WO2023088307A1

WO2023088307A1 - Operating system and method for flying car, and flying car

Info

Publication number: WO2023088307A1
Application number: PCT/CN2022/132272
Authority: WO
Inventors: 王谭; 徐厚超; 刘波; 赵德力; 黄璐璐; 黄锦腾; 陶海燕; 张嘉豪; 周晨蕾; 陈淇
Original assignee: 广东汇天航空航天科技有限公司
Priority date: 2021-11-17
Filing date: 2022-11-16
Publication date: 2023-05-25

Abstract

An operating system (10) and method for a flying car, and a flying car (100). The operating system comprises a mode controller (12) and an operating device (13), wherein the mode controller is used for selecting a corresponding operating mode for the operating device in response to a mode selection instruction, the operating mode comprising a land operating mode for controlling a flying car to travel on land and a flight operating mode for controlling the flying car to travel in the air; and the operating device is used for controlling, in the flight operating mode, the flight of the flying car in the air in response to a control operation on a steering wheel (141), a driving stick (143) and an operating stick (17), and the operating device is further used for controlling, in the land operating mode, the travelling of the flying car on land in response to a control operation on the steering wheel, the driving stick and the operating stick. By means of the operating system, control modes for a flying car can be increased without adding other operation devices, thereby facilitating control over the flying car by a user.

Description

飞行汽车的操纵***、操纵方法及飞行汽车Control system and control method of flying car and flying car

相关申请的交叉引用Cross References to Related Applications

本申请要求于2021年11月17日提交中国专利局的申请号为CN 202111361520.1、名称为“飞行汽车的操纵***及飞行汽车”的中国专利申请以及2022年01月25日提交中国专利局的申请号为CN 202210087502.7、名称为“飞行汽车操纵方法、***和飞行汽车”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application requires a Chinese patent application with the application number CN 202111361520.1 titled "Control System and Flying Vehicle" submitted to the China Patent Office on November 17, 2021 and an application submitted to the China Patent Office on January 25, 2022 The priority of the Chinese patent application No. CN 202210087502.7, titled "Flying Vehicle Control Method, System and Flying Vehicle", the entire content of which is incorporated by reference in this application.

技术领域technical field

本申请涉及交通工具技术领域，更具体地，涉及一种飞行汽车的操纵***、操纵方法及飞行汽车。The present application relates to the technical field of vehicles, and more specifically, to a control system and a control method of a flying car and the flying car.

背景技术Background technique

飞行汽车是一种能够实现地面行驶、空中飞行的新型智能交通工具。Flying cars are a new type of intelligent transportation that can drive on the ground and fly in the air.

目前，飞行汽车在地面行驶时采用的是汽车的操纵逻辑，在空中飞行时采用的是飞机的操纵逻辑，两种操纵逻辑对应的操纵设备不相同，而在这两种操作设备叠加时，需在飞行汽车上添加除汽车操纵设备之外的设备，导致一方面过多的操纵设备占用飞行汽车内的空间，另一方面过多的操纵设备，操纵复杂，不便于用户对飞行汽车进行控制。At present, the flying car uses the control logic of the car when driving on the ground, and uses the control logic of the aircraft when flying in the air. The control devices corresponding to the two control logics are different. Adding devices other than the car control equipment to the flying car will lead to too many control devices occupying the space in the flying car on the one hand, and on the other hand, too many control devices make the operation complicated and inconvenient for users to control the flying car.

发明内容Contents of the invention

本申请实施例提供一种飞行汽车的操纵***、操纵方法及飞行汽车。Embodiments of the present application provide a flying vehicle control system, a control method, and the flying vehicle.

根据本申请的第一方面，本申请实施例提供一种飞行汽车的操纵***，操纵***应用于飞行汽车，飞行汽车受操纵***的控制而工作于飞行模式或陆地模式；操纵***包括模式控制器和操纵设备，操纵设备电性连接于模式控制器，操纵设备包括转向盘、驾驶杆以及操纵杆；模式控制器，用于响应于模式选取指令，为操纵设备选取对应的操纵模式；操纵模式包括用于控制飞行汽车在陆地行驶的陆地操纵模式以及用于控制飞行汽车在空中行驶的飞行操纵模式；操纵设备，用于在飞行操纵模式下，响应于针对转向盘、驾驶杆和操纵杆的控制操作，控制飞行汽车在空中的飞行；操纵设备，还用于在陆地操纵模式下，响应于针对转向盘、驾驶杆和操纵杆的控制操作，控制飞行汽车在陆地上的行驶。According to the first aspect of the present application, an embodiment of the present application provides a control system for a flying car, the control system is applied to a flying car, and the flying car is controlled by the control system to work in flight mode or land mode; the control system includes a mode controller and the control device, the control device is electrically connected to the mode controller, and the control device includes a steering wheel, a steering rod and a joystick; the mode controller is used to respond to a mode selection instruction, and select a corresponding control mode for the control device; the control mode includes A land control mode for controlling the flying car to travel on land and a flight control mode for controlling the flying car to travel in the air; the control device is used to respond to the controls for the steering wheel, the joystick and the joystick in the flight control mode The operation is to control the flight of the flying car in the air; the control device is also used to control the driving of the flying car on the land in response to the control operations on the steering wheel, steering stick and joystick in the land manipulation mode.

根据本申请的第二方面，本申请实施例提供一种飞行汽车，其包括车体、陆地驱动***、飞行驱动***以及上述的操纵***。陆地驱动***设置于车体，飞行驱动***设置于车体，飞行驱动***包括连接于车体的旋翼模组，操纵***连接于陆地驱动***以及飞行驱动***。According to the second aspect of the present application, the embodiment of the present application provides a flying car, which includes a car body, a land drive system, a flight drive system, and the above-mentioned control system. The land driving system is arranged on the car body, and the flight driving system is arranged on the car body. The flight driving system includes a rotor module connected to the car body, and the control system is connected to the land driving system and the flying driving system.

根据本申请的第三方面，本申请实施例提供一种飞行汽车的操纵方法，操纵方法应用于飞行汽车，飞行汽车受操纵设备的控制而工作于飞行模式或陆地模式；该方法包括：响应于选取指令，为飞行汽车上的操纵设备选取对应的操纵模式；其中，操纵设备包括转向盘、驾驶杆以及操纵杆；操纵模式包括用于控制飞行汽车在陆地行驶的陆地操纵模式以及用于控制飞行汽车在空中行驶的飞行操纵模式；在飞行操纵模式下，响应于针对转向盘、驾驶杆和操纵杆的控制操作，控制飞行汽车的飞行；在陆地操纵模式下，响应于针对转向盘、驾驶杆和操纵杆的控制操作，控制飞行汽车在陆地上的行驶。According to the third aspect of the present application, an embodiment of the present application provides a method for operating a flying car. The operating method is applied to a flying car, and the flying car is controlled by the control device to work in the flight mode or the land mode; the method includes: responding to Select instructions to select the corresponding control mode for the control device on the flying car; wherein, the control device includes the steering wheel, the joystick and the joystick; the control mode includes the land control mode for controlling the flying car on land and the control mode for controlling the flight The flight control mode of the car driving in the air; in the flight control mode, the flight of the flying car is controlled in response to the control operations for the steering wheel, the joystick and the joystick; And the control operation of the joystick to control the driving of the flying car on land.

根据本申请的第四方面，本申请实施例提供一种飞行汽车，包括处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序，计算机程序被处理器执行时实现上述的飞行汽车操纵方法。According to the fourth aspect of the present application, the embodiment of the present application provides a flying car, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above-mentioned flight is realized. How to handle the car.

根据本申请的第五方面，本申请实施例提供一种计算机可读存储介质，计算机可读存储介质上存储计算机程序，计算机程序被处理器执行时实现上述的飞行汽车的操纵方法。According to the fifth aspect of the present application, the embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for operating a flying car is implemented.

附图说明Description of drawings

为了更清楚地说明本申请的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solution of the present application more clearly, the accompanying drawings used in the implementation will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the application. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

图1是本申请实施例提供的飞行汽车的***框图。Fig. 1 is a system block diagram of a flying car provided by an embodiment of the present application.

图2是图1所示飞行汽车处于第一子飞行模式的立体示意图。Fig. 2 is a schematic perspective view of the flying car shown in Fig. 1 in a first sub-flying mode.

图3是图1所示飞行汽车处于陆地模式时的立体示意图。Fig. 3 is a schematic perspective view of the flying car shown in Fig. 1 when it is in a land mode.

图4是图1所示飞行汽车处于第二子飞行模式时的立体示意图。Fig. 4 is a schematic perspective view of the flying car shown in Fig. 1 when it is in a second sub-flying mode.

图5是图1所示飞行汽车的另一种***框图。Fig. 5 is another system block diagram of the flying car shown in Fig. 1 .

图6是图1所示飞行汽车的操纵***的立体示意图。Fig. 6 is a schematic perspective view of the control system of the flying car shown in Fig. 1 .

图7是图5所示操纵***的操纵箱的示意图。FIG. 7 is a schematic diagram of the steering box of the steering system shown in FIG. 5 .

图8是图6所示飞行汽车的操纵***的另一种立体示意图。Fig. 8 is another schematic perspective view of the control system of the flying car shown in Fig. 6 .

图9是本申请实施例提供的一种飞行汽车操纵方法的步骤流程图。Fig. 9 is a flow chart of the steps of a flying car control method provided by the embodiment of the present application.

图10是本申请实施例提供的另一种飞行汽车操纵方法的步骤流程图。Fig. 10 is a flow chart of steps of another flying car control method provided by the embodiment of the present application.

图11是本申请实施例提供的一种的飞行汽车操纵方法中飞行模式下的流程示意图。Fig. 11 is a schematic flow chart in flight mode of a flying car control method provided by an embodiment of the present application.

图12是本申请实施例提供的一种的飞行汽车操纵方法中陆地模式下的流程示意图。Fig. 12 is a schematic flow chart in land mode of a flying car control method provided by an embodiment of the present application.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

如在说明书及权利要求当中使用了某些词汇来指称特定组件，本领域技术人员应可理解，硬件制造商可能会用不同名词来称呼同一组件。说明书及权利要求并不以名称的差异作为区分组件的方式，而是以组件在功能上的差异作为区分的准则。如在通篇说明书及权利要求当中所提及的“包括”为一开放式用语，故应解释成“包含但不限定于”；“大致”是指本领域技术人员能够在一定误差范围内解决技术问题，基本达到技术效果。If certain terms are used to refer to specific components in the description and claims, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The description and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a criterion for distinguishing. As mentioned throughout the specification and claims, "comprising" is an open term, so it should be interpreted as "including but not limited to"; "approximately" means that those skilled in the art can solve the problem within a certain error range Technical problems, basically achieve technical results.

飞行汽车是一种能够实现地面行驶、空中飞行的新型智能交通工具。目前，飞行汽车在地面行驶时采用的是汽车的操纵逻辑，在空中飞行时采用的是飞机的操纵逻辑，两种操纵逻辑对应的操纵设备不相同，而在这两种操作设备叠加时，需在飞行汽车上添加除汽车操纵设备之外的设备，导致一方面过多的操纵设备占用飞行汽车内的空间，另一方面过多的操纵设备，操纵复杂，不便于用户对飞行汽车进行控制。Flying cars are a new type of intelligent transportation that can drive on the ground and fly in the air. At present, the flying car uses the control logic of the car when driving on the ground, and uses the control logic of the aircraft when flying in the air. The control devices corresponding to the two control logics are different. Adding devices other than the car control equipment to the flying car will lead to too many control devices occupying the space in the flying car on the one hand, and on the other hand, too many control devices make the operation complicated and inconvenient for users to control the flying car.

为了陆地模式与多种飞行模式集成在一起，发明人经过长期研究，提出了一种飞行汽车，同时具有陆地模式、直升机模式和固定翼模式，提高了飞行汽车的适用性。然而，发明人在实践中进一步发现，三种模式各自具有自身的特点，如果只是将各种模式的操纵器件堆积在一起，结构比较复杂，不利于驾驶员操作。In order to integrate the land mode with multiple flight modes, the inventor has proposed a flying car after long-term research, which has a land mode, a helicopter mode and a fixed wing mode at the same time, which improves the applicability of the flying car. However, the inventor further found in practice that each of the three modes has its own characteristics, and if the operating devices of various modes are only stacked together, the structure is relatively complicated, which is not conducive to the driver's operation.

因此，发明人继续就如何简化飞行汽车的操作***进行研究。通过大量、反复的研究，本申请发明人提出了一种飞行汽车的操纵***及飞行汽车，飞行汽车包括车体、飞行驱动***以及陆地驱动***，飞行驱动***包括连接于车体的旋翼模组，飞行汽车受操纵***的控制而工作于飞行模式或陆地模式，其中飞行模式包括第一子飞行模式和第二子飞行模式。模式控制器设有三个档位，分别对应第一子飞行模式、第二子飞行模式以及陆地模式。该操纵***将第一子飞行模式、第二子飞行模式与陆地模式集成在一起，在飞行汽车处于陆地模式时控制飞行汽车在地面行驶，在飞行汽车处于第一子飞行模式时控制旋翼的旋转轴处于第一位置，在飞行汽车处于第二子飞行模式时控制旋翼的旋转轴处于第二位置。操纵***通过提供两种不同的飞行模式，从而可以满足飞行汽车在不同状态下的飞行需求，适用性更广泛。进一步地，操纵***通过姿态控制器连接飞行汽车的陆地转向***和飞行姿态***并控制飞行汽车在陆地模式和飞行模式时的姿态，通过简化操纵机构的结构，有利于飞行汽车的减重，且飞行汽车的操纵***的操作更为简化。Therefore, the inventor continues to conduct research on how to simplify the operating system of the flying car. Through a large number of repeated researches, the inventor of the present application proposed a flying car control system and a flying car. The flying car includes a car body, a flight drive system and a land drive system. The flight drive system includes a rotor module connected to the car body. , the flying car is controlled by the control system to work in the flight mode or the land mode, wherein the flight mode includes a first sub-flight mode and a second sub-flight mode. The mode controller has three gears, respectively corresponding to the first sub-flight mode, the second sub-flight mode and the land mode. The control system integrates the first sub-flight mode, the second sub-flight mode and the land mode, controls the flying car to drive on the ground when the flying car is in the land mode, and controls the rotation of the rotor when the flying car is in the first sub-flight mode The shaft is at the first position, and the rotation shaft of the control rotor is at the second position when the flying car is in the second sub-flight mode. The control system can meet the flight requirements of the flying car in different states by providing two different flight modes, and has wider applicability. Further, the control system connects the land steering system and the flight attitude system of the flying car through the attitude controller and controls the attitude of the flying car in land mode and flight mode. By simplifying the structure of the control mechanism, it is beneficial to the weight reduction of the flying car, and The operation of the control system of the flying car is more simplified.

下面将结合具体实施方式以及示意性的附图来对本申请提出的飞行汽车的操纵***、操纵方法及飞行汽车进行进一步阐述。The control system, control method and flying car proposed in this application will be further elaborated below in conjunction with specific implementation methods and schematic drawings.

请参阅图1及图2，本申请实施方式提供一种飞行汽车的操纵***10以及配置有操纵***10的飞行汽车100，其中，操纵***10可以应用在飞行汽车100中，以用于实现飞行汽车100在飞行模式和陆地模式之间切换，也即，飞行汽车100受操纵***10的控制而工作于飞行模式或陆地模式。Referring to Fig. 1 and Fig. 2, the embodiment of the present application provides a flying car control system 10 and a flying car 100 equipped with the control system 10, wherein the control system 10 can be applied in the flying car 100 to realize flight The car 100 is switched between the flight mode and the land mode, that is, the flying car 100 is controlled by the control system 10 to work in the flight mode or the land mode.

