not meet the activation conditions. Conversely, if any one of these conditions is not met, then the land vehicle does not meet the activation conditions, and the confirmation result indicates that the land vehicle does not meet the activation conditions.

[0070] If the vehicle control unit has not received a separation / coupling control request after executing step S100, it can execute step S100 periodically or in real time to continuously update the confirmation result to ensure that the confirmation result is up-to-date.

[0071] When a user needs to combine or separate the land-based and air-based vehicles, the user can issue a combination or separation command through a user terminal, such as the human-machine interface device in the land-based vehicle, a terminal device bound to the land-based vehicle, or a vehicle control key that comes with the land-based vehicle. In this way, the central controller in the land-based vehicle can receive the combination or separation command, and in response to the combination or separation command, generate a combination or separation control request and send it to the vehicle control unit.

[0072] Therefore, the vehicle control unit will receive the de-energization control request and execute step S200 to feed back the latest confirmation result obtained through step S100 to the central controller. If the confirmation result received by the central controller indicates that the land vehicle has not met the de-energization activation conditions, in order to inform the user of the de-energization control status, the central controller can feed back the de-energization control result to the user terminal. This de-energization control result can indicate that the land vehicle has not met the de-energization activation conditions, thereby informing the user that the de-energization control has failed.

[0073] However, to ensure users clearly understand the reasons for the disengagement control failure, facilitating appropriate adjustments or maintenance of the vehicle and thus guaranteeing the safety and reliability of the disengagement control process, some embodiments may include the failure reason in the confirmation result. For example, assuming the gear position information does not meet the activation conditions, the user terminal may be notified that the vehicle's gear position is not in P or N gear, and adjustments should be made. Similarly, assuming the current battery status information does not meet the activation conditions, the user terminal may be notified that the vehicle's battery has insufficient remaining power, and additional power should be supplied. Other failure reasons for not meeting the disengagement activation conditions can be found in the relevant descriptions above and will not be elaborated upon here.

[0074] After sending the confirmation result to the central controller, although the central controller can be prompted not to send a separation / coupling control command if the confirmation result indicates that the land vehicle does not meet the separation / coupling activation conditions, in some special cases, such as information loss or the central controller receiving a forced control message from the user terminal, the central controller may still send a separation / coupling control command to the vehicle control unit to trigger the vehicle control unit to perform the separation / coupling operation, thereby affecting the safety of the land vehicle's use. Therefore, to solve this technical problem and further improve the safety of the land vehicle's use, if a separation / coupling control command is received when the confirmation result indicates that the land vehicle does not meet the separation / coupling activation conditions, the vehicle control unit will execute step S300 and will not respond to the separation / coupling control command, thereby ensuring the safety of the land vehicle's use.

[0075] Conversely, if the confirmation result indicates that the land vehicle meets the separation / merging activation conditions, in order to meet the separation / merging control requirements, if the vehicle control unit receives a separation / merging control command, it can execute step S400 to perform a separation / merging operation according to the separation / merging control command. This separation / merging operation may include, but is not limited to: controlling the land vehicle's drive shaft to perform corresponding operations, controlling the land vehicle's body attitude, and controlling the separation / merging system in the land vehicle to dock with the aircraft. The separation / merging system can be found in related technologies and will not be elaborated upon here.

[0076] During the separation and rejoining operation, torque control of the land vehicle is a crucial factor affecting its operational safety. Therefore, to ensure torque control safety and further improve the operational safety of the land vehicle during the separation and rejoining control process, in some embodiments, the separation and rejoining safety control method for the split-type flying car provided by this invention also provides a safety control scheme for the drive shaft. That is, when the separation and rejoining command is a first torque control command, the step S400 above, which involves executing the separation and rejoining operation according to the separation and rejoining control command, may include:

[0077] In step S410, it is determined whether the first drive shaft associated with the first torque control command meets the drive requirements of the first torque control command.

[0078] In step S420, if the first drive shaft does not meet the drive requirements, it is determined whether the second drive shaft meets the drive requirements.

[0079] In step S430, if the second drive shaft meets the drive requirements, the first drive shaft is switched to the second drive shaft, and the sender is instructed to control the second drive shaft.

[0080] In step S440, upon receiving a second torque control command for instructing the control of the second drive shaft, the second drive shaft is controlled according to the second torque control command.

[0081] During the execution of step S400 by the vehicle control unit, in order to achieve safe control of the drive shaft, step S410 can be executed. The first drive shaft to be controlled can be determined according to the first torque control command, and then it can be determined whether the first drive shaft meets the drive requirements required by the first torque control command.

