288 results about "Airplane mode" patented technology

The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a low-altitude unmanned aerial vehicle flight monitoring method and system. A low-altitude unmanned aerial vehicle flight monitoring system comprises an obstacle sensing module, a confidence coefficient calculation module, a risk assessment module, an obstacle avoidance distance adjustment module and a flight mode switching module. According to the invention, by quantifying the rainfall interference index, the visibility index, the illumination intensity index, the obstacle complex index and the electromagnetic interference index, the confidence coefficient weight of the millimeter wave radar, the visual sensor and other multi-element sensing equipment is calculated in real time, so that the limitation of traditional fixed priority fusion is broken through; the optimal sensor data can be automatically selected as an obstacle avoidance decision basis according to actual environmental conditions, misjudgment or delayed response caused by sensor conflicts is avoided, the obstacle avoidance decision precision is improved, and the method is particularly suitable for high-reliability flight in complex environments such as urban canyons.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a gas-electric hybrid composite wing unmanned aerial vehicle system, which comprises an intelligent energy management module, a gas-electric hybrid composite wing unmanned aerial vehicle control module and a gas-electric hybrid composite wing unmanned aerial vehicle control module, the self-adaptive flight control module is used for optimizing the flight attitude, dynamically adjusting the flight route and improving the flight safety; the task adaptive scheduling module is used for adaptively adjusting a task execution strategy according to the task category, the load condition and the environmental parameters; the data monitoring and remote control module is used for collecting the operation state of the unmanned aerial vehicle in real time and storing and analyzing flight data; the intelligent safety management module is used for improving the autonomous safety of the unmanned aerial vehicle; and the environment perception optimization module is used for perceiving external environment factors in real time. According to the invention, the intelligent energy management module realizes intelligent scheduling of fuel and electricity power, and dynamically optimizes the power distribution of the battery and fuel oil, so that the flight time of the unmanned aerial vehicle is greatly prolonged.

The invention provides a multi-mode intelligent propulsion control method, device and equipment for a short vertical aircraft and a storage medium, and the method comprises the steps: firstly obtaining flight state data in real time, and classifying the flight state data according to a state classification model of a decision tree to generate a current flight mode; next, calling a control strategy group and performing parallel processing on the current flight mode by taking the lowest energy consumption as an optimization target so as to generate a plurality of control instructions, and calling a fusion device weight network to process the current flight mode so as to generate a fusion weight of each control instruction, and generating a final control quantity according to the plurality of control instructions and the fusion weight, and sending the final control quantity to a pre-constructed hybrid propulsion structure nonlinear model to control the short vertical aircraft, thereby solving the problem that the short vertical aircraft cannot be adaptively adjusted when a plurality of propulsion units have differential dynamic characteristics.

The invention discloses an aircraft intelligent trajectory planning and cooperative control method based on offline optimization-intelligent learning-online guidance, and the method comprises the steps: firstly building an aircraft motion model and an aircraft-target relative motion model, and constructing a full-airspace and full-feature-point optimal trajectory data set; secondly, parameterized representation is carried out on the three-dimensional optimal trajectory, and a proportional guidance coefficient data set is constructed; then neural network training fitting is carried out on the proportional guidance coefficient data set, and a multi-constraint guidance method based on a neural network is designed; and finally, designing a three-dimensional collaborative guidance law by combining a multi-constraint guidance method and a residual time accurate estimation technology. According to the invention, the problems of insufficient real-time performance, incapability of meeting index optimality, incapability of coping with multiple constraints, difficulty in realizing multiple flight modes and the like of the existing trajectory planning and collaborative guidance technology are solved; the multi-constraint and optimality of the trajectory are realized through offline optimization, the global adaptability and small calculation amount of the trajectory are realized through intelligent learning, and a multi-cooperative flight mode is realized through online cooperative guidance.

The invention relates to the field of aircraft intelligent control, and discloses a sensor fault resistant low-altitude aircraft multi-mode propulsion control method, which comprises the following steps: constructing a nonlinear model of a short-vertical aircraft hybrid propulsion system, taking deep exploration optimization reinforcement learning as a main control, and combining a fuzzy controller and a model prediction controller to form a strategy fusion group; the method comprises the following steps: introducing a residual perception mechanism and a GIRLS-EKF health estimation module, extracting residual signal features by using CNN and Transform, and carrying out real-time diagnosis and dynamic weight adjustment on an abnormal measurement state of a sensor in combination with generalized residual least square filtering and an extended Kalman structure; the controller fusion module outputs the optimal control quantity in a self-adaptive manner according to the health state and the flight mode, and the fault-tolerant performance and the energy efficiency scheduling capability of the multi-propulsion system under the complex working condition are improved; the method is suitable for low-altitude economy and urban air traffic task scenes, and has good engineering integration and intelligent control application prospects.