飞行汽车100可以包括车体102、飞行驱动***30以及陆地驱动***50。飞行驱动***30可以设置于车体102，并连接于操纵***10，飞行驱动***30用于向处于飞行模式时的飞行汽车100提供行进的推力。在本申请中，除非另有明确的规定或限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解。例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接连接，也可以通过中间媒介间接相连，也可以是两个元件内部的连通，也可以是仅为表面接触。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。The flying car 100 may include a car body 102 , a flying driving system 30 and a land driving system 50 . The flight drive system 30 can be arranged on the car body 102 and connected to the control system 10 , and the flight drive system 30 is used to provide thrust for the flying car 100 in flight mode. In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense unless otherwise clearly specified or limited. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components. Communication, or only surface contact. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

在一些实施例中，飞行驱动***30可以包括喷气引擎或/及螺旋桨。在实施例中，飞行驱动***30包括旋翼模组32，旋翼模组32连接于车体102，其用于向不同的飞行模式下的飞行汽车100提供不同方向的推进力。在本申请实施例中，旋翼模组32可调节地连接于车体102，旋翼模组32在操纵***10的控制下，其旋转轴O可选择地处于第一位置或第二位置，当旋翼模组32的旋转轴处于第一位置时，飞行汽车工作于第一子飞行模式，当旋翼模组32的旋转轴O处于第二位置时，飞行汽车工作于第二子飞行模式；其中，旋转轴O处于第一位置时和处于所二位置时相对于车体102的角度不同，下文会进行详细介绍。在本申请实施例中，旋翼模组32包括旋翼电机321以及旋翼323，旋翼电机321连接于车体102，旋翼323连接于旋翼电机321的输出轴上，在飞行汽车100处于飞行模式时，旋翼电机321可以带动旋翼323转动。在一些实施例中，旋翼电机52可以是伺服电机，其将电压信号转化为转矩和转速，从而带动旋翼54转动。在其他一些实施例中，旋翼电机52可以是步进电机，将电脉冲信号转换成相应角位移或线位移，从而带动旋翼54转动。In some embodiments, flight drive system 30 may include jet engines and/or propellers. In an embodiment, the flight driving system 30 includes a rotor module 32 connected to the vehicle body 102 for providing propulsion in different directions to the flying vehicle 100 in different flight modes. In the embodiment of the present application, the rotor module 32 is adjustably connected to the vehicle body 102. Under the control of the control system 10, the rotation axis O of the rotor module 32 can be selectively in the first position or the second position. When the rotor When the rotation axis of the module 32 is in the first position, the flying car works in the first sub-flight mode, and when the rotation axis O of the rotor module 32 is in the second position, the flying car works in the second sub-flight mode; The angle of the axis O relative to the vehicle body 102 is different when it is in the first position and when it is in the second position, which will be described in detail below. In the embodiment of the present application, the rotor module 32 includes a rotor motor 321 and a rotor 323. The rotor motor 321 is connected to the vehicle body 102, and the rotor 323 is connected to the output shaft of the rotor motor 321. When the flying car 100 is in flight mode, the rotor The motor 321 can drive the rotor 323 to rotate. In some embodiments, the rotor motor 52 may be a servo motor, which converts a voltage signal into torque and rotational speed, thereby driving the rotor 54 to rotate. In some other embodiments, the rotor motor 52 may be a stepper motor, which converts the electrical pulse signal into a corresponding angular displacement or linear displacement, thereby driving the rotor 54 to rotate.

应当理解的是，在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。It should be understood that in the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that the embodiment or EXAMPLES A specific feature, structure, material, or characteristic described is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

陆地驱动***50可以设置于车体102，并连接于操纵***10，其用于向处于陆地模式时的飞行汽车100提供前进的动力和制动的阻力。请参阅图3，在本申请实施例中，陆地驱动***50可以包括驱动轮56，还可以包括离合器、变速器、传动轴、传动齿轮等驱动组件(图中未示出)，以用于向飞行汽车100提供前进的动力和制动的阻力。驱动轮56的数量可以为两个，两个驱动轮96分别位于车体102后部的两侧。具体而言，陆地驱动***50可以包括速度控制***52以及制动***54。速度控制***52可以包括加速器或/及引擎，用于在飞行汽车100处于陆地模式时提供前进的推力，制动***54可以包括减速器或/及刹车片，用于在飞行汽车100处于陆地模式时提供制动的阻力。The land driving system 50 can be arranged on the car body 102 and connected to the control system 10, which is used to provide forward power and braking resistance to the flying car 100 in the land mode. Referring to Fig. 3, in the embodiment of the present application, the land drive system 50 may include a drive wheel 56, and may also include drive components (not shown) such as a clutch, a speed changer, a transmission shaft, and a transmission gear (not shown in the figure), so as to be used for directional flight. Car 100 provides forward momentum and braking resistance. The number of driving wheels 56 can be two, and the two driving wheels 96 are respectively located on both sides of the rear of the vehicle body 102 . Specifically, land drive system 50 may include a speed control system 52 and a braking system 54 . The speed control system 52 may include an accelerator or/and an engine for providing forward thrust when the flying car 100 is in land mode, and the braking system 54 may include a reducer or/and brake pads for providing forward thrust when the flying car 100 is in land mode. provide braking resistance.

进一步地，飞行汽车100还可以包括飞行姿态***70，飞行姿态***70可以设置于车体102，并连接于操纵***10用于控制飞行汽车100处于飞行模式时的飞行姿态。在实施例中，飞行姿态***70可以包括升降舵72，升降舵72位于飞行汽车100的尾部，其用于控制飞行汽车100处于飞行模式时的俯仰姿态。在本申请实施例中，升降舵72连接于车体102的尾部，其用于控制飞行汽车100飞行时的俯仰角度。Further, the flying car 100 may also include a flight attitude system 70, which may be arranged on the car body 102 and connected to the control system 10 for controlling the flying attitude of the flying car 100 in flight mode. In an embodiment, the flight attitude system 70 may include an elevator 72 located at the tail of the flying car 100 for controlling the pitching attitude of the flying car 100 in flight mode. In the embodiment of the present application, the elevator 72 is connected to the tail of the car body 102, and it is used to control the pitch angle of the flying car 100 when flying.

进一步地，飞行姿态***70还可以包括方向舵74，方向舵74用于控制飞行汽车100处于飞行模式时的俯仰姿态。在一些实施例中，方向舵74可以连接于车体102。在其他一些实施例中，方向舵74可以连接于升降舵72。在本申请实施例中，方向舵74的数量为两个，两个方向舵74分别连接在升降舵72的相对两侧，用于控制飞行汽车100的偏航角度。Further, the flight attitude system 70 may also include a rudder 74, which is used to control the pitch attitude of the flying car 100 when it is in the flight mode. In some embodiments, the rudder 74 may be attached to the vehicle body 102 . In other embodiments, the rudder 74 may be connected to the elevator 72 . In the embodiment of the present application, there are two rudders 74 , and the two rudders 74 are respectively connected to opposite sides of the elevator 72 to control the yaw angle of the flying car 100 .

在一些实施例中，飞行姿态***70还可以包括固定翼76以及副翼78，固定翼76以及副翼78用于控制飞行汽车100处于飞行模式时的升降和滚转姿态。在本申请实施例中，固定翼76的数量为两个，两个固定翼76分别设置于车体102的顶部的两侧，固定翼76可以作为承力框架结构，用于安装及承载副翼78以及旋翼模组32。In some embodiments, the flight attitude system 70 may also include a fixed wing 76 and an aileron 78 , which are used to control the lift and roll attitude of the flying car 100 when it is in flight mode. In the embodiment of the present application, the number of fixed wings 76 is two, and the two fixed wings 76 are respectively arranged on both sides of the top of the vehicle body 102. The fixed wings 76 can be used as a load-bearing frame structure for installing and carrying ailerons. 78 and rotor module 32.

在一些实施例中，旋翼模组32可以连接于固定翼76或车体102。具体在图示的实施例中，旋翼模组32连接于固定翼75，以通过固定翼75连接于车体102。为了安装旋翼模组32，固定翼76远离车体102的一侧可以设有容置槽761，旋翼电机321至少部分地嵌入容置槽761中。具体而言，旋翼电机52的数量为两个，相应地，容置槽761的数量也为两个。在另一些实施例中，旋翼模组32可以直接连接于车体102。In some embodiments, the rotor module 32 may be attached to the fixed wing 76 or the vehicle body 102 . Specifically, in the illustrated embodiment, the rotor module 32 is connected to the fixed wing 75 so as to be connected to the vehicle body 102 through the fixed wing 75 . In order to install the rotor module 32 , the side of the fixed wing 76 away from the vehicle body 102 may be provided with an accommodating groove 761 , and the rotor motor 321 is at least partially embedded in the accommodating groove 761 . Specifically, the number of rotor motors 52 is two, and correspondingly, the number of accommodating slots 761 is also two. In other embodiments, the rotor module 32 may be directly connected to the vehicle body 102 .

为了适应固定翼76的数量，副翼78的数量也为两个，两个副翼78分别设置于两个固定翼76，通过控制两个副翼78相对于对应的固定翼76的空间位置关系，能够在飞行汽车100处于飞行模式时控制其滚转姿态。在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“里”等指示方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请而简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本申请的限制。In order to adapt to the number of fixed wings 76, the number of ailerons 78 is also two, and the two ailerons 78 are respectively arranged on the two fixed wings 76, by controlling the spatial position relationship of the two ailerons 78 with respect to the corresponding fixed wings 76 , the rolling attitude of the flying car 100 can be controlled when it is in the flight mode. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "in", etc. indicate orientation or positional relationship based on the drawings The orientation or positional relationship shown is only to simplify the description for the convenience of describing the present application, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present application. limits.

在本申请实施例中，飞行姿态***70还可以包括收展机构71，收展机构71连接于车体102与固定翼76之间，使固定翼76能够通过收展机构71可调节地连接于车体102。收展机构71用于改变固定翼76相对于车体102的空间位置。具体而言，收展机构71用于在飞行汽车100的形式状态发生改变时驱动固定翼76相对于车体102运动，以改变固定翼76相对于车体102的空间位置，例如，飞行汽车100由飞行模式改变为陆地模式时，收展机构71用于控制固定翼76相对于车体102收拢，或者，飞行汽车100由陆地模式改变为飞行模式时，收展机构71用于控制固定翼76相对于车体102展开。因此，收展机构71被配置为：在飞行模式下，维持固定翼76相对于车体102呈展开状态(如图2所示)，在陆地模式下，维持固定翼76相对于车体102呈收拢状态(如图3所示)。在一些示例中，收展机构71可以包括驱动电机和连杆组件(图中未示出)，驱动电机可以固定连接于车体102，连杆组件可以连接于驱动电机与固定翼32之间，驱动电机用于驱动连杆组件带动固定翼76相对于车体102运动。在另一些示例中，收展机构71可以包括固定于车体102的舵机，固定翼76可以连接于舵机的输出轴，并能够在舵机的带动下相对车体102运动。In the embodiment of the present application, the flight attitude system 70 may also include a retractable mechanism 71, which is connected between the vehicle body 102 and the fixed wing 76, so that the fixed wing 76 can be adjusted to be connected to the Car body 102 . The retractable mechanism 71 is used to change the spatial position of the fixed wing 76 relative to the vehicle body 102 . Specifically, the retractable mechanism 71 is used to drive the fixed wing 76 to move relative to the vehicle body 102 when the form state of the flying vehicle 100 changes, so as to change the spatial position of the fixed wing 76 relative to the vehicle body 102, for example, the flying vehicle 100 When changing from the flight mode to the land mode, the retractable mechanism 71 is used to control the fixed wing 76 to retract relative to the car body 102, or when the flying car 100 changes from the land mode to the flight mode, the retractable mechanism 71 is used to control the fixed wing 76 Expand relative to the vehicle body 102 . Therefore, the retractable mechanism 71 is configured to: in the flight mode, maintain the fixed wing 76 in an unfolded state relative to the vehicle body 102 (as shown in FIG. 2 ); Collapsed state (as shown in Figure 3). In some examples, the retracting mechanism 71 may include a driving motor and a connecting rod assembly (not shown in the figure), the driving motor may be fixedly connected to the vehicle body 102, and the connecting rod assembly may be connected between the driving motor and the fixed wing 32, The driving motor is used to drive the connecting rod assembly to drive the fixed wing 76 to move relative to the vehicle body 102 . In some other examples, the retractable mechanism 71 may include a steering gear fixed to the vehicle body 102 , and the fixed wing 76 may be connected to an output shaft of the steering gear and can move relative to the vehicle body 102 driven by the steering gear.

进一步地，在本申请实施例中，飞行驱动***30还可以包括倾转机构34，倾转机构34连接于固定翼76与旋翼模组32之间，使旋翼模组能够通过倾转机构34可调节地连接于固定翼76。倾转机构34改变旋翼模组32的空间位置。具体而言，倾转机构34用于在飞行汽车100的形式状态发生改变时驱动旋翼模组32相对于固定翼76运动，以改变旋翼模组32的空间位置，例如，飞行汽车100由第一子飞行模式改变为第二子飞行模式时，倾转机构34用于控制旋翼模组32的旋翼电机321向水平方向转动，控制旋翼323的旋转轴方向O为水平方向，或者，飞行汽车100由第二子飞行模式改变为第一子飞行模式时，倾转机构34用于控制旋翼模组32的旋翼电机321向竖直方向转动，控制旋翼323的旋转轴方向O为竖直方向。因此，倾转机构34被配置为：在第一子飞行模式下，倾转机构34控制旋翼模组32的旋转轴处于第一位置，旋转轴方向O为竖直方向(如图2所示)，在第二子飞行模式下，倾转机构34控制旋翼模组32的旋转轴处于第二位置，旋转轴方向O为水平方向(如图4所示)。在一些示例中，倾转机构34可以包括驱动电机和连杆组件(图中未示出)，驱动电机可以固定连接于固定翼76，连杆组件可以连接于驱动电机与旋翼模组32之间，驱动电机用于驱动连杆组件带动旋翼模组32相对于固定翼76运动。在另一些示例中，收展机构71可以包括固定于固定翼76的舵机，旋翼模组32可以连接于舵机的输出轴，并能够在舵机的带动下相对固定翼76运动。Further, in the embodiment of the present application, the flight drive system 30 may also include a tilting mechanism 34, the tilting mechanism 34 is connected between the fixed wing 76 and the rotor module 32, so that the rotor module can be rotated through the tilting mechanism 34. Adjustably connected to the fixed wing 76 . The tilt mechanism 34 changes the spatial position of the rotor module 32 . Specifically, the tilting mechanism 34 is used to drive the rotor module 32 to move relative to the fixed wing 76 when the form state of the flying car 100 changes, so as to change the spatial position of the rotor module 32. For example, the flying car 100 is moved by the first When the sub-flight mode is changed to the second sub-flight mode, the tilting mechanism 34 is used to control the rotor motor 321 of the rotor module 32 to rotate in the horizontal direction, and the rotation axis direction O of the rotor 323 is controlled to be in the horizontal direction, or the flying car 100 is controlled by When the second sub-flight mode is changed to the first sub-flight mode, the tilting mechanism 34 is used to control the rotor motor 321 of the rotor module 32 to rotate in the vertical direction, and to control the rotation axis direction O of the rotor 323 to be the vertical direction. Therefore, the tilt mechanism 34 is configured as follows: in the first sub-flight mode, the tilt mechanism 34 controls the rotation axis of the rotor module 32 to be in the first position, and the rotation axis direction O is a vertical direction (as shown in FIG. 2 ). , in the second sub-flight mode, the tilt mechanism 34 controls the rotation axis of the rotor module 32 to be in the second position, and the rotation axis direction O is horizontal (as shown in FIG. 4 ). In some examples, the tilting mechanism 34 may include a drive motor and a link assembly (not shown in the figure), the drive motor may be fixedly connected to the fixed wing 76, and the link assembly may be connected between the drive motor and the rotor module 32 , the drive motor is used to drive the connecting rod assembly to drive the rotor module 32 to move relative to the fixed wing 76 . In other examples, the retractable mechanism 71 may include a steering gear fixed to the fixed wing 76, and the rotor module 32 may be connected to the output shaft of the steering gear, and can move relative to the fixed wing 76 driven by the steering gear.