[0082] In determining whether the first drive shaft meets the first torque control command, the torque boundary of the first drive shaft, calculated in advance or in real time, and the torque magnitude in the first torque control command, can be used to determine whether the first drive shaft meets the driving requirements. For example, if the torque magnitude indicated by the first torque control command does not exceed the torque boundary of the first drive shaft, it is determined that the first drive shaft meets the driving requirements, and subsequently, the first drive shaft can be controlled according to the first torque control command. Conversely, if the torque magnitude indicated by the first torque control command exceeds the torque boundary of the first drive shaft, it is determined that the first drive shaft does not meet the driving requirements, indicating that the capability of the first drive shaft is limited.

[0083] The failure of the first drive shaft to meet the drive requirements does not necessarily mean that the second drive shaft also fails to meet the drive requirements. Therefore, to improve the reliability and effectiveness of the engagement / disengagement control, if the first drive shaft fails to meet the drive requirements, step S420 can be executed to further determine whether the second drive shaft meets the drive requirements. The technical principle for determining whether the second drive shaft meets the drive requirements can be found in the relevant description above, and will not be repeated here.

[0084] If it is determined that the second drive shaft meets the drive requirements, step S430 can be executed to switch the available drive shaft from the first drive shaft to the second drive shaft. However, in order to ensure that the control meets the requirements of the central controller and to ensure the accuracy of the disengagement control, the operation of the second drive shaft is not controlled according to the first torque control command at this time. Instead, the central controller is first informed that the first drive shaft has been switched to the second drive shaft, so as to instruct the central controller to issue a second torque control command for controlling the second drive shaft. The operation of the second drive shaft will then be controlled according to the second torque control command.

[0085] Therefore, upon receiving a second torque control command for instructing the control of the second drive shaft, step S440 can be executed to control the second drive shaft according to the second torque control command.

[0086] Generally, when the first drive shaft fails to meet the drive requirements while the second drive shaft does, the torque indicated by the torque control command reissued by the central controller for the second drive shaft will usually not exceed the torque boundary of the second drive shaft. However, there may be exceptions. Therefore, to further improve the safety and reliability of torque control, in some embodiments, it can be further determined whether the second drive shaft meets the drive requirements of the second torque control command. Accordingly, the step of controlling the second drive shaft according to the second torque control command in step S440 above is also performed if the second drive shaft meets the drive requirements of the second torque control command.

[0087] In the above, the torque boundaries of each drive shaft can be calculated based on the motor status information and battery status information. For the specific calculation principle, please refer to the relevant technology, which will not be elaborated here.

[0088] Furthermore, for a land vehicle with three axes, in order to ensure the accuracy of the control of the drive shafts in the land vehicle and reduce the difficulty of controlling the drive shafts, the first drive shaft and the second drive shaft can be the middle shaft and the rear shaft of the land vehicle, respectively.

[0089] In addition to the above situations, another possibility exists: neither the first drive shaft nor the second drive shaft meets the drive requirements of the first torque control command. In this case, to protect the safety of the land vehicle, in some embodiments, the split-type flying car separation and reassembly safety control method provided by the present invention may further include:

[0090] In step S450, if the second drive shaft also fails to meet the drive requirements, the response to the torque control command is stopped, and the cause of the current fault is reported back to the sender.

[0091] Understandably, when both the first and second drive shafts fail to meet the drive requirements, i.e., both shafts are limited, the vehicle control unit can enter a dual-shaft limited state and execute step S450 to stop responding to torque control commands and report the current fault cause to the central controller to ensure the safe use of the land vehicle.

[0092] After receiving the current fault cause, the central controller can send the current fault cause to the user terminal so that the user can understand the fault situation of the current opening and closing control process.

[0093] The previous embodiment can ensure the safety of the land vehicle under dual-axis confinement, but it cannot respond to the split-joining control commands of the central controller, thus failing to meet the user's requirements for the separation or combination of the land vehicle and the flying vehicle, which will reduce the user experience to some extent. To solve this technical problem, in some embodiments, the split-joining safety control method for the split flying car provided by the present invention also provides a corresponding solution, that is, the step of performing the split-joining operation according to the split-joining control command in step S400 above may further include:

[0094] In step S460, if the second drive shaft also fails to meet the drive requirements, the torque boundaries of the first drive shaft and the second drive shaft are sent to the sender to instruct the sender to adjust the drive requirements.