The invention relates to the technical field of flight control, in particular to a hybrid control FPV unmanned aerial vehicle flight control system and method. The method comprises the following steps: acquiring triaxial angular velocity data of the unmanned aerial vehicle in real time by using an inertial navigation system, eliminating high-frequency noise and performing zero offset calibration; constructing a corresponding linear extended state observer to adjust a gain parameter in real time based on an absolute value of an observation error, and filtering tiny noise disturbance through a dead zone function to realize high-precision estimation of the system state and total disturbance of the unmanned aerial vehicle so as to obtain an error and an error change rate; and designing a self-adaptive PID control law to dynamically adjust PID control quantities corresponding to proportion, integral and differential gains, carrying out dynamic weighted stacking according to a flight mode, generating a three-axis control quantity, carrying out flight control on the FPV unmanned aerial vehicle, and meanwhile, realizing real-time visual verification of a control effect corresponding to the flight control. According to the invention, high-precision and high-robustness attitude control can be realized.

The invention discloses a tilting quad-rotor unmanned aerial vehicle and an unmanned aerial vehicle countering system, and the system comprises a flight control module which is used for controlling the tilting quad-rotor unmanned aerial vehicle to fly towards a target unmanned aerial vehicle, and adjusting the flight mode and the flight speed of the tilting quad-rotor unmanned aerial vehicle in real time according to the distance and the speed difference in the flight process. The target identification module is used for collecting video stream information of a target airspace and detecting whether a target unmanned aerial vehicle exists in the video stream information frame by frame; the target tracking module is used for determining the distance and the speed difference between the target unmanned aerial vehicle and the tilt quad-rotor unmanned aerial vehicle under the condition that the target unmanned aerial vehicle exists in the video stream information; and the net gun capturing module is used for calculating a launching parameter of a capturing net when the distance between the target unmanned aerial vehicle and the tilt quadrotor unmanned aerial vehicle is smaller than a preset distance, and launching the capturing net to the target unmanned aerial vehicle according to the launching parameter. According to the scheme, the unmanned aerial vehicle can be precisely countered.

The invention discloses an automatic control method of a four-power-source tiltable aircraft, relates to the technical field of flight control of tiltable aircrafts, is realized based on a PX4 flight control system, and is suitable for a tiltable aircraft provided with four independent tiltable power sources and corresponding tilting execution mechanisms. According to the method, through configuration of a tilting angle control module, a power distribution module and a full-stage flight logic scheduling module, full-stage automatic control of vertical take-off and landing, suspension, horizontal take-off, fixed-point horizontal flight, automatic cruise, one-key return flight, fixed-angle flight, power source fault handling and the like is achieved. Smooth transition of all flight modes is achieved, the stability of the attitude, the height and the position of the tiltable aircraft in different flight stages is maintained, meanwhile, the functions of automatic obstacle avoidance, fault emergency and the like are integrated, flight safety is guaranteed, flight stability and applicability are improved, and the method can be widely applied to various tiltable aircraft operation scenes.

The invention discloses a wireless communication method, device and equipment, and belongs to the field of communication, and the wireless communication method comprises the steps that a terminal sends first information to network side equipment; wherein the first information is used for indicating at least one of the following items: preference of the terminal for executing the first operation and information obtained by mobility reasoning based on an AI model; the first operation comprises at least one of the following items: cell switching, cell redirection, connection reestablishment, cell selection, cell reselection, activation of a turned-off cell, entering an idle state, leaving a connection state, shutdown, entering a flight mode, and mobility reasoning based on an AI model. In the embodiment of the invention, the terminal reports the preference of the terminal for executing the first operation or the information obtained by the mobility reasoning based on the AI model, so that the network side equipment can perform terminal-level configuration optimization according to the preference information of the terminal or the information obtained by the mobility reasoning based on the AI model, and the performance improvement taking the terminal as the center is realized.