进一步地，飞行汽车100还可以包括陆地转向***90。陆地转向***90可以设置于车体102，并连接于操纵***10，用于控制飞行汽车100处于陆地模式时的转向姿态。请参阅图4，在本申请实施例中，陆地转向***包括转向轮92，还可以包括转向轴、转向齿轮等转向组件(图中未示出)，其用于控制飞行汽车100处于陆地模式时的转向姿态。具体而言，转向轮92的数量为两个，两个转向轮92分别位于车体102前部的两侧，用于在飞行汽车100处于陆地模式时控制其行驶的方向。Further, the flying car 100 may also include a land steering system 90 . The land steering system 90 can be arranged on the car body 102 and connected to the control system 10 for controlling the steering attitude of the flying car 100 in land mode. Please refer to FIG. 4. In the embodiment of the present application, the land steering system includes steering wheels 92, and may also include steering components such as steering shafts and steering gears (not shown in the figure), which are used to control the flying car 100 when it is in land mode. turning posture. Specifically, there are two steering wheels 92, and the two steering wheels 92 are respectively located on both sides of the front of the car body 102, and are used to control the driving direction of the flying car 100 when it is in land mode.

在本申请实施例中，可以在操纵***10和各执行***(如飞行汽车的飞行姿态***70、飞行驱动***30等)之间引入操纵面，操纵面连接在操纵***10和执行***之间，操纵***10和操纵面的连接采用电传式，电传式是指借助电信号操纵伺服***来控制飞行汽车100的状态，使得飞行汽车100的操纵器件更加紧凑、操纵方式更加灵活。当驾驶员驾驶飞行汽车100时，电传式的连接状态可以降低驾驶员对舵面作用力的感知程度，从而降低驾驶员对第一子飞行模式与第二子飞行模式的感知成都，有效减小驾驶员的心理压力。In the embodiment of the present application, a control surface can be introduced between the control system 10 and each execution system (such as the flight attitude system 70 of the flying car, the flight drive system 30, etc.), and the control surface is connected between the control system 10 and the execution system. , the connection between the control system 10 and the control surface adopts the fly-by-wire type, and the fly-by-wire type refers to controlling the state of the flying car 100 by manipulating the servo system with electric signals, so that the control devices of the flying car 100 are more compact and the control method is more flexible. When the driver is driving the flying car 100, the fly-by-wire connection state can reduce the driver's perception of the force of the rudder surface, thereby reducing the driver's perception of the first sub-flight mode and the second sub-flight mode, effectively reducing the The psychological pressure of small drivers.

请参阅图5，在本申请实施例中，操纵***10被配置为：通过飞行姿态***30控制飞行汽车100在飞行模式时的飞行姿态，通过陆地转向***50控制飞行汽车100在陆地模式时的转向姿态，通过飞行驱动***控制飞行汽车100在飞行模式时行进的推力，通过陆地驱动***控制飞行汽车100在陆地模式时的行进速度。Please refer to FIG. 5 , in the embodiment of the present application, the control system 10 is configured to: control the flight attitude of the flying car 100 in the flight mode through the flight attitude system 30 , and control the flying attitude of the flying car 100 in the land mode through the land steering system 50 ; The steering attitude is to control the thrust of the flying car 100 in flight mode through the flight drive system, and to control the speed of the flying car 100 in land mode through the land drive system.

下文将结合具体的图示对本申请一些实施例的操纵***10进行详细阐述。The manipulation system 10 of some embodiments of the present application will be described in detail below with reference to specific illustrations.

请同时参阅图5及6，在本申请实施例中，操纵***10包括模式控制器12以及操纵设备13，操纵设备13电性连接于模式控制器12。应当理解的是，在本申请实施例中，两个元件之间“电性连接”可以表示两个元件之间具备电信号的传递路径，二者可以通过线缆连接、通过导体连接以传递电信号，也可以无线连接(例如无线通信连接等)，以传递电信号(例如电磁波信号)。Please refer to FIGS. 5 and 6 at the same time. In the embodiment of the present application, the operating system 10 includes a mode controller 12 and an operating device 13 . The operating device 13 is electrically connected to the mode controller 12 . It should be understood that, in the embodiments of the present application, "electrical connection" between two elements may mean that there is an electrical signal transmission path between the two elements, and the two elements may be connected by cables or conductors to transmit electrical signals. Signals can also be wirelessly connected (such as wireless communication connections, etc.) to transmit electrical signals (such as electromagnetic wave signals).

模式控制器12连接于飞行驱动***30以及陆地驱动***50，并用于将飞行汽车100配置在飞行模式或陆地模式。具体而言，模式控制器12用于响应于模式选取指令，为所述操纵设备13选取对应的操纵模式，操纵模式包括用于控制飞行汽车100在陆地行驶的陆地操纵模式以及用于控制飞行汽车100在空中行驶的飞行操纵模式。模式选取指令可以基于用户针对模式控制器12的操控动作而生成。在陆地操纵模式下，操纵***10的操纵设备13与陆地驱动***50电性连接，以允许用户能够通过操纵设备13控制飞行汽车100在陆地行驶，此时，操纵设备13的工作模式即为陆地操纵模式。在飞行操纵模式下，操纵***10的操纵设备13与飞行驱动***30电性连接，以允许用户能够通过操纵设备13控制飞行汽车100在飞行行驶，此时，操纵设备13的工作模式即为飞行操纵模式。通过采用模式控制器12，能够允许驾驶员便捷地切换飞行汽车100的陆地模式和飞行模式，操作简便。The mode controller 12 is connected to the flight driving system 30 and the land driving system 50, and is used to configure the flying car 100 in the flight mode or the land mode. Specifically, the mode controller 12 is used to select a corresponding manipulation mode for the manipulation device 13 in response to the mode selection instruction, and the manipulation mode includes a land manipulation mode for controlling the flying car 100 to drive on land and a land manipulation mode for controlling the flying car 100 . 100 flight maneuvering modes for traveling through the air. The mode selection instruction can be generated based on the user's manipulation action on the mode controller 12 . In the land control mode, the control device 13 of the control system 10 is electrically connected to the land drive system 50 to allow the user to control the flying car 100 to drive on land through the control device 13. At this time, the operating mode of the control device 13 is the land drive system. manipulation mode. In the flight control mode, the control device 13 of the control system 10 is electrically connected to the flight drive system 30, so that the user can control the flying car 100 in flight through the control device 13. At this time, the operating mode of the control device 13 is flight. manipulation mode. By adopting the mode controller 12, the driver can conveniently switch between the land mode and the flight mode of the flying car 100, and the operation is simple.

模式控制器12的具体示例不应受到限制，例如，模式控制器12可以包括模式切换按钮、车载大屏以及语音接收设备等装置中的至少一种，这些装置用于接收用户的操控动作，并生成对应的模式选取指令，从而控制飞行汽车100处于所选取的陆地模式或飞行模式，或者控制操纵设备13处于所选取的陆地操纵模式或飞行操纵模式。The specific example of the mode controller 12 should not be limited. For example, the mode controller 12 may include at least one of devices such as a mode switching button, a large vehicle screen, and a voice receiving device. These devices are used to receive the user's manipulation action, and A corresponding mode selection instruction is generated, so as to control the flying car 100 to be in the selected land mode or flight mode, or control the control device 13 to be in the selected land control mode or flight control mode.

请参阅图7，在本申请实施例中，模式控制器12大致为旋钮状，其设有A、B、C三个档位，A、B、C三个档位用于控制飞行汽车100的不同工作模式，模式控制器12处于不同的档位时，生成不同的模式选取指令。飞行汽车100的飞行模式包括第一子飞行模式以及第二子飞行模式，飞行汽车100处于第一子飞行模式时，操纵***10控制飞行驱动***30向飞行汽车100提供大致沿竖直方向的推进力带动飞行汽车100在空中行驶，飞行汽车处于第二子飞行模式时，操纵***10控制飞行驱动***30向飞行汽车100提供大致沿水平方向的推进力带动飞行汽车100在空中行驶。应理解的是，在本说明书中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。Please refer to FIG. 7 , in the embodiment of the present application, the mode controller 12 is roughly knob-shaped, and it is provided with three gears of A, B, and C, and the three gears of A, B, and C are used to control the flying car 100. In different working modes, when the mode controller 12 is in different gears, different mode selection instructions are generated. The flight mode of the flying car 100 includes a first sub-flight mode and a second sub-flight mode. When the flying car 100 is in the first sub-flight mode, the control system 10 controls the flying drive system 30 to provide the flying car 100 with a substantially vertical propulsion. The force drives the flying car 100 to travel in the air. When the flying car is in the second sub-flight mode, the control system 10 controls the flying drive system 30 to provide the flying car 100 with a propulsion force roughly along the horizontal direction to drive the flying car 100 to travel in the air. It should be understood that in this specification, the terms "first" and "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

模式控制器12的A、B、C三个档位分别用于将飞行汽车100配置在第一子飞行模式、第二子飞行模式或陆地模式。在本申请实施例中，以旋钮为例介绍模式控制器12的结构，在旋钮的外周可以设有依次间隔的A、B、C标识的档位，旋钮的标识(如旋钮上的特征点)指向A档时，表征模式控制器12处于第一档位，此时操纵***10被配置为：控制飞行汽车100工作于陆地模式(如图3所示)。陆地模式可以理解为汽车模式，为了控制飞行汽车100工作于陆地模式，操纵***10可以通过收展机构71控制固定翼76相对于车体102收拢。在一些实施例中，升降舵36与两个方向舵38可以共同形成一个收容空间79，用于收容固定翼76、副翼78以及旋翼模组32。The three gears A, B, and C of the mode controller 12 are respectively used to configure the flying car 100 in the first sub-flight mode, the second sub-flight mode or the land mode. In the embodiment of the present application, the structure of the mode controller 12 is introduced by taking the knob as an example. The outer circumference of the knob may be provided with successively spaced gear positions marked with A, B, and C, and the knob's logo (such as a feature point on the knob) When pointing to gear A, the characteristic mode controller 12 is in the first gear, and the control system 10 is configured to: control the flying car 100 to work in the land mode (as shown in FIG. 3 ). The land mode can be understood as the car mode. In order to control the flying car 100 to work in the land mode, the control system 10 can control the fixed wing 76 to fold relative to the car body 102 through the retractable mechanism 71 . In some embodiments, the elevator 36 and the two rudders 38 can jointly form a receiving space 79 for receiving the fixed wing 76 , the aileron 78 and the rotor module 32 .

在本申请实施例中，旋钮的标识(如旋钮上的特征点)指向B档时，表征模式控制器12处于第二档位，此时操纵***10被配置为：控制旋翼模组32的旋转轴O处于第一位置，使飞行汽车100工作于第一子飞行模式(如图2所示)。在本实施例中，旋翼模组32的旋转轴O处于第一位置可以以旋转轴O相对于车体 102的夹角作为表征，也可以以旋转轴O相对于竖直方向或水平方向的夹角作为表征，例如，旋转轴O与竖直方向的夹角落入预定的范围内时，可认为旋转轴O处于第一位置。作为一种示例，旋翼模组32的旋转轴O处于第一位置，可以理解为旋转轴O与竖直方向的夹角小于5度，或者旋转轴O大致沿着竖直方向设置。第一子飞行模式也可以理解为旋翼模式(或直升机模式)，因此，当飞行汽车100工作与第一子飞行模式时，旋翼模组32为飞行汽车100提供大致沿竖直方向的推进力。为了控制飞行汽车100工作于第一子飞行模式，操纵***10可以通过收展机构71控制固定翼76相对于车体102呈展开状态，并通过倾转机构34控制旋翼模组32的旋转轴O大致沿竖直方向设置(如旋转轴O与竖直方向的夹角小于5度)，以带动飞行汽车100垂直起降。应当理解的是，在其他的实施例中，旋转轴O的第一位置，可以根据实际需求设置，例如，在一些示例中，旋转轴O的第一位置为：其与竖直方向的夹角范围为大于等于40度且小于等于50度的位置，以满足飞行汽车100快速提升、快速前进的需求；在另一些示例中，旋转轴O的第一位置为：其与竖直方向的夹角范围为小于等于10度的位置，以在保证竖直方向升力的同时，适应于不同的空气流动速度。In the embodiment of the present application, when the mark of the knob (such as the characteristic point on the knob) points to the B gear, the characterization mode controller 12 is in the second gear, and the control system 10 is configured to: control the rotation of the rotor module 32 The axis O is at the first position, making the flying car 100 work in the first sub-flight mode (as shown in FIG. 2 ). In this embodiment, the first position of the rotation axis O of the rotor module 32 can be characterized by the included angle of the rotation axis O relative to the vehicle body 102, or by the angle between the rotation axis O relative to the vertical direction or the horizontal direction. The angle is used as a representation, for example, when the angle between the rotation axis O and the vertical direction falls within a predetermined range, the rotation axis O can be considered to be in the first position. As an example, the rotation axis O of the rotor module 32 is at the first position, which can be understood as the angle between the rotation axis O and the vertical direction is less than 5 degrees, or the rotation axis O is roughly arranged along the vertical direction. The first sub-flight mode can also be understood as the rotor mode (or helicopter mode). Therefore, when the flying car 100 is working in the first sub-flight mode, the rotor module 32 provides the flying car 100 with a propulsion force in the vertical direction. In order to control the flying car 100 to work in the first sub-flight mode, the control system 10 can control the fixed wing 76 to be unfolded relative to the car body 102 through the retractable mechanism 71, and control the rotation axis O of the rotor module 32 through the tilting mechanism 34. Roughly arranged along the vertical direction (for example, the angle between the rotation axis O and the vertical direction is less than 5 degrees), so as to drive the flying car 100 to take off and land vertically. It should be understood that, in other embodiments, the first position of the rotation axis O can be set according to actual needs. For example, in some examples, the first position of the rotation axis O is: the angle between it and the vertical direction The range is a position greater than or equal to 40 degrees and less than or equal to 50 degrees, to meet the needs of the flying car 100 for rapid lifting and fast advancement; in other examples, the first position of the rotation axis O is: the angle between it and the vertical direction The range is a position less than or equal to 10 degrees, so as to adapt to different air flow speeds while ensuring vertical lift.

在本申请实施例中，旋钮的标识指向C档时，表征模式控制器12处于第三档位，此时操纵***10被配置为：控制旋翼模组32的旋转轴O处于第二位置，使飞行汽车100工作于第二子飞行模式(如图4所示)。在本实施例中，旋翼模组32的旋转轴O处于第二位置可以以旋转轴O相对于车体102的夹角作为表征，也可以以旋转轴O相对于竖直方向或水平方向的夹角作为表征，例如，旋转轴O与水平方向的夹角落入预定的范围内时，可认为旋转轴O处于第二位置。在本申请实施例中，第二位置和第一位置不相同，其可以体现在旋翼模组32的旋转轴O的倾角不同，例如，旋转轴O处于第一位置时和处于第二位置时相对于车体102的角度不同。作为一种示例，旋翼模组32的旋转轴O处于第二位置，可以理解为旋转轴O与水平方向的夹角小于5度，或者大致沿着水平方向设置。第二子飞行模式也可以理解为固定翼模式，为了控制飞行汽车100工作于第二子飞行模式，操纵***10可以通过倾转机构34控制旋翼模组32的旋转轴沿水平方向设置，其能够带动飞行汽车100沿水平方向行进。应当理解的是，在其他的实施例中，旋转轴O的第二位置，可以根据实际需求设置，只要保证其与第一位置不相同。例如，在一些示例中，旋转轴O的第二位置为：其与水平方向的夹角范围为大于等于40度且小于等于50度的位置，以满足飞行汽车100快速提升、快速前进的需求；在另一些示例中，旋转轴O的第二位置为：其与水平方向的夹角范围为小于等于10度的位置，以在保证水平方向推进力的同时，适应于不同的空气流动速度。In this embodiment of the application, when the mark of the knob points to gear C, the characterization mode controller 12 is in the third gear, and the control system 10 is configured to: control the rotation axis O of the rotor module 32 to be in the second position, so that The flying car 100 works in the second sub-flying mode (as shown in FIG. 4 ). In this embodiment, the second position of the rotation axis O of the rotor module 32 can be characterized by the included angle of the rotation axis O relative to the vehicle body 102, or by the angle of the rotation axis O relative to the vertical or horizontal direction. The angle is used as a representation, for example, when the angle between the rotation axis O and the horizontal direction falls within a predetermined range, the rotation axis O can be considered to be at the second position. In the embodiment of the present application, the second position is different from the first position, which can be reflected in the different inclination angles of the rotation axis O of the rotor module 32, for example, when the rotation axis O is at the first position and at the second position, it is relatively The angle of the vehicle body 102 is different. As an example, the rotation axis O of the rotor module 32 is at the second position, which can be understood as the angle between the rotation axis O and the horizontal direction is less than 5 degrees, or is arranged roughly along the horizontal direction. The second sub-flight mode can also be understood as a fixed-wing mode. In order to control the flying car 100 to work in the second sub-flight mode, the control system 10 can control the rotation axis of the rotor module 32 to be set in the horizontal direction through the tilting mechanism 34, which can Drive the flying car 100 to travel along the horizontal direction. It should be understood that, in other embodiments, the second position of the rotation axis O can be set according to actual needs, as long as it is guaranteed to be different from the first position. For example, in some examples, the second position of the rotation axis O is: a position where the angle range between it and the horizontal direction is greater than or equal to 40 degrees and less than or equal to 50 degrees, so as to meet the needs of the flying car 100 for rapid promotion and rapid advancement; In some other examples, the second position of the rotation axis O is: the angle range between it and the horizontal direction is less than or equal to 10 degrees, so as to adapt to different air flow speeds while ensuring horizontal propulsion.