[0095] Understandably, steps S450 and S460 can coexist, or step S450 can be changed to step S460. When steps S450 and S460 coexist, the vehicle control unit can stop responding to torque control commands and report the current fault cause to the sender if the second drive shaft also fails to meet the drive requirements, thus ensuring the safety of the land vehicle. Simultaneously, step S460 can be executed to send the torque boundaries of the first and second drive shafts to the sender, instructing the central controller to adjust the drive requirements. This ensures that the torque indicated by the resent torque control command from the central controller is within the torque boundaries of the first and / or second drive shafts. This also ensures the continued safe operation of the separation and engagement control, meeting the user's needs for separation and engagement control of the land and air vehicles, and improving the user experience.

[0096] In other embodiments, intervention can be made in advance on the torque control commands issued by the central controller to ensure that the torque control commands do not exceed the torque boundaries of the first and second drive shafts. This ensures that the engagement and disengagement control continues safely and does not stop due to limited drive shaft capacity, thus better meeting the user's needs for engagement and disengagement control of the land-based and air-based vehicles and improving the user experience. Based on this, the confirmation result fed back to the sender of the engagement and disengagement control request in step S200 can be adjusted accordingly. That is, the confirmation result can also include the torque boundaries of the first and second drive shafts in the land-based vehicle, to instruct the sender to issue torque control commands that do not exceed the torque boundaries of the first and second drive shafts. Thus, it can be guaranteed to a certain extent that the drive requirements of the torque control commands sent by the central controller will not exceed the capability range of the first and second drive shafts.

[0097] Since the torque boundaries of the first and second drive shafts are calculated based on motor status information and battery status information, and the motor status information and battery status information are not constant, in order to ensure that the drive requirements of the torque control command are controlled within the torque boundaries of the first and second drive shafts as much as possible, the torque boundaries of the first and second drive shafts can be updated in real time or periodically during the disengagement and engagement control process, and feedback can be sent to the central controller after each update.

[0098] In the process of controlling the first or second drive shaft, which is the target drive shaft, through any of the above embodiments, since the vehicle control unit needs to request the motor controller to execute corresponding torque control, in order to ensure that the torque executed by the motor controller does not exceed the torque boundary of the first and second drive shafts, in some embodiments, the split-type flying car split-and-join safety control method provided by the present invention also provides a corresponding torque execution safety control scheme. That is, when the split-and-join control command is a torque control command, the step of executing the split-and-join operation according to the split-and-join control command in step S400 above may include:

[0099] In step S470, the torque boundary of the target drive shaft associated with the torque control command is obtained;

[0100] In step S480, the target drive shaft is controlled to perform operations within the torque boundary according to the torque control command.

[0101] Understandably, during the process of controlling the target drive shaft to perform operations according to torque control commands, torque control commands and the torque boundaries of the target drive shaft can be sent to the motor controller to ensure that the torque executed by the motor controller does not exceed the torque boundaries of the target drive shaft. This further ensures the safety of the separation and engagement control of the land vehicle.

[0102] The solutions described in steps S470 to S480 can be combined in any of the above embodiments of controlling the drive shaft according to the torque control command. Taking the embodiment shown in step S440 as an example, after combining the solutions of steps S470 to S480 based on step S440, the corresponding solution is as follows:

[0103] In step S440, upon receiving a second torque control command instructing the control of the second drive shaft, the second drive shaft is controlled according to the second torque control command; wherein, the step of controlling the second drive shaft according to the second torque control command includes:

[0104] According to the second torque control command, the second drive shaft is controlled to perform operations within its own torque boundary.

[0105] During the separation and reunification control process, some state information may change, resulting in one or more state information failing to meet the corresponding activation conditions. Therefore, to detect these changes in a timely manner and ensure the continuity of control during the separation and reunification process, in some embodiments, the separation and reunification safety control method for the split-type flying car provided by this invention may further include:

[0106] In step S400', if the confirmation result indicates that the land vehicle meets the activation conditions, the process status information of the land vehicle is also acquired periodically; the process status information includes at least one of the following: vehicle speed information, motor status information, and battery status information;

[0107] In step S500', if the process status information does not meet the split-combination activation conditions, the current abnormality reason is fed back to the sender, and the split-combination control command currently received is responded to.

[0108] Understandably, if the result indicates that the land vehicle meets the activation conditions for separation and reactivation, in addition to executing step S400, step S400' can also be executed to periodically judge the process status information of the land vehicle during the separation and reactivation control process. In order to ensure the comprehensiveness of the judgment and more reliable safety control, vehicle speed information, motor status information and battery status information can all be used as the process status information to be judged, and the judgment on whether these information meets the activation conditions for separation and reactivation can be made in accordance with the relevant description above.