The invention discloses a fuselage-free unmanned aerial vehicle, an aviation container and a modular transportation system and method, and aims to solve the problems of high transportation cost of traditional aviation goods and low transportation efficiency of land goods. The aircraft is not provided with a warehouse and adopts a flying wing type layout or a conventional layout, wings in the flying wing type layout or the conventional layout are used for generating lift force and enter a straight wing flight mode after taking off, and the wings are provided with power systems, flight control systems and mounting structures used for being detachably connected with the streamline aerodynamic configuration aviation containers. Through the dynamic combination mode of the aircraft and the containers, the single aircraft can achieve the operation cycle of circularly transporting at least three containers. Through continuous container reloading operation, the aircraft can keep a continuous flight state without waiting for a loading and unloading process. And meanwhile, the container can be quickly circulated among different aircrafts through the modular design. According to the transportation mode, optimal configuration of transportation resources is achieved through efficient cooperation of the aircraft and the container.

The invention discloses an unmanned aerial vehicle formation flight control method and device, an unmanned aerial vehicle and a storage medium. The method comprises the steps that formation parameters, flight task instruction data and flight state data of other unmanned aerial vehicles in a formation are acquired or updated; judging a control mode according to the flight task instruction data, wherein the control mode comprises at least one of the following modes: a normal control enabling and conventional flight mode, a calculation mode, a suspended hovering mode or a disintegration mode; according to the judgment result of the control mode, based on an L1 guide algorithm of self-adaptive track tracking, fusing unmanned aerial vehicle spacing control logic and / or formation control logic of formation dynamic adjustment to obtain a control instruction of an expected track and / or attitude, and executing the control instruction; and circularly executing the steps to ensure the continuity and dynamic adaptability of the unmanned aerial vehicle and the formation flight thereof. According to the scheme, a completely decentralized distributed control architecture is adopted, and a fault-tolerant mechanism is matched, so that the reliability and survivability of the formation system are remarkably improved.

This application discloses a call method and system, and a related apparatus. When a specific condition is met (for example, a callee fails to be paged), a network device forwards, to a VoIP server, a first call request to a target number, where the first call request is a call request initiated by a calling terminal to the target number, and the target number has been subscribed to a call forwarding service. Then the VoIP server parses a forwarding message from the network device to obtain a called number, searches, based on the called number, for the called terminal associated with the called number, and initiates a VoIP call to the called terminal, so that the callee in an out-of-service state (for example, there is no signal of an operator network or the callee is in an airplane mode) can still receive the call request from the caller.

The application discloses a fusion positioning algorithm based on low-orbit satellite Doppler measurement, DME and VOR, relates to the technical field of satellite navigation, and comprises the following steps: acquiring the Doppler frequency shift of a low-orbit satellite, the slant range information of a DME and the azimuth angle data of a VOR, constructing a combined observation equation, and obtaining a corresponding Jacobian matrix; based on a geometric dilution of precision, selecting stations and stars through a genetic algorithm, optimizing the selection of the DME, the VOR and the low-orbit satellite, and obtaining an optimal navigation source combination; constructing a motion model under different flight modes, and dynamically estimating the state of an aircraft by using an interactive multiple model Kalman filter, and updating the position information in real time. Therefore, the real-time positioning of the aircraft under complex conditions is realized, the anti-interference capability of the system is improved, and the overall positioning precision and stability of the system are improved.

The invention relates to the technical field of unmanned aerial vehicles, in particular to a power grid inspection method and system based on an unmanned aerial vehicle, and the method comprises the steps: obtaining a target tower and judging the type of the tower in combination with real-time visual detection and radar; locking the target pole tower and positioning in real time to determine a target position; if the target position is determined, entering a visual guidance flight following mode, otherwise, entering a radar line simulation flight mode until the target position is determined; before following of the current target pole tower is finished, different next pole tower searching strategies are executed according to the pole tower type, if the pole tower is a forked pole tower, a branch is manually selected, and if the pole tower is not the forked pole tower, locking of the current target pole tower is relieved when routing inspection crosses a preset position; and repeating the steps to continuously fly. According to the invention, the remote sensing advantage of vision and the short-distance detection advantage of radar can be deeply combined, the flight mode is adaptively switched, and the line patrol efficiency, accuracy and intelligent degree are improved.