操纵设备13包括姿态控制器14，姿态控制器14连接于模式控制器12，并连接于飞行姿态***30以及陆地转向***50，姿态控制器14用于在飞行汽车100处于飞行模式时，通过飞行姿态***30控制飞行汽车100的飞行姿态，在飞行汽车100处于陆地模式时，通过陆地转向***70控制飞行汽车100转向姿态。可见，飞行汽车100在处于飞行模式和陆地模式时，均通过姿态控制器14控制行进姿态，也即复用了操纵***10的姿态控制器14，能够简化操纵***10的结构，也能够简化飞行汽车100的操纵逻辑和操作。The control device 13 includes an attitude controller 14. The attitude controller 14 is connected to the mode controller 12, and is connected to the flight attitude system 30 and the land steering system 50. The attitude system 30 controls the flying attitude of the flying car 100. When the flying car 100 is in the land mode, the steering attitude of the flying car 100 is controlled by the land steering system 70. It can be seen that when the flying car 100 is in the flight mode and the land mode, the attitude controller 14 is used to control the traveling attitude, that is, the attitude controller 14 of the control system 10 is reused, which can simplify the structure of the control system 10 and also simplify the flight. Steering logic and operation of the car 100 .

请再次参阅图6，在本实施例中，姿态控制器14包括转向盘141，操纵设备13用于在飞行操纵模式下，响应于针对转向盘141的控制操作，控制飞行汽车100在空中的飞行；并用于在陆地操纵模式下，响应于针对转向盘141的控制操作，控制飞行汽车100在陆地上的行驶。进一步地，转向盘141可转动地设置于车体102内，并被配置为：在飞行汽车100处于飞行模式时，基于自身的转动角度控制飞行汽车100的滚转姿态，以及在飞行汽车100处于陆地模式时，基于自身的转动角度控制飞行汽车100的转向姿态。进一步地，姿态控制器14还可以包括驾驶杆143，驾驶杆143可转动地连接于转向盘141和车体102之间，并被配置为：在飞行汽车100处于飞行模式时，基于自身的轴向位移控制飞行汽车100的俯仰姿态。Please refer to FIG. 6 again. In this embodiment, the attitude controller 14 includes a steering wheel 141, and the operating device 13 is used to control the flight of the flying car 100 in the air in response to the control operation on the steering wheel 141 in the flight control mode. and for controlling the driving of the flying car 100 on land in response to the control operation on the steering wheel 141 in the land manipulation mode. Further, the steering wheel 141 is rotatably arranged in the car body 102, and is configured to: when the flying car 100 is in the flight mode, control the rolling attitude of the flying car 100 based on its own rotation angle, and control the rolling attitude of the flying car 100 when the flying car 100 is in the flight mode. In land mode, the steering attitude of the flying car 100 is controlled based on its own rotation angle. Further, the attitude controller 14 may also include a steering rod 143, which is rotatably connected between the steering wheel 141 and the car body 102, and is configured to: when the flying car 100 is in the flight mode, The pitching attitude of the flying car 100 is controlled by the displacement.

在本实施例中，姿态控制器14还可以包括转动限位机构以及轴向限位机构(图中未标出)，转动限位机构与轴向限位机构连接于转向盘141或/及驾驶杆14，转动限位机构用于限制转向盘141的转动角度，轴向限位机构限制用于限制转向盘141以及驾驶杆143轴向位移。In this embodiment, the attitude controller 14 may also include a rotation limit mechanism and an axial limit mechanism (not shown in the figure), and the rotation limit mechanism and the axial limit mechanism are connected to the steering wheel 141 or/and the steering wheel 141. The rod 14 , the rotation limit mechanism is used to limit the rotation angle of the steering wheel 141 , and the axial limit mechanism is used to limit the axial displacement of the steering wheel 141 and the steering rod 143 .

当飞行汽车处于飞行模式时，驾驶杆143的转动限位机构和轴向限位机构被释放，使得转向盘141具有转动以及轴向移动的自由度，从而允许驾驶员转动转向盘141及推动、拉拔转向盘141。具体而言，在一些示例中，转动限位机构可以设有转动限位环，转动限位环可以环绕转向盘141的转动轴线设置，并能够与转向盘141或驾驶杆143的实体结构相抵持，从而以限制转向盘141的转动角度范围为-90°～90°之间。可以设定转向盘141处于初始位置的初始角度为0，则转向盘141可以基于自身相对于初始角度的转动角度来控制飞行汽车100在飞行模式下的滚转姿态角。具体而言，当转向盘141受到外力驱使而从初始位置逆时针转动第一角度时，转向盘141根据第一角度确定飞行汽车100的滚转姿态角为第一角度，并控制飞行汽车100进行第一角度滚转运动。应当理解的是，在本实施例中，驾驶杆143的转动限位机构被释放时，意味着驾驶杆143可以被外力转动，且驾驶杆143与转向盘141之间为止转连接(也即二者同步转动或静止)，此时转向盘141的转动能够带动驾驶杆143的转动、转向盘141的轴向移动能够带动驾驶杆143轴向移动，因此转向盘141的转动角度也可以表征驾驶杆143的转动角度，转向盘141的轴向位移也可以表征驾驶杆143的轴向位移，此时，驾驶杆143可以被配置为：在飞行汽车100处于飞行模式时，基于自身的转动角度控制飞行汽车100的滚转姿态；转向盘141可以被配置为：在飞行汽车100处于飞行模式时，基于自身的轴向位移控制飞行汽车100的俯仰姿态。When the flying car is in flight mode, the rotation limit mechanism and the axial limit mechanism of the steering rod 143 are released, so that the steering wheel 141 has the freedom of rotation and axial movement, thereby allowing the driver to rotate the steering wheel 141 and push, Pull out the steering wheel 141 . Specifically, in some examples, the rotation limiting mechanism can be provided with a rotation limiting ring, and the rotation limiting ring can be arranged around the rotation axis of the steering wheel 141 and can resist the solid structure of the steering wheel 141 or the steering rod 143 , so as to limit the rotation angle range of the steering wheel 141 to be between -90° and 90°. The initial angle at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the roll attitude angle of the flying car 100 in flight mode based on its own rotation angle relative to the initial angle. Specifically, when the steering wheel 141 is driven by an external force to rotate counterclockwise from the initial position by a first angle, the steering wheel 141 determines the roll attitude angle of the flying car 100 as the first angle according to the first angle, and controls the flying car 100 to perform First angle roll motion. It should be understood that, in this embodiment, when the rotation limiting mechanism of the driving rod 143 is released, it means that the driving rod 143 can be rotated by external force, and the non-rotating connection between the driving rod 143 and the steering wheel 141 (that is, two Or synchronous rotation or stationary), at this time the rotation of the steering wheel 141 can drive the rotation of the steering column 143, and the axial movement of the steering wheel 141 can drive the axial movement of the steering column 143, so the rotation angle of the steering wheel 141 can also represent the steering column The rotation angle of 143 and the axial displacement of the steering wheel 141 can also represent the axial displacement of the steering column 143. At this time, the steering column 143 can be configured to: when the flying car 100 is in the flight mode, control the flight based on its own rotation angle. The rolling attitude of the car 100; the steering wheel 141 can be configured to: when the flying car 100 is in the flight mode, control the pitching attitude of the flying car 100 based on its own axial displacement.

具体地以图中示例进行说明，转向盘141沿逆时针方向转动时，即驾驶杆143沿逆时针方向转动时，可以控制飞行汽车100的左侧副翼34偏高，右侧副翼34偏低，从而带动飞行汽车100向左滚转。当转向盘141受到外力驱使而从初始位置顺时针转动第二角度时，转向盘141根据第二角度确定飞行汽车100的滚转姿态角为第二角度，并控制飞行汽车100进行第二角度滚转运动。具体地例如转向盘141沿顺时针方向转动时，即驾驶杆143沿顺时针方向转动时，可以控制飞行汽车100的图中右侧副翼34偏高，左侧副翼34偏低，从而带动飞行汽车100向右滚转。To illustrate specifically with the example in the figure, when the steering wheel 141 is turned counterclockwise, that is, when the steering column 143 is turned counterclockwise, the left aileron 34 of the flying car 100 can be controlled to be too high and the right aileron 34 to be too high. low, thereby driving the flying car 100 to roll to the left. When the steering wheel 141 is driven by an external force to turn clockwise by a second angle from the initial position, the steering wheel 141 determines the rolling attitude angle of the flying car 100 as the second angle according to the second angle, and controls the flying car 100 to roll at the second angle. turn movement. Specifically, for example, when the steering wheel 141 rotates clockwise, that is, when the steering column 143 rotates clockwise, the right aileron 34 in the figure of the flying car 100 can be controlled to be high, and the left aileron 34 is low, thereby driving Flying car 100 rolls to the right.

在另一些示例中，轴向限位机构与转向盘141或驾驶杆143的实体结构相抵持，可以限制转向盘141沿驾驶杆143的轴方向移动。可以设定转向盘141处于初始位置的初始距离为0，则转向盘141可以根据自身相对于初始距离的移动距离来控制飞行汽车100在飞行模式下的俯仰姿态角。具体而言，当转向盘141受到外力驱使而从初始位置向驾驶杆143底部方向移动第一距离时(该距离可表征驾驶杆143的轴向位移)，转向盘141根据第一距离确定飞行汽车100的俯仰姿态角为第一角度，并控制飞行汽车100进行第一角度俯仰运动。具体地例如，转向盘141沿驾驶杆143的轴方向向驾驶杆143底部方向移动时，飞行汽车100的升降舵36向下偏转，带动飞行汽车100低头飞行。当转向盘141受到外力驱使而从初始位置向驾驶杆143顶部方向移动第二距离时，转向盘141根据第二距离确定飞行汽车100的俯仰姿态角为第二角度，并控制飞行汽车100进行第二角度俯仰运动。具体地例如，转向盘141沿驾驶杆143的轴方向向驾驶杆143顶部方向移动时，飞行汽车100的升降舵36向上偏转，带动飞行汽车100抬头飞行。In some other examples, the axial limiting mechanism is opposed to the solid structure of the steering wheel 141 or the steering rod 143 to limit the movement of the steering wheel 141 along the axial direction of the steering rod 143 . The initial distance at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the pitch angle of the flying car 100 in flight mode according to its own moving distance relative to the initial distance. Specifically, when the steering wheel 141 is driven by an external force to move a first distance from the initial position to the bottom of the steering column 143 (this distance can represent the axial displacement of the steering column 143), the steering wheel 141 determines the position of the flying car according to the first distance. The pitching attitude angle of 100 is the first angle, and the flying car 100 is controlled to perform pitching motion at the first angle. Specifically, for example, when the steering wheel 141 moves along the axis of the steering column 143 toward the bottom of the steering column 143 , the elevator 36 of the flying car 100 deflects downward, driving the flying car 100 to fly with its head down. When the steering wheel 141 is driven by an external force to move a second distance from the initial position to the top of the steering column 143, the steering wheel 141 determines the pitch angle of the flying car 100 to be the second angle according to the second distance, and controls the flying car 100 to perform the first step. Two-angle pitching movement. Specifically, for example, when the steering wheel 141 moves along the axis of the steering column 143 toward the top of the steering column 143 , the elevator 36 of the flying car 100 deflects upwards, driving the flying car 100 to fly upwards.

进一步地，当飞行汽车100处于陆地模式时，驾驶杆143的轴向限位机构被固定，使得转向盘143具有转动的自由度而不具备轴向移动的自由度，从而允许驾驶员转动转向盘141，但转向盘141不能被拉拔。在一些示例中，转动限位机构可以设有转动限位环，转动限位环可以环绕转向盘141的转动轴线设置，并能够与转向盘141或驾驶杆143的实体结构相抵持，从而以限制转向盘141的转动角度范围为-540°～540°之间。可以设定转向盘141处于初始位置的初始角度为0，则转向盘141可以基于自身相对于初始角度的转动角度来控制飞行汽车100在飞行模式下的转向姿态角。具体而言，当转向盘141受到外力驱使而从初始位置逆时针转动第一角度时，转向盘141根据第一角度确定飞行汽车100的转向姿态角为第一角度，并控制飞行汽车100进行第一角度转向运动。具体地以图中示例进行说明，转向盘141沿逆时针方向转动时，可以控制飞行汽车100的转向轮92向左偏转，从而带动飞行汽车100向左行驶。当转向盘141受到外力驱使而从初始位置顺时针转动第二角度时，转向盘141根据第二角度确定飞行汽车100的转向姿态角为第二角度，并控制飞行汽车100进行第二角度转向运动。具体地例如转向盘141沿顺时针方向转动时，可以控制飞行汽车100的转向轮92向右偏转，从而带动飞行汽车100向右行驶。Further, when the flying car 100 is in the land mode, the axial limit mechanism of the steering rod 143 is fixed, so that the steering wheel 143 has the degree of freedom of rotation but not the degree of freedom of axial movement, thereby allowing the driver to turn the steering wheel 141, but the steering wheel 141 cannot be pulled out. In some examples, the rotation limiting mechanism can be provided with a rotation limiting ring, and the rotation limiting ring can be arranged around the rotation axis of the steering wheel 141, and can be opposed to the solid structure of the steering wheel 141 or the steering rod 143, thereby limiting The rotation angle of the steering wheel 141 ranges from -540° to 540°. The initial angle at which the steering wheel 141 is at the initial position can be set to be 0, then the steering wheel 141 can control the steering attitude angle of the flying car 100 in flight mode based on its own rotation angle relative to the initial angle. Specifically, when the steering wheel 141 is driven by an external force to turn counterclockwise from the initial position by a first angle, the steering wheel 141 determines the steering attitude angle of the flying car 100 as the first angle according to the first angle, and controls the flying car 100 to perform the first angle. An angled steering movement. Specifically, an example in the figure is used for illustration. When the steering wheel 141 turns counterclockwise, the steering wheel 92 of the flying car 100 can be controlled to deflect to the left, thereby driving the flying car 100 to drive to the left. When the steering wheel 141 is driven by an external force to turn clockwise from the initial position by a second angle, the steering wheel 141 determines the steering attitude angle of the flying car 100 as the second angle according to the second angle, and controls the flying car 100 to perform a second angle steering movement . Specifically, for example, when the steering wheel 141 turns clockwise, the steering wheel 92 of the flying car 100 can be controlled to deflect to the right, thereby driving the flying car 100 to drive to the right.

进一步地，姿态控制器14还可以包括方向控制器145，方向控制器145被配置为：在飞行汽车100处于飞行模式时，通过飞行姿态***70控制飞行汽车100的偏航姿态。在本申请实施例中，方向控制器145大致为拨片状，其数量为两个，两个方向控制器145分别位于转向盘141的相对两侧并连接于转向盘141。方向控制器145可转动地连接于转向盘141，并能够基于方向控制器145和转向盘141之间的相对角度控制飞行汽车100在飞行模式下的偏航姿态。Further, the attitude controller 14 may further include a direction controller 145 configured to control the yaw attitude of the flying car 100 through the flight attitude system 70 when the flying car 100 is in the flight mode. In the embodiment of the present application, the direction controller 145 is roughly in the shape of a paddle, and there are two in number. The two direction controllers 145 are respectively located on opposite sides of the steering wheel 141 and connected to the steering wheel 141 . The direction controller 145 is rotatably connected to the steering wheel 141 , and can control the yaw attitude of the flying car 100 in flight mode based on the relative angle between the direction controller 145 and the steering wheel 141 .