[0109] If it is determined that one of the information does not meet the corresponding separation / combination activation conditions, it is considered that the process status information does not meet the separation / combination activation conditions, and step S500' is executed to report the current abnormality to the central controller. At the same time, in order to ensure the continuity of separation / combination control, the vehicle control unit will continue to try to respond to the currently received separation / combination control command in order to attempt to perform separation / combination operation.

[0110] This allows the vehicle control unit to continue attempting to perform the separation / coupling operation if the status information changes to meet the separation / coupling activation conditions. This enables a more timely response to separation / coupling control commands, thereby ensuring the continuity and stability of separation / coupling control.

[0111] In addition, after receiving the current abnormality cause from the vehicle control unit, the central controller can provide feedback to the user terminal so that the user can understand the disengagement and engagement control status in a timely manner and make adaptive adjustments. For example, the user can send an exit command to the central controller through the user terminal to exit the disengagement and engagement control. When the central controller receives the exit command, it can send an active exit request to the vehicle control unit, so that the vehicle control unit can exit the disengagement and engagement control mode, which can ensure the safety of the land vehicle to a certain extent.

[0112] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other, as long as there is no contradiction in the combination.

[0113] To perform the corresponding steps in the above embodiments and various possible methods, the following is an implementation method of a split-type flying car split-type flying car safety control device. Optionally, this split-type flying car split-type flying car safety control device can adopt the above-described... Figure 1 The device structure of the electronic device is shown. Further, please refer to... Figure 4 , Figure 4 This is a functional block diagram of a split-type flying car separation and reassembly safety control device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the split-type flying car separation and reassembly safety control device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The split-type flying car separation and reassembly safety control device 400 includes:

[0114] The confirmation module 410 is configured to: obtain a confirmation result based on the initial state information of the land vehicle to characterize whether the land vehicle meets the activation conditions for separation and combination; the initial state information includes at least one of the following: gear information, vehicle speed information, motor state information, battery state information, and communication state information;

[0115] Feedback module 420 is configured to: upon receiving a split-combination control request, send back the confirmation result to the sender of the split-combination control request; the confirmation result is used to indicate whether the sender should send a split-combination control command.

[0116] The control module 430 is configured to: if the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and if a separation and merging control command is received, then not respond to the separation and merging control command; if the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and if a separation and merging control command is received, then perform the separation and merging operation according to the separation and merging control command.

[0117] In some embodiments, the engagement / disengagement control command is a first torque control command; the process by which the control module 430 executes the engagement / disengagement operation according to the engagement / disengagement control command is configured as follows:

[0118] Determine whether the first drive shaft associated with the first torque control command meets the drive requirements of the first torque control command;

[0119] If the first drive shaft does not meet the drive requirements, determine whether the second drive shaft meets the drive requirements.

[0120] If the second drive shaft meets the drive requirements, the first drive shaft is switched to the second drive shaft, and the sender is instructed to control the second drive shaft.

[0121] Upon receiving a second torque control command instructing the control of the second drive shaft, the second drive shaft is controlled according to the second torque control command.

[0122] In some embodiments, the feedback module 420 may also be configured as:

[0123] If the second drive shaft also fails to meet the drive requirements, the response to the torque control command will cease, and the cause of the current fault will be reported back to the sender.

[0124] In some embodiments, the process by which the control module 430 performs the separation and reunification operation according to the separation and reunification control command can also be configured as follows:

[0125] If the second drive shaft also fails to meet the drive requirements, the torque boundaries of the first drive shaft and the second drive shaft are sent to the sender to instruct the sender to adjust the drive requirements.

[0126] In some embodiments, the engagement / disengagement control command is a torque control command; the process by which the control module 430 performs engagement / disengagement operations according to the engagement / disengagement control command can be configured as follows:

[0127] Obtain the torque boundary of the target drive shaft associated with the torque control command;

[0128] According to the torque control command, the target drive shaft is controlled to perform operations within the torque boundary.

[0129] In some embodiments, the confirmation result further includes the torque boundaries of the first drive shaft and the second drive shaft in the land vehicle, for instructing the sender to issue a torque control command that does not exceed the torque boundaries of the first drive shaft and the second drive shaft.

[0130] In some embodiments, the split-type flying car separation and reassembly safety control device 400 may further include:

[0131] The timed acquisition module is configured to: periodically acquire process status information of the land vehicle; the process status information includes at least one of the following: vehicle speed information, motor status information, and battery status information;

[0132] Correspondingly, the feedback module 420 can also be configured to: when the process status information does not meet the separation and merging activation conditions, to provide feedback on the current abnormality to the sender and respond to the currently received separation and merging control command.