The invention discloses an unmanned aerial vehicle anti-wind disturbance controller and a control method, and belongs to the technical field of unmanned aerial vehicle flight control. The method runs on an independent processing module which is connected in series between a main flight controller and an electronic speed regulator of the unmanned aerial vehicle, a dynamic reference is constructed by collecting motor current in real time, deviation is calculated, and wind disturbance equivalent disturbance torque is estimated in a prospective mode through a third-order linear extended state observer (LESO) with bandwidth parameterization design; in combination with a'user operation state + flight mode 'two-dimensional intelligent decision compensation strategy, a'look-ahead wind resistance + attitude backup' dual-redundancy channel is matched, so that the wind disturbance is compensated in advance, and the flight stability in a complex scene is ensured. A corresponding controller adopts a standardized independent hardware design, the adaptability is high, the integration cost is low, and the method can be widely applied to high-precision operation scenes of various multi-rotor unmanned aerial vehicles.

The invention discloses an intelligent flight path planning method for an unmanned aerial vehicle in a multi-type scene, and the method comprises the following steps: 1, building task input and task type recognition: setting the unmanned aerial vehicle to be in a fixed-height flight mode, and obtaining space information required by a task, including a take-off point position, a task point coordinate set and a task region boundary, the system identifies the task type through analysis; if the input is a discrete point set, the task is judged as a point task; if the structure is a broken line structure, judging the task as a line task; if the boundary is a task area boundary, the task is judged to be a surface task, and if the boundary width L is small, the task is still judged to be a line task. The method has the advantages that a fitness function is improved, the shortest total time of multiple unmanned aerial vehicle tasks is used as an optimization target, and task real-time weight parameters are introduced, so that a planning result meets task timeliness and energy consumption optimization at the same time; the coverage of planar tasks is realized in combination with a cattle farming algorithm, dynamic planning of electric quantity and a battery swap station is performed in combination with a greedy algorithm, and path optimization and improvement of energy management are realized.

In the descending process of the aircraft, the flight control system seeks and keeps a glide gradient, and the glide gradient is determined according to the parameters input by a single pilot; for example, the position of a control shaft of a flight joystick. During landing approach, a pilot visually observes a predetermined landing site, so that the pilot can easily determine an appropriate guide slope selection. The glide slope defines a ratio of forward and descent speeds that is automatically established and maintained / updated as a function of pilot input, while these speeds are automatically lowered during descent, although the two speed directions are each affected by significantly different aircraft mechanisms controlling them. The aircraft ends its glide path when the speed is zero or near zero so as to be able to land by short-distance vertical descent. Thus, the pilot gets rid of both the problems of coordinating the speed to reach a specific guide gradient and reducing the speed while maintaining such coordination.

Aspects presented herein may enable a tracking device to disable its transmitter based on determining whether the wireless device is within the vicinity or a threshold distance of an airport and / or based on information or measurements obtained from its modem receiver. In one aspect, a wireless device detects whether the wireless device is within a threshold distance of a target location or whether the wireless device is airborne. The wireless device disables a transmitter of the wireless device based on detecting that the wireless device is within the threshold distance of the target location or that the wireless device is airborne.

An aeronautical vehicle performs horizontal flight and / or vertical flight, and has a fuselage, a wing assembly having a first wing part and a second wing part rigidly coupled to one another, a rotor assembly, a horizontal thruster, and an attitude control system. The wing assembly is arranged rotatably with respect to the fuselage to rotate about a vertical pivot axis between a stow position and an active position. The rotor assembly includes two vertical thrust rotors arranged on a rotor support rotatably with respect to the fuselage to rotate the rotor assembly between a stow position and an active position. In a horizontal flight mode the wing assembly is in the active position and the rotor assembly is in the stow position, and in a vertical flight mode the wing assembly is in the stow position and the rotor assembly is in the active position.

The invention provides an intelligent mooring unmanned aerial vehicle dynamic lighting system and method based on automatic decision, and belongs to the technical field of unmanned aerial vehicle intelligent lighting. Comprising a multi-source environment sensing module used for collecting multi-source data information in real time, a three-dimensional environment building module used for building a three-dimensional environment model and a three-dimensional human body model, an intelligent decision module used for controlling the flight mode, the illumination mode and the safety protection of the unmanned aerial vehicle, and a control module used for controlling the unmanned aerial vehicle according to a decision instruction of the intelligent decision module. And the mooring unmanned aerial vehicle executes related work to realize dynamic illumination. Illumination can be intelligently controlled according to environment conditions and working requirements, that is, it is ensured that illumination covers workers all the time, and the flight path of the unmanned aerial vehicle is dynamically adjusted; and meanwhile, various safety protection functions are realized, so that safe and reliable operation in scenes such as power transmission line emergency repair at night is ensured.