具体而言，方向控制器145的一端可转动地连接至转向盘141，另一端基本是自由端并用于接收驾驶员的操作，当方向控制器145的自由端受到外力推动时，其相对于转向盘145或驾驶杆143之间的角度发生改变，则方向控制器145根据其与转向盘145或驾驶杆143之间的角度，确定飞行汽车100的偏航角度，并控制飞行汽车100以此处确定的偏航角度来飞行。具体地例如，当飞行汽车100处于飞行模式时，驾驶员提拉图中左侧的方向控制器145，飞行汽车100的方向舵38向左偏转，带动飞行汽车100向左偏转飞行。驾驶员提拉图中右侧的方向控制器145，飞行汽车100的方向舵38向右偏转，带动飞行汽车100向右偏转飞行。当飞行汽车100处于陆地模式时，方向控制器145无效，也即方向控制器145不会响应用户所施加的动作。Specifically, one end of the direction controller 145 is rotatably connected to the steering wheel 141, and the other end is basically a free end and is used to receive the driver's operation. If the angle between the steering wheel 145 or the steering rod 143 changes, the direction controller 145 determines the yaw angle of the flying car 100 according to the angle between the steering wheel 145 or the steering rod 143, and controls the flying car 100 in this way. Determined yaw angle to fly. Specifically, for example, when the flying car 100 is in flight mode, the driver pulls the direction controller 145 on the left side of the figure, and the rudder 38 of the flying car 100 deflects to the left, driving the flying car 100 to deflect to the left and fly. The driver pulls the direction controller 145 on the right side in the figure, and the rudder 38 of the flying car 100 deflects to the right, driving the flying car 100 to deflect to the right and fly. When the flying car 100 is in the land mode, the direction controller 145 is invalid, that is, the direction controller 145 will not respond to actions applied by the user.

应当理解的是，在其他一些实施例中，方向控制器145可以省略，飞行汽车100可以直接通过转向盘141控制飞行汽车100的偏航姿态，以简化飞行汽车100的结构。It should be understood that, in some other embodiments, the direction controller 145 can be omitted, and the flying car 100 can directly control the yaw attitude of the flying car 100 through the steering wheel 141 , so as to simplify the structure of the flying car 100 .

请参阅图7，操纵设备13还可以包括操纵箱16以及操纵杆17，模式控制器12设置于操纵箱16，操纵杆17可活动地设置于操纵箱16。因此，在本实施例中，操纵设备13可以用于在飞行操纵模式下，响应于针对转向盘141、驾驶杆143和操纵杆17的控制操作，控制飞行汽车100在空中的飞行；还用于在陆地操纵模式下，响应于针对转向盘141、驾驶杆143和操纵杆17的控制操作，控制飞行汽车100在陆地上的行驶。进一步地，操纵杆17被配置为：在飞行汽车100处于飞行模式时，基于操纵杆17相对于操纵箱16的相对位置，控制飞行汽车100在行进方向上的推力，在飞行汽车100处于陆地模式时，基于操纵杆17相对于操纵箱16的相对位置，控制飞行汽车100的挡位。Referring to FIG. 7 , the operating device 13 may further include a control box 16 and a joystick 17 , the mode controller 12 is disposed on the manipulation box 16 , and the joystick 17 is movably disposed on the manipulation box 16 . Therefore, in this embodiment, the control device 13 can be used to control the flight of the flying car 100 in the air in response to the control operations on the steering wheel 141, the steering stick 143 and the joystick 17 in the flight control mode; In the land manipulation mode, in response to the control operations on the steering wheel 141 , the steering stick 143 and the joystick 17 , the driving of the flying car 100 on land is controlled. Further, the joystick 17 is configured to: when the flying car 100 is in the flight mode, based on the relative position of the joystick 17 relative to the control box 16, control the thrust of the flying car 100 in the direction of travel; when the flying car 100 is in the land mode , the gear of the flying car 100 is controlled based on the relative position of the joystick 17 relative to the control box 16 .

进一步地，操纵箱16上设有第一定位区域161以及第二定位区域163，操纵杆17可移动地定位于操纵箱16的第一定位区域161中的不同位置或第二定位区域163中的不同位置。操纵杆17被配置为：位于第一定位区域161的情况下，根据操纵杆17在第一定位区域161中的位置，控制飞行汽车100在行进方向上的推力，位于第二定位区域163的情况下，根据操纵杆17在第二定位区域中163的位置，控制飞行汽车100的挡位，挡位包括驻车挡、倒车挡、空挡、前进挡中的至少一种。在一些示例中，第一定位区域161与第二定位区域163之间可以设有限位机构如挡板等，使得当飞行汽车100处于飞行模式时，操纵杆17被限制在第一定位区域163中移动，从而操纵杆17用于控制飞行汽车100在行进方向上的推力(例如前进速度或上升速度)或在行进方向上的进退(例如前进/后退或上升/下降)，当飞行汽车100处于陆地模式时，操纵杆17被限制在第二定位区域163中移动，从而操纵杆17用于控制飞行汽车100的挡位。Further, the control box 16 is provided with a first positioning area 161 and a second positioning area 163, and the joystick 17 is movably positioned at different positions in the first positioning area 161 of the control box 16 or in the second positioning area 163. different positions. The joystick 17 is configured to: in the case of the first positioning area 161, control the thrust of the flying car 100 in the direction of travel according to the position of the joystick 17 in the first positioning area 161; in the case of the second positioning area 163 Next, according to the position of the joystick 17 in the second positioning area 163, the gear of the flying car 100 is controlled, and the gear includes at least one of parking gear, reverse gear, neutral gear, and forward gear. In some examples, a limiting mechanism such as a baffle may be provided between the first positioning area 161 and the second positioning area 163, so that when the flying car 100 is in flight mode, the joystick 17 is restricted from moving in the first positioning area 163 , so that the joystick 17 is used to control the thrust of the flying car 100 in the direction of travel (such as forward speed or rising speed) or the advance and retreat in the direction of travel (such as forward/backward or ascending/falling), when the flying car 100 is in land mode , the joystick 17 is restricted to move in the second positioning area 163 , so that the joystick 17 is used to control the gear of the flying car 100 .

作为一种示例，当操纵杆17受到外力作用在第一定位区域161中移动到不同位置时，操纵杆17根据相对位置确定动力参数的大小，并控制飞行汽车100进行不同推力的行进运动。自身的转动角第一定位区域161可以设有0％～100％的不同挡位，最下方为0％挡位，最上方为100％挡位。当飞行汽车100处于第一子飞行模式时，操纵杆17在第一定位区域161中移动，通过动力参数来确定控制旋翼323的工作指令，从而带动飞行汽车100做上升/下降运动。当飞行汽车100处于第二子飞行模式时，操纵杆17在第一定位区域161中移动，通过动力参数来确定控制旋翼323的工作指令，从而增大/减小旋翼电机52的功率。As an example, when the joystick 17 is moved to different positions in the first positioning area 161 by an external force, the joystick 17 determines the magnitude of the power parameter according to the relative position, and controls the flying car 100 to perform different thrusts. The first positioning area 161 of its own rotation angle can be provided with different gears from 0% to 100%, the lowest gear being 0% and the uppermost gear being 100%. When the flying car 100 is in the first sub-flying mode, the joystick 17 moves in the first positioning area 161, and the working command to control the rotor 323 is determined through the dynamic parameters, thereby driving the flying car 100 to perform upward/downward movement. When the flying car 100 is in the second sub-flight mode, the joystick 17 moves in the first positioning area 161 , and the work command for controlling the rotor 323 is determined through the power parameters, thereby increasing/decreasing the power of the rotor motor 52 .

当操纵杆17受到外力作用在第二定位区域163中移动到不同位置时，操纵杆17根据相对位置确定挡位的定位点，并控制飞行汽车的挡位。具体地例如第二定位区域165可以设有四个挡位的挡位槽，分别为P、R、N、D四个挡位，分别对应驻车挡、倒车档、空挡和前进挡。当操纵杆17在第二定位区域163中移动，处于四个挡位的定位点时，分别可以控制飞行汽车100驻车、倒车、短暂停车以及前进行驶。When the joystick 17 is moved to different positions in the second positioning area 163 by an external force, the joystick 17 determines the positioning point of the gear according to the relative position, and controls the gear of the flying car. Specifically, for example, the second positioning area 165 may be provided with four gear slots, which are respectively P, R, N, and D four gears, respectively corresponding to the parking gear, the reverse gear, the neutral gear and the forward gear. When the joystick 17 moves in the second positioning area 163 and is at the positioning points of the four gears, the flying car 100 can be controlled to park, reverse, temporarily stop and drive forward respectively.

在一些实施例中，操纵设备还可以包括换挡旋钮，在有特殊档位进行切换时，需要旋转换挡旋钮，比如说从P挡(驻车挡)移动到R挡(倒挡)时需要先旋转换档旋钮然后再通过操纵杆17进行换挡。In some embodiments, the manipulation device may also include a shift knob, which needs to be rotated when a special gear is switched, for example, when moving from P gear (parking gear) to R gear (reverse gear). Rotate the shift knob first and then shift gears by the joystick 17.

请再次参阅图6，进一步地，操纵***10还可以包括速度控制踏板18，速度控制踏板18连接于模式控制器12，并连接于陆地驱动***50中的速度控制***52。速度控制踏板18位于靠近操纵箱16的一侧，被配置为：在飞行汽车100处于陆地模式时，通过速度控制***52控制飞行汽车100的行进速度。具体而言，速度控制踏板18的一端可转动地连接至车体102，另一端基本是自由端并用于接收驾驶员的操作，当速度控制踏板18的自由端受到外力压制时，其相对于车体102之间的角度发生改变，则速度控制踏板18根据车体102之间的角度，确定飞行汽车100的行驶速度，并控制飞行汽车100以此处确定的行驶速度来行驶。具体地例如，当飞行汽车100处于陆地模式时，驾驶员踩踏速度控制踏板18，飞行汽车加速行驶。当飞行汽车100处于飞行模式时，速度控制踏板18无效，也即速度控制踏板18不会响应用户所施加的动作。Please refer to FIG. 6 again, further, the steering system 10 may further include a speed control pedal 18 , and the speed control pedal 18 is connected to the mode controller 12 and connected to the speed control system 52 in the land driving system 50 . The speed control pedal 18 is located near the control box 16 and is configured to control the speed of the flying car 100 through the speed control system 52 when the flying car 100 is in land mode. Specifically, one end of the speed control pedal 18 is rotatably connected to the vehicle body 102, and the other end is basically a free end and is used to receive the driver's operation. When the free end of the speed control pedal 18 is pressed by an external force, its If the angle between the bodies 102 changes, the speed control pedal 18 determines the driving speed of the flying car 100 according to the angle between the car bodies 102, and controls the flying car 100 to run at the speed determined here. Specifically, for example, when the flying car 100 is in the land mode, the driver steps on the speed control pedal 18, and the flying car accelerates. When the flying car 100 is in the flying mode, the speed control pedal 18 is inactive, that is, the speed control pedal 18 will not respond to actions applied by the user.

操纵***10还可以包括制动踏板19，制度踏板19连接于模式控制器12，并连接于陆地驱动***50的制动***54。制动踏板19位于速度控制踏板18远离操纵箱16的一侧，并被配置为：在飞行汽车100处于陆地模式时，通过制动***54控制飞行汽车100进行制动。具体而言，制度踏板19的一端可转动地连接至车体102，另一端基本是自由端并用于接收驾驶员的操作，当制动踏板19的自由端受到外力压制时，其相对于车体102之间的角度发生改变，则制动踏板19根据车体102之间的角度，确定飞行汽车100的制动力大小，并控制飞行汽车100以此处确定的制动力大小进行制动。具体地例如，当飞行汽车100处于陆地模式时，驾驶员踩踏制动踏板19，飞行汽车进行制动。当飞行汽车100处于飞行模式时，制动踏板19无效，也即制动踏板19不会响应用户所施加的动作。 Steering system 10 may also include a brake pedal 19 coupled to mode controller 12 and to braking system 54 of land drive system 50 . The brake pedal 19 is located on the side of the speed control pedal 18 away from the control box 16, and is configured to control the flying car 100 to brake through the braking system 54 when the flying car 100 is in the land mode. Specifically, one end of the brake pedal 19 is rotatably connected to the vehicle body 102, and the other end is basically a free end and is used to receive the driver's operation. When the free end of the brake pedal 19 is pressed by an external force, its If the angle between 102 changes, the brake pedal 19 determines the braking force of the flying car 100 according to the angle between the car bodies 102, and controls the flying car 100 to brake with the braking force determined here. Specifically, for example, when the flying car 100 is in the land mode, the driver steps on the brake pedal 19, and the flying car brakes. When the flying car 100 is in the flight mode, the brake pedal 19 is ineffective, that is, the brake pedal 19 will not respond to actions applied by the user.

使用时，驾驶员可以通过模式控制器12将飞行汽车100调整为第一子飞行模式、第二子飞行模式或陆地模式。姿态控制器14可以控制飞行汽车100处于飞行模式和陆地模式时的飞行姿态和转向姿态。操纵杆17可以在飞行汽车100处于飞行模式时控制其在行进方向的推力，在陆地模式时控制其挡位。速度控制踏板18与制动踏板19可以控制飞行汽车100处于陆地模式时的行进速度和制度。操纵***10将第一子飞行模式、第二子飞行模式与陆地模式集成在一起，在飞行汽车处于陆地模式时控制飞行汽车在地面行驶，在飞行汽车处于第一子飞行模式时控制旋翼的旋转轴处于第一位置，在飞行汽车处于第二子飞行模式时控制旋翼的旋转轴处于第二位置，能够在不增添其他操作设备的情况下，增加了对飞行汽车的控制方式，便于用户对飞行汽车进行控制。进一步地，操纵***通过提供两种不同的飞行模式，从而可以满足飞行汽车在不同状态下的飞行需求，适用性更广泛。During use, the driver can adjust the flying car 100 to the first sub-flight mode, the second sub-flight mode or the land mode through the mode controller 12 . The attitude controller 14 can control the flying attitude and steering attitude of the flying car 100 when it is in the flight mode and the land mode. The joystick 17 can control the thrust of the flying car 100 in the direction of travel when it is in the flight mode, and control its gear when in the land mode. The speed control pedal 18 and the brake pedal 19 can control the speed and regime of the flying car 100 when it is in the land mode. The control system 10 integrates the first sub-flight mode, the second sub-flight mode and the land mode, controls the flying car to drive on the ground when the flying car is in the land mode, and controls the rotation of the rotor when the flying car is in the first sub-flight mode The axis is at the first position, and the rotation axis of the control rotor is at the second position when the flying car is in the second sub-flight mode, which can increase the control mode of the flying car without adding other operating equipment, which is convenient for the user to control the flight. The car takes control. Furthermore, by providing two different flight modes, the control system can meet the flight requirements of the flying car in different states, and has wider applicability.