[0133] Optionally, the above modules can be stored in the form of software or firmware. Figure 1The memory shown is either stored in or embedded in the operating system (OS) of the electronic device, and can be... Figure 1 The processor executes the commands. Meanwhile, the data and program code required to execute these modules can be stored in memory.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or 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 a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, 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.

[0135] In addition, the functional modules in the various embodiments of the present invention 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.

[0136] 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 invention, essentially, 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 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.

[0137] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for safe control of the separation and assembly of a split-type flying car, characterized in that, include: Based on the initial state information of the terrestrial body, a confirmation result is obtained to characterize whether the terrestrial body meets the conditions for separation and activation; The initial state information includes at least one of the following: gear information, vehicle speed information, motor state information, battery state information, and communication state information; Upon receiving a split-merge control request, the system sends the confirmation result back to the sender of the split-merge control request; the confirmation result is used to indicate whether the sender should send a split-merge control command. If the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and a separation and merging control command is received, then the vehicle will not respond to the separation and merging control command. If the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and a separation and merging control command is received, then the separation and merging operation is performed according to the separation and merging control command.

2. The method according to claim 1, characterized in that, The engagement / disengagement control command is a first torque control command; the step of performing engagement / disengagement operation according to the engagement / disengagement control command includes: Determine whether the first drive shaft associated with the first torque control command meets the drive requirements of the first torque control command; If the first drive shaft does not meet the drive requirements, determine whether the second drive shaft meets the drive requirements. If the second drive shaft meets the drive requirements, the first drive shaft is switched to the second drive shaft, and the sender is instructed to control the second drive shaft. Upon receiving a second torque control command instructing the control of the second drive shaft, the second drive shaft is controlled according to the second torque control command.

3. The method according to claim 2, characterized in that, The method further includes: If the second drive shaft also fails to meet the drive requirements, the response to the torque control command will cease, and the cause of the current fault will be reported back to the sender.

4. The method according to claim 2, characterized in that, The step of performing the split-and-combine operation according to the split-and-combine control command further includes: If the second drive shaft also fails to meet the drive requirements, the torque boundaries of the first drive shaft and the second drive shaft are sent to the sender to instruct the sender to adjust the drive requirements.

5. The method according to claim 1, characterized in that, The engagement / disengagement control command is a torque control command; the step of performing engagement / disengagement operation according to the engagement / disengagement control command includes: Obtain the torque boundary of the target drive shaft associated with the torque control command; According to the torque control command, the target drive shaft is controlled to perform operations within the torque boundary.

6. The method according to claim 1, characterized in that, The confirmation result also includes the torque boundaries of the first and second drive shafts in the land vehicle, which are used to instruct the sender to issue torque control commands that do not exceed the torque boundaries of the first and second drive shafts.

7. The method according to any one of claims 1 to 6, characterized in that, If the confirmation result indicates that the terrestrial body meets the separation and activation conditions, the method further includes: The process status information of the land vehicle is acquired periodically; the process status information includes at least one of the following: vehicle speed information, motor status information, and battery status information. If the process status information does not meet the conditions for activation of separation and combination, the current abnormality reason is fed back to the sender, and the separation and combination control command received at the moment is responded to.

8. A safety control device for the separation and assembly of a split-type flying car, characterized in that, include: The confirmation module is configured to: obtain a confirmation result based on the initial state information of the land vehicle to characterize whether the land vehicle meets the conditions for activation; the initial state information includes at least one of the following: gear information, vehicle speed information, motor status information, battery status information, and communication status information; The feedback module is configured to: upon receiving a split-combination control request, send the confirmation result back to the sender of the split-combination control request; the confirmation result is used to indicate whether the sender should send a split-combination control command. The control module is configured to: if the confirmation result indicates that the land vehicle does not meet the separation and merging activation conditions, and a separation and merging control command is received, then not respond to the separation and merging control command; if the confirmation result indicates that the land vehicle meets the separation and merging activation conditions, and a separation and merging control command is received, then perform the separation and merging operation according to the separation and merging control command.

9. A split-type flying car separation and reassembly safety control system, characterized in that, A land-based vehicle used in a split-type flying car, the system including a central controller and a vehicle control unit with communication connections; The central controller is used to send a separation / coupling control request to the vehicle control unit when it receives a separation / coupling command sent by the user terminal. The vehicle control unit is used to connect to the battery controller and motor controller in the land vehicle respectively, and to realize the safety control of separation and engagement based on the separation and engagement control request using the method of any one of claims 1 to 7.

10. A split-type flying car, characterized in that, Includes the split-type flying car split-and-join safety control system as described in claim 9.

11. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor to implement the method of any one of claims 1 to 7.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1 to 7.

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