The invention discloses an air-ground power multiplexing hovercar adopting electric wheel angle modules. The air-ground power multiplexing hovercar integrates electric wheels, a suspension system, a steering system, a car body and a support system. The hovercar has the dual-mode function of a land mode and a flight mode, and switching between the land mode and the flight mode is completed through cooperative work of the electric wheels, the steering system and the support system. Wherein the electric wheels and the steering system both adopt high-integration power multiplexing design, that is, a land mode and a flight mode multiplex the same set of execution motor and planetary gear train, so that the problems that too many actuators are introduced due to switching of the flight mode and the dual modes, the light weight level is low due to miscellaneous equipment, and the power consumption is low are solved to a great extent. And the problem of low-efficiency carrying of invalid loads caused by two sets of independent power is solved. The electric wheel angle module of the hovercar adopts a modular design and is also suitable for four-wheel, six-wheel and other multi-axle vehicle frameworks, and proper electric wheel angle modules can be matched and mounted according to vehicle performance requirements.

A flight mode transitioning device, method and system configured to facilitate transitioning between vertical flight mode and horizontal flight mode in a vertical take-off and landing (VTOL) aircraft, the device comprising at least one actuator mediated member capable of limiting the movement the aircraft wing so as to enable both forward fight and vertical flight.

The invention provides a multi-duct cooperative ground effect aircraft control method, and relates to the technical field of ground effect aircraft control, and the method comprises the steps: collecting flight parameters in real time, including aircraft attitude parameters, environmental parameters and / or duct operation parameters; matching a current flight mode according to the flight parameters, and calling a corresponding duct group according to a flight mode demand; based on a six-degree-of-freedom kinetic model and a ground effect lift force formula, calculating the total thrust and torque demand of the ground effect aircraft in combination with a flight mode, and calculating the optimal thrust output and angle parameters of each duct group by controlling a distribution matrix; and controlling the flight state of the ground effect aircraft according to the optimal thrust output and angle parameters of each duct group, and continuously collecting the flight parameters. The problem that in the prior art, the flight state of the ground effect aircraft is difficult to accurately control according to different flight mode working conditions under the three environments of water, land and air is solved.

The invention discloses a simulation test evaluation system for an intelligent decision algorithm of an unmanned aerial vehicle. The simulation test evaluation system comprises an initial scene generator, a flight mode discriminator, a three-dimensional disturbance synthesizer, a physical model deduction engine and a multi-dimensional performance evaluation device. According to the invention, a five-layer heterogeneous collaborative framework (including an initial scene generator, a flight mode discriminator, a three-dimensional disturbance synthesizer, a physical model deduction engine and multi-dimensional performance evaluation) is proposed for the first time, and a traditional single linear decision mode is broken; the full-process dynamic coupling of environment modeling, state perception, disturbance injection, behavior deduction and efficiency evaluation is realized, and compared with a traditional method, the decision boundary coverage rate and verification efficiency are improved.

The invention provides a mine rescue flying variable-structure robot and a detection method thereof. The mine rescue flying variable-structure robot comprises a machine body frame, a transmission module, an energy module, a navigation module, a task mounting interface and an anti-explosion safety assembly. The robot adopts an intrinsically safe explosion-proof design and is provided with electronic element explosion-proof components; the transmission module comprises a wheel-wing integrated driving mechanism, a dual-mode switchable transmission system and an intelligent switching control unit, the wheel-wing integrated driving mechanism comprises a multi-rotor wing arm and a propeller in a flight mode, the wheel-wing integrated driving mechanism is folded to form a wheel flange in a moving mode, and automatic mode switching is achieved through an intelligent control algorithm; the navigation module is a multi-mode navigation module and integrates ultra wide band, inertial navigation and mine radio pulse signal positioning; the task mounting interface carries an extensible environment sensor module to detect various complex terrains. Innovation is carried out on the basis of single-mode operation of traditional rescue equipment, land-air dual-mode detection rescue is achieved, and the detection efficiency of the underground post-disaster environment is remarkably improved.