在上述实施例中，驾驶杆143可转动地连接于转向盘141和车体102之间，应当理解的是，在其他一些实施例中，驾驶杆143可以设置于车体102的其他位置。例如，请参阅图8，在一些实施例中，操纵杆17可活动地设置于驾驶杆143上，驾驶杆143被配置为：在飞行汽车100处于飞行模式时，基于驾驶杆143在第一方向上的移动控制飞行汽车100的俯仰姿态，基于驾驶杆143在第二方向上的移动控制飞行汽车100的横滚姿态，其中，第一方向与第二方向相交(例如二者彼此垂直)。具体而言，驾驶杆143设有容纳空间，操纵杆17至少部分地设置于容纳空间，并可活动地连接于驾驶杆143，操纵杆17能够由容纳空间突出于驾驶杆143之外，或从驾驶杆143之外收回至容纳空间内。In the above embodiments, the steering rod 143 is rotatably connected between the steering wheel 141 and the vehicle body 102 . It should be understood that, in some other embodiments, the driving rod 143 may be disposed at other positions of the vehicle body 102 . For example, referring to FIG. 8 , in some embodiments, the joystick 17 is movably arranged on the steering column 143, and the steering column 143 is configured to: when the flying car 100 is in the flight mode, The upward movement controls the pitch attitude of the flying car 100 , and the rolling attitude of the flying car 100 is controlled based on the movement of the steering stick 143 in a second direction, wherein the first direction intersects with the second direction (for example, they are perpendicular to each other). Specifically, the steering rod 143 is provided with an accommodating space, and the joystick 17 is at least partially arranged in the accommodating space and is movably connected to the driving rod 143. The driving rod 143 is retracted into the accommodation space.

当驾驶杆143未连接于转向盘141时，例如驾驶杆143独立于转向盘141和操纵杆16之外，或驾驶杆143安装于操纵杆16上时，驾驶杆143可以被配置为：在飞行模式下，基于用户的操控动作而控制飞行汽车100的俯仰姿态角和横滚姿态角；在陆地模式下，基于用户的操控动作而控制飞行汽车100换挡。具体而言，驾驶杆143可以呈摇杆结构设置(例如设置在车体内或设置在操纵杆16上)，其可以具有两个方向的移动自由度和一个方向上的转动自由度，分别是：第一方向的移动自由度(可以认为是摇杆结构在第一方向上的摆动)、第二方向的移动自由度(可以认为是摇杆结构在第二方向上的摆动)、以及绕自身轴线的转动自由度，其中，第一方向与第二方向相交(例如二者彼此垂直)。基于此，驾驶杆143可以被配置为：在飞行模式下，响应于驾驶杆143在第一方向上的移动，控制飞行汽车的俯仰角度，响应于驾驶杆143在第二方向上的移动，控制飞行汽车的横滚角度；在陆地模式下，响应于驾驶杆143绕自身轴线转动的角度，控制飞行汽车100的挡位。When the control column 143 is not connected to the steering wheel 141, for example, the control column 143 is independent of the steering wheel 141 and the joystick 16, or the control column 143 is installed on the control column 16, the control column 143 can be configured to: In the land mode, the pitch and roll attitude angles of the flying car 100 are controlled based on the user's manipulation actions; in the land mode, the flying car 100 is controlled to shift gears based on the user's manipulation actions. Specifically, the driving rod 143 can be arranged in a rocker structure (such as being arranged in the vehicle body or on the joystick 16), which can have two degrees of freedom of movement and one degree of freedom of rotation, respectively: The degree of freedom of movement in the first direction (which can be considered as the swing of the rocker structure in the first direction), the degree of freedom of movement in the second direction (which can be considered as the swing of the rocker structure in the second direction), and the degree of freedom around its own axis degrees of rotational freedom of , where the first direction intersects the second direction (eg, they are perpendicular to each other). Based on this, the control stick 143 can be configured to: in flight mode, respond to the movement of the control stick 143 in the first direction, control the pitch angle of the flying car, and respond to the movement of the control stick 143 in the second direction, control The roll angle of the flying car; in the land mode, the gear of the flying car 100 is controlled in response to the angle at which the steering stick 143 rotates around its own axis.

请参阅图9，示出了本申请一种飞行汽车操纵方法的步骤流程图，操纵方法应用于飞行汽车，飞行汽车受操纵设备的控制而工作于飞行模式或陆地模式，具体可以包括如下步骤：Please refer to FIG. 9 , which shows a flow chart of the steps of a flying car control method of the present application. The control method is applied to a flying car, and the flying car is controlled by the control device to work in flight mode or land mode. Specifically, the following steps may be included:

步骤101：响应于选取指令，为飞行汽车上的操纵设备选取对应的操纵模式。Step 101: Select a corresponding control mode for the control device on the flying car in response to the selection instruction.

其中，操纵设备包括转向盘、驾驶杆以及操纵杆，操纵模式包括用于控制飞行汽车在陆地行驶的陆地操纵模式以及用于控制飞行汽车在空中行驶的飞行操纵模式。在本实施例中，转向盘、驾驶杆以及操纵杆的具体结构可以参考上述操纵设备的转向盘、驾驶杆以及操纵杆的特征的阐述，此处不再一一赘述。Wherein, the control device includes a steering wheel, a steering stick and a joystick, and the control modes include a land control mode for controlling the flying car to drive on land and a flight control mode for controlling the flying car to drive in the air. In this embodiment, the specific structures of the steering wheel, the steering rod, and the joystick can refer to the description of the characteristics of the steering wheel, the steering rod, and the joystick of the above-mentioned control device, and will not be repeated here.

可以通过在飞行汽车上安装模式切换按钮(模式控制器)、车载大屏以及语音接收设备等装置去接收用户发起的模式选取指令；操纵杆可以为飞行汽车在地面行驶时进行挡位变换的操纵杆，在为飞行汽车上的操纵杆选取对应的飞行操纵模式后，操纵杆将用于飞行汽车飞行的控制，不再对挡位变换进行控制；转向盘为汽车在地面行驶时对飞行汽车行进方向控制的操纵设备，在为飞行汽车上的转向盘选取对应飞行操纵模式后，转向盘将用于飞行汽车飞行的控制，不再对飞行汽车的行进方向进行控制。具体地，在接收到用户的飞行模式选取指令之后，为飞行汽车上的操纵设备选取对应的飞行操纵模式，使得不同的操纵设备具备不同的功能，以对飞行汽车的飞行进行控制，以使飞行汽车在空中飞行。The mode selection command initiated by the user can be received by installing a mode switching button (mode controller), a large vehicle-mounted screen, and a voice receiving device on the flying car; the joystick can be used to control the gear change when the flying car is driving on the ground. After selecting the corresponding flight control mode for the joystick on the flying car, the joystick will be used to control the flight of the flying car, and will no longer control the gear change; For the control device of direction control, after selecting the corresponding flight control mode for the steering wheel on the flying car, the steering wheel will be used to control the flight of the flying car, and will no longer control the direction of travel of the flying car. Specifically, after receiving the user's flight mode selection instruction, select the corresponding flight control mode for the control device on the flying car, so that different control devices have different functions to control the flight of the flying car, so that the flight Cars fly in the air.

步骤102：在飞行操纵模式下，响应于针对转向盘、驾驶杆和操纵杆的控制操作，控制转向盘飞行汽车的飞行。Step 102: In the flight control mode, control the steering wheel to fly the flying car in response to the control operations on the steering wheel, the steering stick and the joystick.

具体地，在飞行操纵模式下，响应于用户针对转向盘、驾驶杆和操纵杆的控制操作，就可以实现对飞行汽车的飞行进行控制。本申请实施例的一些示例中，操纵杆可以设置驾驶杆上，并未占用飞行汽车的内部空间，且驾驶杆和操纵杆可以分别对飞行汽车的飞行进行控制，进而实现在不增加飞行汽车内部占用空间的基础上，增加了对飞行汽车飞行的控制方式。另外，在飞行操纵模式下，用户仅通过转向盘、驾驶杆和操纵杆就可以实现对飞行汽车飞行的控制，无需再增添其他的操作设备，便于用户对飞行汽车进行控制。Specifically, in the flight control mode, in response to the user's control operations on the steering wheel, the steering stick and the joystick, the flight of the flying car can be controlled. In some examples of the embodiments of the present application, the joystick can be set on the driving stick without occupying the interior space of the flying car, and the driving stick and the joystick can respectively control the flight of the flying car, thereby realizing the control without increasing the space inside the flying car. On the basis of occupying space, the control method of flying car flight is added. In addition, in the flight control mode, the user can control the flight of the flying car only through the steering wheel, joystick and joystick, without adding other operating equipment, which is convenient for the user to control the flying car.

在本申请一实施例中，驾驶杆适于可转动地连接于转向盘与飞行汽车的车体之间。在本申请另一实施例中，操纵杆设置于驾驶杆的顶部，驾驶杆的顶部具有让操纵杆运动的空间。例如，，驾驶杆可以设有容纳空间，操纵杆至少部分地设置于容纳空间，并可活动地连接于驾驶杆，操纵杆能够由容纳空间突出于驾驶杆之外，或从驾驶杆之外收回至容纳空间内。上述的方法还可以包括：当响应于选取指令，在为飞行汽车上的操纵设备选取陆地操纵模式的情况下，控制操纵杆相对于驾驶杆收回，以使操纵杆收容在容纳空间内；当响应于选取指令，为飞行汽车上的操纵设备选取对应的飞行操纵模式的情况下，控制操纵杆相对于驾驶杆突出，以响应于针对操纵杆的控制操作而控制飞行汽车的飞行。In an embodiment of the present application, the steering rod is adapted to be rotatably connected between the steering wheel and the body of the flying car. In another embodiment of the present application, the joystick is arranged on the top of the joystick, and the top of the joystick has a space for the joystick to move. For example, the steering rod may be provided with an accommodation space, the joystick is at least partially disposed in the accommodation space, and is movably connected to the steering rod, and the joystick can protrude from the accommodation space outside the steering rod, or retract from the outside of the steering rod into the accommodation space. The above method may further include: when responding to the selection command, when the control device on the flying car is selected for the land control mode, controlling the joystick to retract relative to the driving stick, so that the joystick is accommodated in the accommodation space; when responding In the case of selecting an instruction to select a corresponding flight control mode for the control device on the flying car, the control joystick protrudes relative to the steering stick, so as to control the flight of the flying car in response to the control operation on the joystick.

具体地，在操纵设备的操纵模式从飞行操纵模式切换为陆地操纵模式时，不再需要操纵杆，因此控制操纵杆相对于驾驶杆收回，将操纵杆隐藏在驾驶杆之中，从而避免操纵杆影响用户对飞行汽车的驾驶进行控制。在操纵设备的操纵模式从陆地操纵模式切换为飞行操纵模式时，需要操纵杆对飞行汽车的飞行进行控制，因此控制操纵杆相对于驾驶杆突出，便于用户通过操纵杆对飞行汽车的飞行进行控制。Specifically, when the control mode of the control device is switched from the flight control mode to the land control mode, the joystick is no longer needed, so the control joystick is retracted relative to the control stick, and the joystick is hidden in the control stick, thereby avoiding the joystick Influence the user to control the driving of the flying car. When the control mode of the control device is switched from the land control mode to the flight control mode, the joystick is required to control the flight of the flying car, so the control joystick protrudes relative to the driving stick, which is convenient for the user to control the flight of the flying car through the joystick .

本申请实施例的一些示例中，可以根据操纵飞行汽车的需要，选择是否将操纵杆进行隐藏，方便用户在飞行汽车内行动，有益于用户对飞行汽车进行控制。In some examples of the embodiments of the present application, it is possible to choose whether to hide the joystick according to the needs of manipulating the flying car, so as to facilitate the user's actions in the flying car and benefit the user to control the flying car.

本申请一实施例中，操纵设备还可以包括操纵箱，操纵杆可移动地设置于操纵箱，基于此，上述的步骤102可以包括：响应于针对驾驶杆的轴向位移操作，控制飞行汽车俯仰姿态；响应于针对驾驶杆的转动操作，控制飞行汽车的滚转姿态；响应于针对操纵杆在操纵箱中的运动操作，控制飞行汽车在行进方向上的推力；响应于针对转向盘的转动操作，控制飞行汽车的偏航姿态。具体而言，用户可以发起针对驾驶杆的轴向位移操作，进而控制飞行汽车的俯仰姿态(俯仰角度)；用户可以发起针对驾驶杆的转动操作，进而控制飞行汽车的滚转姿态(滚转角度)；用户可以发起针对操纵杆在操纵箱中的运动操作，操纵杆可以在操纵箱进行前后运动，进而可以控制在行进方向上的推力。用户可以发起针对转向盘的转动操作，控制飞行汽车的偏航姿态(偏航角)。In an embodiment of the present application, the control device may also include a control box, and the joystick is movably arranged on the control box. Based on this, the above step 102 may include: controlling the pitch of the flying vehicle in response to the axial displacement operation of the control stick Attitude; in response to the rotation operation of the control stick, control the rolling attitude of the flying car; in response to the movement operation of the joystick in the control box, control the thrust of the flying car in the direction of travel; in response to the rotation operation of the steering wheel , to control the yaw attitude of the flying car. Specifically, the user can initiate an axial displacement operation for the driving stick, thereby controlling the pitching attitude (pitch angle) of the flying car; the user can initiate a rotating operation for the driving stick, thereby controlling the rolling attitude (rolling angle) of the flying car ); the user can initiate a movement operation on the joystick in the control box, and the joystick can move back and forth in the control box, thereby controlling the thrust in the direction of travel. The user can initiate a rotation operation on the steering wheel to control the yaw attitude (yaw angle) of the flying car.

本申请实施例的示例中，仅通过飞行汽车上的转向盘、驾驶杆和操纵杆对飞行汽车的飞行进行控制，操纵设备简洁，便于用户操作，使得飞行汽车的用户可以在不需要参与复杂的飞行驾驶培训的情况下，也能轻松地操纵飞行汽车的飞行。In the example of the embodiment of the present application, the flight of the flying car is controlled only through the steering wheel, steering stick and joystick on the flying car. In the case of flight driving training, it is also possible to easily control the flight of the flying car.

参照图10，图10示出了本申请另一种飞行汽车操纵方法的步骤流程图，具体可以包括如下步骤：Referring to Fig. 10, Fig. 10 shows a flow chart of steps of another flying car manipulation method of the present application, which may specifically include the following steps:

步骤201：响应于选取指令，为飞行汽车上的操纵设备选取对应的操纵模式。Step 201: Select a corresponding control mode for the control device on the flying car in response to the selection instruction.

其中，操纵设备还包括换挡旋钮、速度控制踏板、制动踏板，在本实施例中，速度控制踏板、制动踏板的具体结构可以参考上述操纵***的模式控制器、速度控制踏板、制动踏板的特征的阐述，此处不再一一赘述。Wherein, the control device also includes a shift knob, a speed control pedal, and a brake pedal. In this embodiment, the specific structures of the speed control pedal and the brake pedal can refer to the mode controller, speed control pedal, brake The description of the characteristics of the pedals will not be repeated here.

在有特殊挡位进行切换时，需要模式控制器的旋转换档旋钮，比如说从P档(驻车档)移动到R档(倒档)时需要先旋转换档旋钮然后再通过操纵杆进行换档。具体地，在接收到用户的飞行陆地操纵模式选取指令之后，为飞行汽车上的操纵设备选取对应的陆地操纵模式，使不同的操纵设备具备不同的功能，以对飞行汽车的行驶进行控制，让汽车行驶在地面上。When there is a special gear to switch, it is necessary to rotate the shift knob of the mode controller. For example, when moving from P gear (parking gear) to R gear (reverse gear), you need to first rotate the gear shift knob and then use the joystick shift gears. Specifically, after receiving the user's flight land control mode selection instruction, select the corresponding land control mode for the control equipment on the flying car, so that different control devices have different functions to control the driving of the flying car, so that Cars drive on the ground.

在本申请一实施例中，方法还包括：当响应于选取指令，为操纵设备选取陆地操纵模式的情况下，将驾驶杆配置为锁定状态，将转向盘、操纵杆、制动踏板和速度控制踏板配置为解锁状态，并控制操纵杆移动至第二区域；当响应于选取指令，为操纵设备选取飞行操纵模式的情况下，将制动踏板和速度控制踏板配置为锁定状态，将转向盘、驾驶杆和操纵杆配置为解锁状态，并控制操纵杆移动至第一区域。In an embodiment of the present application, the method further includes: when the land control mode is selected for the control device in response to the selection command, configuring the steering column to a locked state, and setting the steering wheel, joystick, brake pedal and speed control The pedals are configured in an unlocked state, and the joystick is controlled to move to the second area; when the flight control mode is selected for the control device in response to the selection command, the brake pedal and the speed control pedal are configured in a locked state, and the steering wheel, The driving stick and the joystick are configured in an unlocked state, and the joystick is controlled to move to the first area.