The invention belongs to the technical field of flight simulators and throttle levers, particularly relates to an eVTOL simulator throttle lever control system and method, and aims to solve the problems that complex and diversified flight modes of eVTOL cannot be adapted, switching is not smooth, and hardware switching is inconvenient. According to the invention, the return-to-middle / non-return-to-middle mode can be switched in real time through the servo control unit, a moment model is customized for each flight mode for control, hardware does not need to be modified manually, and the flight mode change is quickly responded; smooth torque transition is realized through a self-adaptive Sigmoid transition algorithm; a multi-mode adaptive torque model and a PWM signal algorithm are adopted, and different flight mode control requirements are accurately matched; and the double-path position acquisition and fault backup design improves the reliability of the equipment. According to the invention, the authenticity, safety and efficiency of simulation training are effectively improved, and the eVTOL pilot training requirements are met.

The invention discloses a flight control method and system for a vertical take-off and landing tilting quad-rotor unmanned aerial vehicle, and aims to solve the technical problem of poor time-varying adaptability of a control system in a nacelle tilting transition stage. According to the method, in a rotor wing flight mode and a nacelle tilting transition mode, attitude angle deviation, deviation change rate and flight speed of the unmanned aerial vehicle are obtained in real time, a fuzzy inference engine is adopted to dynamically output basic control quantity based on a predefined rule base, and a final control instruction is generated in combination with pneumatic feed-forward compensation quantity based on speed to drive a pneumatic control surface. According to the method, fuzzy intelligent decision making and feed-forward dynamic compensation are fused, the limitation that traditional control depends on an accurate model is broken through, the control precision and adaptability of a transition stage are remarkably improved, overshoot is effectively restrained, the adjusting time is shortened, the robustness of a system under model parameter changes and external interference is enhanced, and the system reliability is improved. And a reliable technical guarantee is provided for full-mode flight of the tilt-rotor unmanned aerial vehicle.

The utility model discloses a convertible simulated driving and simulated flight rocker support, which relates to the rocker support technical field, and comprises a mounting plate and a switching assembly, the inner part of the mounting plate is provided with a positioning hole, the upper part of the mounting plate is rotatably connected with an adjusting plate, one side of the adjusting plate is provided with side plates, an adjusting rod is arranged between the side plates, and the adjusting rod is connected with the positioning hole. The switching assembly is arranged on the upper portion of the mounting plate and comprises a knurled bolt, a shifting block, a buckle and a fixing lug. According to the rocker support capable of switching driving simulation and flight simulation, through the arrangement of the switching assembly, in a flight simulation mode, a knurled bolt can be unscrewed firstly, so that a rotating gap is formed between a mounting plate and an adjusting plate, then the adjusting plate is rotated to enable the mounting plate to be aligned with the adjusting plate, and at the moment, a fixing lug is located below a buckle; therefore, the rotating block is shifted to enable the buckle to be arranged on the fixing lug in a sleeving mode, the shifting block is rotated back, the mounting plate and the adjusting plate can be locked, and the adjusting plate is prevented from rotating.

The present invention discloses a method for mining the flight patterns of aircraft in the airport terminal area based on standard flight procedures. First, quality analysis is performed on the arrival and departure data of the aircraft and the standard flight procedures, and the required feature vectors are obtained through preprocessing. Secondly, a method based on standard procedure guidance is used to mine the flight patterns of the flight tracks. In the process of determining the central track during clustering, the standard track is used as part of the central clustering track, and the distance calculation of the tracks is realized by using the method of calculating the similarity measure through dynamic time warping. The present invention improves the selection method of the central track on the basis of the original k-means mining flight pattern, classifies the tracks with the standard procedure as the main clustering center, reduces the number of iterations, improves the clustering accuracy, and makes the result more interpretable.

The invention discloses a hovercar control method and device and a storage medium, and the method comprises the steps: responding to a starting flight instruction of a target object, and carrying out the self-inspection of a hovercar according to a preset self-inspection program; under the condition that it is determined that the hovercar meets the flight condition, the hovercar is controlled to vertically take off in a vehicle form, and the real-time take-off state of the hovercar is monitored; under the condition that it is monitored that the real-time take-off state of the hovercar meets the preset condition, wings of the hovercar are controlled to stretch, and real-time stretching data of the wings are obtained; and adjusting the flight attitude of the hovercar according to the real-time extension data, controlling the hovercar to be switched from the vertical take-off mode to the target flight mode, and flying according to the target flight route. Dependence of a traditional vehicle on a fixed take-off and landing field is broken through, the flying car can complete deformation in the air, and traveling efficiency and traveling flexibility are effectively improved.