具体地，当响应于选取指令，将操纵模式切换为陆地操纵模式时，用户需要通过转向盘、驾驶杆、制动踏板和速度控制踏板对飞行汽车的行驶进行控制，因此解锁转向盘、驾驶杆、换档旋钮、制动踏板和速度控制踏板，便于用户操纵飞行汽车在地面上行驶，而用户并不需要通过驾驶杆对飞行汽车的行驶进行控制，因此，对驾驶杆进行锁定。当响应于选取指令，将操纵模式切换为飞行操纵模式时，用户需要通过转向盘、驾驶杆和操纵杆对飞行汽车的飞行进行控制，因此解锁转向盘、驾驶杆和操纵杆，便于用户操纵飞行汽车在空中飞行，而用户并不需要通过速度控制踏板和制动踏板对飞行汽车的飞行进行控制，因此，对速度控制踏板和制动踏板进行锁定。Specifically, when the control mode is switched to the land control mode in response to the selection command, the user needs to control the driving of the flying car through the steering wheel, steering stick, brake pedal and speed control pedal, so unlock the steering wheel, driving stick , gear shift knob, brake pedal and speed control pedal are convenient for the user to control the flying car on the ground, and the user does not need to control the driving of the flying car through the joystick, so the joystick is locked. When the control mode is switched to flight control mode in response to the selected command, the user needs to control the flight of the flying car through the steering wheel, joystick and joystick, so the steering wheel, joystick and joystick are unlocked to facilitate the user to control the flight The car is flying in the air, and the user does not need to control the flight of the flying car through the speed control pedal and the brake pedal, so the speed control pedal and the brake pedal are locked.

步骤202：在陆地操纵模式下，响应于针对转向盘、操纵杆、换档旋钮、制动踏板和油门踏板的控制操作，控制飞行汽车的行驶。Step 202: In the land control mode, control the driving of the flying car in response to the control operations on the steering wheel, the joystick, the shift knob, the brake pedal and the accelerator pedal.

具体地，在陆地操纵模式下，响应于用户针对转向盘、操纵杆、制动踏板和速度控制踏板的控制操作，就可以实现对飞行汽车的行驶进行控制，以使飞行汽车在地面上行驶。本申请实施例的示例中，在陆地模式下，飞行汽车采用汽车上原有的转向盘、操纵杆、制动踏板和速度控制踏板对飞行汽车的行驶进行控制即可，无需增添新的操纵设备占用飞行汽车内的空间，便于用户在飞行汽车内行动。Specifically, in the land manipulation mode, in response to the user's control operations on the steering wheel, joystick, brake pedal and speed control pedal, the driving of the flying car can be controlled so that the flying car can drive on the ground. In the example of the embodiment of the present application, in the land mode, the flying car can use the original steering wheel, joystick, brake pedal and speed control pedal on the car to control the driving of the flying car, without adding new control equipment to occupy The space inside the flying car is convenient for users to move in the flying car.

在本申请一实施例中，操纵***还包括操纵箱，操纵箱设有第一定位区域及第二定位区域，操纵杆能够被定位在第一定位区域中的不同位置、或被定位在第二定位区域中的不同位置；步骤202可以包括：响应于针对操纵杆的位置，控制飞行汽车的挡位；响应于针对制动踏板的踩踏操作，控制飞行汽车制动；响应于针对速度控制踏板的踩踏操作，控制飞行汽车加速；响应于针对转向盘的转动操作，控制飞行汽车行进的方向。具体地，用户可以针对操纵杆的的位置，控制飞行汽车的挡位；用户可以发起针对制动踏板的踩踏操作，控制飞行汽车制动；用户可以发起针对速度控制踏板的踩踏操作，控制飞行汽车加速；用户可以发起针对转向盘的转动角度操作，控制飞行汽车行进的方向。In an embodiment of the present application, the steering system further includes a steering box, the steering box is provided with a first positioning area and a second positioning area, and the joystick can be positioned at different positions in the first positioning area, or at the second positioning area. Different positions in the positioning area; step 202 may include: in response to the position of the joystick, control the gear of the flying car; in response to the stepping operation on the brake pedal, control the braking of the flying car; The stepping operation controls the acceleration of the flying car; in response to the turning operation of the steering wheel, the direction of the flying car is controlled. Specifically, the user can control the gear of the flying car according to the position of the joystick; the user can initiate a stepping operation on the brake pedal to control the braking of the flying car; the user can initiate a stepping operation on the speed control pedal to control the flying car Acceleration; the user can initiate an operation on the turning angle of the steering wheel to control the direction of the flying car.

本申请一实施例中，飞行汽车包括车体、飞行驱动***以及陆地驱动***，飞行驱动***包括连接于车体的旋翼模组，操纵设备还包括模式控制器，模式控制器设有多个档位，多个档位包括对应于陆地模式的第一档位、对应于第一飞行模式的第二档位以及对应于第二飞行模式的第三档位；方法还包括：模式控制器处于第一档位的情况下，通过陆地驱动***控制飞行汽车工作于陆地模式；处于第二档位的情况下，控制旋翼模组的旋转轴处于第一位置，使飞行汽车工作于第一飞行模式；处于第三档位的情况下，控制旋翼模组的旋转轴处于第二位置，使飞行汽车工作于第二飞行模式；其中，旋转轴处于第一位置时和处于第二位置时相对于车体的角度不同。In one embodiment of the present application, the flying car includes a car body, a flight drive system, and a land drive system. The flight drive system includes a rotor module connected to the car body. The control device also includes a mode controller. The plurality of gears includes a first gear corresponding to a land mode, a second gear corresponding to a first flight mode, and a third gear corresponding to a second flight mode; the method further includes: the mode controller is in the first gear In the case of the first gear, the flying car is controlled to work in the land mode through the land drive system; in the case of the second gear, the rotation axis of the control rotor module is in the first position, so that the flying car works in the first flight mode; In the case of the third gear, the rotation axis of the control rotor module is in the second position, so that the flying car works in the second flight mode; wherein, when the rotation axis is in the first position and when it is in the second position, it is relative to the vehicle body. different angles.

本申请实施例的示例中，仅通过飞行汽车上的转向盘、操纵杆、制动踏板、速度控制踏板对飞行汽车的行驶进行控制，使得飞行汽车的用户可以采用常规汽车的驾驶方式去驾驶飞行汽车，从而无需针对飞行汽车的陆地操纵模式进行学习，也能轻松地操纵飞行汽车在地面上行驶。In the example of the embodiment of the application, the driving of the flying car is controlled only through the steering wheel, joystick, brake pedal, and speed control pedal on the flying car, so that the user of the flying car can use the driving method of a conventional car to drive the flying car. The car can easily control the flying car to drive on the ground without learning the land control mode of the flying car.

为了更好的理解本申请的实施例，参照图11，图12进行示例性说明：In order to better understand the embodiments of the present application, refer to Fig. 11 and Fig. 12 for exemplary illustration:

参照图11，示出了本申请一种的飞行汽车操纵方法中飞行操纵模式下的流程示意图，用户可以旋转陆地/飞行模式切换按钮，选取飞行模式，松开(解锁)转向盘、驾驶杆以及操纵杆，锁定制动踏板，速度控制踏板，并将操纵杆置于第一区域以控制飞行汽车的飞行。通过操纵杆控制飞行汽车在行进方向上的推力；驾驶杆的轴向位移控制飞行汽车的俯仰姿态；驾驶杆的的转动角度控制飞机的滚转姿态；通过转向盘控制飞机的左右偏航。Referring to FIG. 11 , it shows a schematic flow chart of the flight control mode in a flying car control method of the present application. The user can rotate the land/flight mode switching button to select the flight mode, release (unlock) the steering wheel, the joystick and Joystick, lock the brake pedal, speed control pedal, and put the joystick in the first area to control the flight of the flying car. The thrust of the flying car in the direction of travel is controlled by the joystick; the axial displacement of the joystick controls the pitch attitude of the flying car; the rotation angle of the joystick controls the roll attitude of the aircraft; the left and right yaw of the aircraft is controlled by the steering wheel.

参照图12，示出了本申请一种的飞行汽车操纵方法中陆地操纵模式下的流程示意图，用户可以旋转陆地/飞行模式切换按钮，选取陆地模式，松开(解锁)转向盘、制动踏板、速递控制踏板和第一操纵杆，锁定驾驶杆杆，并将操纵杆置于第二区域以控制飞行汽车的行驶。转向盘控制飞行汽车行进的方向；操纵杆控制汽车换档；制动踏板控制汽车制动/减速；速度控制踏板控制汽车油门/加速。Referring to FIG. 12 , it shows a schematic flow chart of a flying car control method in the present application under the land control mode. The user can rotate the land/flight mode switching button to select the land mode, and release (unlock) the steering wheel and the brake pedal. , express the control pedal and the first joystick, lock the driving stick, and place the joystick in the second area to control the driving of the flying car. The steering wheel controls the direction of the flying car; the joystick controls the car's gear shift; the brake pedal controls the car's braking/deceleration; the speed control pedal controls the car's accelerator/acceleration.

本申请实施例的示例中，可以实现陆地模式与飞行模式自由切换，飞行汽车的用户可以在不需要参与复杂的飞行驾驶培训的情况下，基于飞行汽车上的操纵设备轻松地操纵飞行汽车。In the example of the embodiment of the present application, free switching between land mode and flight mode can be realized, and the user of the flying car can easily control the flying car based on the control device on the flying car without participating in complicated flight driving training.

需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请实施例并不受所描述的动作顺序的限制，因为依据本申请实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本申请实施例所必须的。It should be noted that, for the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited by the described action sequence, because According to the embodiment of the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

本申请还公开了一种本申请实施例还公开了一种飞行汽车，包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如本申请实施例所述的飞行汽车操纵方法。The present application also discloses a flying car, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. The computer program is controlled by the When the above-mentioned processor is executed, the flying car control method as described in the embodiment of the present application is realized.

本申请实施例还公开了一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如本申请实施例所述的飞行汽车操纵方法。The embodiment of the present application also discloses a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the flying car control method as described in the embodiment of the present application is realized.

最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不驱使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

一种飞行汽车的操纵***，其特征在于，所述操纵***应用于飞行汽车，所述飞行汽车受所述操纵***的控制而工作于飞行模式或陆地模式；A control system for a flying car, characterized in that the control system is applied to a flying car, and the flying car works in flight mode or land mode under the control of the control system;

所述操纵***包括模式控制器和操纵设备，所述操纵设备电性连接于所述模式控制器，所述操纵设备包括转向盘、驾驶杆以及操纵杆；The control system includes a mode controller and a control device, the control device is electrically connected to the mode controller, and the control device includes a steering wheel, a steering rod and a joystick;

所述模式控制器，用于响应于模式选取指令，为所述操纵设备选取对应的操纵模式；所述操纵模式包括用于控制所述飞行汽车在陆地行驶的陆地操纵模式以及用于控制所述飞行汽车在空中行驶的飞行操纵模式；The mode controller is configured to select a corresponding manipulation mode for the manipulation device in response to a mode selection instruction; the manipulation mode includes a land manipulation mode for controlling the flying car to drive on land and a land manipulation mode for controlling the The flight control mode of flying cars driving in the air;

所述操纵设备，用于在所述飞行操纵模式下，响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车在空中的飞行；The control device is used to control the flight of the flying car in the air in response to the control operations on the steering wheel, the steering stick and the joystick in the flight control mode;

所述操纵设备，还用于在所述陆地操纵模式下，响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车在陆地上的行驶。The control device is further used to control the driving of the flying car on land in response to control operations on the steering wheel, the steering stick and the joystick in the land control mode.
如权利要求1所述的操纵***，其特征在于，所述飞行汽车包括车体、飞行驱动***以及陆地驱动***，所述飞行模式包括第一子飞行模式；所述模式控制器设有多个档位，多个所述档位包括对应于所述陆地模式的第一档位以及对应于所述第一子飞行模式的第二档位；The control system according to claim 1, wherein the flying car includes a car body, a flight drive system and a land drive system, and the flight mode includes a first sub-flight mode; the mode controller is provided with a plurality of a gear position, a plurality of the gear positions including a first gear position corresponding to the land mode and a second gear position corresponding to the first sub-flight mode;

所述模式控制器被配置为：The mode controller is configured to:

处于所述第一档位的情况下，通过所述陆地驱动***控制所述飞行汽车工作于所述陆地模式；In the case of the first gear, the flying car is controlled to work in the land mode through the land drive system;

处于所述第二档位的情况下，通过所述飞行驱动***控制所述飞行汽车工作于所述第一子飞行模式。In the case of the second gear, the flying car is controlled to work in the first sub-flying mode through the flying driving system.
如权利要求2所述的操纵***，其特征在于，所述飞行驱动***包括连接于所述车体的旋翼模组，所述飞行模式还包括第二子飞行模式，多个所述档位还包括对应于所述第二子飞行模式的第三档位；The control system according to claim 2, wherein the flight drive system includes a rotor module connected to the vehicle body, the flight mode also includes a second sub-flight mode, and a plurality of the gears are also including a third gear corresponding to the second sub-flight mode;

所述模式控制器被配置为：The mode controller is configured to:

处于所述第二档位的情况下，控制所述旋翼模组的旋转轴处于第一位置，使所述飞行汽车工作于所述第一子飞行模式；In the case of the second gear, control the rotation shaft of the rotor module to be in the first position, so that the flying car works in the first sub-flight mode;

处于所述第三档位的情况下，控制所述旋翼模组的旋转轴处于第二位置，使所述飞行汽车工作于所述第二子飞行模式；其中，所述旋转轴处于所述第一位置时和处于所述第二位置时相对于所述车体的角度不同。In the case of the third gear, the rotating shaft of the rotor module is controlled to be in the second position, so that the flying car works in the second sub-flight mode; wherein, the rotating shaft is in the first The angle relative to the vehicle body is different when in the first position and when in the second position.
如权利要求1～3中任意一项所述的操纵***，其特征在于，所述操纵***还包括姿态控制器，所述姿态控制器电性连接于所述模式控制器，并适于连接所述飞行汽车的陆地转向***以及飞行姿态***；所述姿态控制器被配置为：The control system according to any one of claims 1-3, characterized in that the control system further comprises an attitude controller, the attitude controller is electrically connected to the mode controller, and is adapted to be connected to the The land steering system and the flight attitude system of the flying car; the attitude controller is configured as:

在所述飞行汽车处于所述飞行模式的情况下，通过所述飞行姿态***控制所述飞行汽车的飞行姿态；以及When the flying car is in the flight mode, the flying attitude of the flying car is controlled by the flying attitude system; and

在所述飞行汽车处于所述陆地模式的情况下，通过所述陆地转向***控制所述飞行汽车的转向姿态。When the flying car is in the land mode, the steering attitude of the flying car is controlled by the land steering system.
如权利要求1～4中任意一项所述的操纵***，其特征在于，所述转向盘适于可转动地设置于所述飞行汽车内，并被配置为：The steering system according to any one of claims 1-4, wherein the steering wheel is adapted to be rotatably arranged in the flying car, and is configured as:

在所述飞行汽车处于所述飞行模式的情况下，基于自身的转动角度控制所述飞行汽车的滚转姿态；以及When the flying car is in the flight mode, controlling the rolling attitude of the flying car based on its own rotation angle; and

在所述飞行汽车处于所述陆地模式的情况下，基于自身的转动角度控制所述飞行汽车的转向姿态。When the flying car is in the land mode, the steering attitude of the flying car is controlled based on its own rotation angle.
如权利要求1～5中任意一项所述的操纵***，其特征在于，所述驾驶杆适于可转动地连接于所述转向盘与所述车体之间；所述驾驶杆被配置为：在所述飞行汽车处于所述飞行模式的情况下，基于自身的轴向位移控制所述飞行汽车的俯仰姿态。The steering system according to any one of claims 1-5, wherein the steering rod is adapted to be rotatably connected between the steering wheel and the vehicle body; the steering rod is configured as : When the flying car is in the flight mode, control the pitching attitude of the flying car based on its own axial displacement.
如权利要求1～5中任意一项所述的操纵***，其特征在于，所述操纵杆可活动地设置于所述驾驶杆上；所述驾驶杆被配置为：在所述飞行汽车处于所述飞行模式时，基于所述驾驶杆在第一方向上的移动控制所述飞行汽车的俯仰姿态，基于所述驾驶杆在第二方向上的移动控制所述飞行汽车的横滚姿态，其中，第一方向与第二方向相交。The control system according to any one of claims 1 to 5, wherein the joystick is movably arranged on the steering column; the steering column is configured to: when the flying car is in the In the flight mode, the pitch attitude of the flying car is controlled based on the movement of the steering stick in the first direction, and the roll attitude of the flying car is controlled based on the movement of the steering stick in the second direction, wherein, The first direction intersects the second direction.
如权利要求7所述的操纵***，其特征在于，所述驾驶杆设有容纳空间，所述操纵杆至少部分地设置于所述容纳空间，并可活动地连接于所述驾驶杆，所述操纵杆能够由所述容纳空间突出于所述驾驶杆之外，或从所述驾驶杆之外收回至所述容纳空间内。The control system according to claim 7, wherein the steering rod is provided with an accommodation space, the joystick is at least partially disposed in the accommodation space, and is movably connected to the steering rod, the The joystick can protrude from the accommodating space to the outside of the steering rod, or can be retracted from the outside of the accommodating space into the accommodating space.
如权利要求1～8中任意一项所述的操纵***，其特征在于，所述操纵设备还包括方向控制器，所述方向控制器设置于所述转向盘；所述方向控制器被配置为：在所述飞行汽车处于所述飞行模式的情况下，通过所述飞行姿态***控制所述飞行汽车的偏航姿态。The control system according to any one of claims 1-8, wherein the control device further comprises a direction controller, the direction controller is arranged on the steering wheel; the direction controller is configured as : When the flying car is in the flight mode, the yaw attitude of the flying car is controlled by the flight attitude system.
如权利要求3～9中任意一项所述的操纵***，其特征在于，所述操纵设备还包括操纵箱，所述操纵杆可移动地设置于所述操纵箱，所述操纵杆被配置为：The control system according to any one of claims 3-9, wherein the control device further comprises a control box, the joystick is movably arranged in the control box, and the joystick is configured as :

在所述飞行汽车处于所述飞行模式的情况下，基于所述操纵杆相对于所述操纵箱的相对位置，控制所述飞行汽车在行进方向上的推力；以及When the flying car is in the flight mode, controlling the thrust of the flying car in the direction of travel based on the relative position of the joystick relative to the control box; and

在所述飞行汽车处于所述陆地模式的情况下，基于所述操纵杆相对于所述操纵箱的相对位置，控制所述飞行汽车的挡位。When the flying car is in the land mode, the gear of the flying car is controlled based on the relative position of the joystick relative to the control box.
如权利要求10所述的操纵***，其特征在于，所述操纵箱设有第一定位区域及第二定位区域，所述操纵杆能够被定位在所述第一定位区域中的不同位置、或被定位在所述第二定位区域中的不同位置；所述操纵杆被配置为：The control system according to claim 10, wherein the control box is provided with a first positioning area and a second positioning area, and the joystick can be positioned at different positions in the first positioning area, or positioned at various locations within the second positioning area; the joystick configured to:

在位于所述第一定位区域的情况下，根据所述操纵杆在所述第一定位区域中的位置，控制所述飞行汽车在行进方向上的推力；以及In the case of being located in the first positioning area, controlling the thrust of the flying car in the direction of travel according to the position of the joystick in the first positioning area; and

在位于所述第二定位区域的情况下，根据所述操纵杆在所述第二定位区域中的位置，控制所述飞行汽车的挡位，所述挡位包括驻车挡、倒车挡、空挡、前进挡中的至少一种。In the case of being located in the second positioning area, according to the position of the joystick in the second positioning area, the gears of the flying car are controlled, and the gears include parking gear, reverse gear, and neutral gear , at least one of the forward gears.
如权利要求11所述的操纵***，其特征在于，所述模式控制器处于所述第二档位的情况下，所述操纵杆被配置为：根据所述操纵杆在所述第一定位区域中的位置，通过所述旋翼模组控制所述飞行汽车在竖直方向上的行进推力；The control system according to claim 11, wherein when the mode controller is in the second gear position, the joystick is configured to: The position in the middle, through the rotor module to control the thrust of the flying car in the vertical direction;

所述模式控制器处于所述第三档位的情况下，所述操纵杆被配置为：根据所述操纵杆在所述第一定位区域中的位置，通过所述旋翼模组控制所述飞行汽车在水平方向上的行进推力。When the mode controller is in the third gear, the joystick is configured to: control the flight through the rotor module according to the position of the joystick in the first positioning area The driving thrust of the car in the horizontal direction.
如权利要求1～12中任意一项所述的操纵***，其特征在于，所述操纵***还包括速度控制踏板，所述速度控制踏板连接于所述模式控制器，并适于连接所述飞行汽车的陆地驱动***；所述速度控制踏板被配置为：在所述飞行汽车处于所述陆地模式时，通过所述陆地驱动***控制所述飞行汽车的行进速度。The control system according to any one of claims 1-12, wherein the control system further comprises a speed control pedal, the speed control pedal is connected to the mode controller and is adapted to be connected to the flight controller. The land driving system of the automobile; the speed control pedal is configured to: when the flying automobile is in the land mode, control the traveling speed of the flying automobile through the land driving system.
如权利要求1～12中任意一项所述的操纵***，其特征在于，所述操纵***还包括制动踏板，所述制动踏板连接于所述模式控制器，并适于连接所述飞行汽车的陆地制动***；所述制动踏板被配置为：在所述飞行汽车处于所述陆地模式时，通过所述陆地制动***控制所述飞行汽车进行制动。The control system according to any one of claims 1-12, characterized in that the control system further comprises a brake pedal connected to the mode controller and adapted to be connected to the flight control system. A land braking system of a car; the brake pedal is configured to: control the flying car to brake through the land braking system when the flying car is in the land mode.
一种飞行汽车，其特征在于，包括：A flying car, characterized in that it comprises:

车体；car body;

陆地驱动***，设置于所述车体；a land driving system arranged on the vehicle body;

飞行驱动***，设置于所述车体，所述飞行驱动***包括连接于所述车体的旋翼模组；以及a flight drive system, arranged on the vehicle body, the flight drive system including a rotor module connected to the vehicle body; and

如权利要求1至14中任意一项所述的操纵***，所述操纵***连接于所述陆地驱动***以及所述飞行驱动***。The control system according to any one of claims 1 to 14, the control system being connected to the land drive system and the flight drive system.
如权利要求15所述的飞行汽车，其特征在于，所述飞行汽车还包括固定翼，所述固定翼连接于所述车体。The flying car according to claim 15, characterized in that, the flying car further comprises a fixed wing, and the fixed wing is connected to the vehicle body.
如权利要求16所述的飞行汽车，其特征在于，所述飞行汽车还包括收展机构，所述固定翼通过所述收展机构可调节地连接于所述车体；所述收展机构被配置为：在所述飞行模式下，维持所述固定翼相对于所述车体呈展开状态；以及在所述陆地模式下，维持所述固定翼相对于所述车体呈收拢状态。The flying car according to claim 16, characterized in that, the flying car further comprises a retractable mechanism, and the fixed wing is adjustably connected to the vehicle body through the retractable mechanism; the retractable mechanism is The configuration is as follows: in the flight mode, maintain the fixed wing in an unfolded state relative to the vehicle body; and in the land mode, maintain the fixed wing in a retracted state relative to the vehicle body.
如权利要求15～17中任意一项所述的飞行汽车，其特征在于，所述飞行汽车还包括倾转机构，所述旋翼模组通过所述倾转机构可调节地连接于所述车体，所述倾转机构被配置为：在所述飞行模式下，驱动所述旋翼模组相对所述车体倾转以调节所述旋翼模组的旋转轴相对于所述车体的角度。The flying car according to any one of claims 15-17, characterized in that the flying car further comprises a tilting mechanism, and the rotor module is adjustably connected to the vehicle body through the tilting mechanism , the tilting mechanism is configured to: in the flight mode, drive the rotor module to tilt relative to the vehicle body so as to adjust the angle of the rotation axis of the rotor module relative to the vehicle body.
一种飞行汽车的操纵方法，其特征在于，所述操纵方法应用于飞行汽车，所述飞行汽车受操纵设备的控制而工作于飞行模式或陆地模式；所述操纵方法包括：A method for manipulating a flying car, characterized in that the manipulating method is applied to a flying car, and the flying car is controlled by a control device to work in flight mode or land mode; the manipulating method includes:

响应于选取指令，为所述飞行汽车上的操纵设备选取对应的操纵模式；其中，所述操纵设备包括转向盘、驾驶杆以及操纵杆；所述操纵模式包括用于控制所述飞行汽车在陆地行驶的陆地操纵模式以及用于控制所述飞行汽车在空中行驶的飞行操纵模式；In response to the selection instruction, select a corresponding control mode for the control device on the flying car; wherein, the control device includes a steering wheel, a steering stick, and a joystick; the control mode includes controlling the flying car on land The land control mode for driving and the flight control mode for controlling the flying car to travel in the air;

在所述飞行操纵模式下，响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车的飞行；In the flight control mode, controlling the flying of the flying car in response to control operations on the steering wheel, the steering stick and the joystick;

在所述陆地操纵模式下，响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车在陆地上的行驶。In the land manipulation mode, the driving of the flying car on land is controlled in response to control operations on the steering wheel, the steering stick and the joystick.
如权利要求19所述的方法，其特征在于，所述操纵设备还包括操纵箱，所述操纵杆可移动地设置于所述操纵箱；所述响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车的飞行，包括：The method according to claim 19, wherein said steering device further comprises a steering box, said joystick is movably arranged on said steering box; said response to said steering wheel, said steering column and the control operation of the joystick to control the flight of the flying car, including:

响应于针对所述驾驶杆的轴向位移操作，控制所述飞行汽车俯仰姿态；controlling the pitching attitude of the flying car in response to the axial displacement operation of the control stick;

响应于针对所述驾驶杆的转动操作，控制所述飞行汽车的滚转姿态；controlling the rolling attitude of the flying car in response to the turning operation of the steering stick;

响应于针对所述操纵杆在操纵箱中的运动操作，控制所述飞行汽车在行进方向上的推力；controlling the thrust of the flying car in the direction of travel in response to the movement operation of the joystick in the control box;

响应于针对所述转向盘的转动操作，控制所述飞行汽车的偏航姿态。The yaw attitude of the flying car is controlled in response to the turning operation of the steering wheel.
如权利要求19或20所述的方法，其特征在于，所述驾驶杆设有容纳空间，所述操纵杆至少部分地设置于所述容纳空间，并可活动地连接于所述驾驶杆，所述操纵杆能够由所述容纳空间突出于所述驾驶杆之外，或从所述驾驶杆之外收回至所述容纳空间内；所述方法还包括：The method according to claim 19 or 20, wherein the steering rod is provided with an accommodation space, the joystick is at least partially disposed in the accommodation space, and is movably connected to the steering rod, so The joystick can protrude from the accommodation space to the outside of the steering column, or retract from the outside of the steering column into the accommodation space; the method also includes:

当响应于选取指令，在为所述飞行汽车上的操纵设备选取所述陆地操纵模式的情况下，控制所述操纵杆相对于所述驾驶杆收回，以使所述操纵杆收容在所述容纳空间内；When in response to the selection instruction, when the land control mode is selected for the control equipment on the flying car, the joystick is controlled to be retracted relative to the driving stick, so that the joystick is accommodated in the accommodating in the space;

当响应于选取指令，为所述飞行汽车上的操纵设备选取所述飞行操纵模式的情况下，控制所述操纵杆相对于所述驾驶杆突出，以响应于针对所述操纵杆的控制操作而控制所述飞行汽车的飞行。When the flight control mode is selected for the control device on the flying car in response to a selection instruction, control the joystick to protrude relative to the steering stick so as to respond to the control operation on the joystick Control the flight of the flying car.
如权利要求19～21中任意一项所述的方法，其特征在于，所述操纵设备还包括速度控制踏板、制动踏板，所述在所述陆地操纵模式下，响应于针对所述转向盘、所述驾驶杆和所述操纵杆的控制操作，控制所述飞行汽车在陆地上的行驶，包括：The method according to any one of claims 19-21, wherein the steering device further includes a speed control pedal and a brake pedal, and in the land steering mode, in response to the steering wheel , the control operation of the steering stick and the joystick, to control the driving of the flying car on land, including:

响应于针对所述操纵杆的位置，控制所述飞行汽车的挡位；controlling a gear of the flying car in response to a position for the joystick;

响应于针对所述制动踏板的踩踏操作，控制所述飞行汽车制动；controlling the flying car to brake in response to a stepping operation on the brake pedal;

响应于针对所述速度控制踏板的踩踏操作，控制所述飞行汽车加速；controlling the flying car to accelerate in response to a stepping operation on the speed control pedal;

响应于针对所述转向盘的转动操作，控制所述飞行汽车行进的方向。In response to the turning operation of the steering wheel, the traveling direction of the flying car is controlled.
如权利要求22所述的方法，其特征在于，所述操纵***还包括操纵箱，所述操纵箱设有第一定位区域及第二定位区域，所述操纵杆能够被定位在所述第一定位区域中的不同位置、或被定位在所述第二定位区域中的不同位置；所述方法还包括：The method according to claim 22, wherein the manipulation system further comprises a manipulation box, the manipulation box is provided with a first positioning area and a second positioning area, and the joystick can be positioned on the first positioning area. locating a different location in the area, or being located in a different location in the second location area; the method further comprising:

当响应于选取指令，为所述操纵设备选取所述陆地操纵模式的情况下，将所述驾驶杆配置为锁定状态，将所述转向盘、所述操纵杆、所述制动踏板和所述速度控制踏板配置为解锁状态，并控制所述操纵杆移动至所述第二区域；When the land steering mode is selected for the steering device in response to a selection command, the steering column is configured in a locked state, and the steering wheel, the joystick, the brake pedal and the the speed control pedal is configured in an unlocked state, and controls the joystick to move to the second area;

当响应于选取指令，为所述操纵设备选取所述飞行操纵模式的情况下，将所述制动踏板和所述速度控制踏板配置为锁定状态，将所述转向盘、所述驾驶杆和所述操纵杆配置为解锁状态，并控制所述操纵杆移动至所述第一区域。When the flight control mode is selected for the control device in response to a selection command, the brake pedal and the speed control pedal are configured in a locked state, and the steering wheel, the steering column and the The joystick is configured in an unlocked state, and the joystick is controlled to move to the first area.
如权利要求19～23中任一项所述的方法，其特征在于，所述飞行汽车包括车体、飞行驱动***以及陆地驱动***，所述飞行驱动***包括连接于所述车体的旋翼模组，所述操纵设备还包括模式控制器，所述模式控制器设有多个档位，多个所述档位包括对应于所述陆地模式的第一档位、对应于所述第一飞行模式的第二档位以及对应于第二飞行模式的第三档位；所述方法还包括：The method according to any one of claims 19-23, characterized in that, the flying car includes a car body, a flight drive system and a land drive system, and the flight drive system includes a rotor model connected to the car body The control device further includes a mode controller, the mode controller is provided with a plurality of gears, and the plurality of gears include a first gear corresponding to the land mode, a first gear corresponding to the first flight mode and a third gear corresponding to the second flight mode; the method further comprising:

所述模式控制器处于所述第一档位的情况下，通过所述陆地驱动***控制所述飞行汽车工作于所述陆地模式；When the mode controller is in the first gear, the flying car is controlled to work in the land mode through the land drive system;

处于所述第二档位的情况下，控制所述旋翼模组的旋转轴处于第一位置，使所述飞行汽车工作于所述第一飞行模式；In the case of the second gear, control the rotation shaft of the rotor module to be in the first position, so that the flying car works in the first flight mode;

处于所述第三档位的情况下，控制所述旋翼模组的旋转轴处于第二位置，使所述飞行汽车工作于所述第二飞行模式；其中，所述旋转轴处于所述第一位置时和处于所述第二位置时相对于所述车体的角度不同。In the case of the third gear, the rotation shaft of the rotor module is controlled to be in the second position, so that the flying car works in the second flight mode; wherein, the rotation shaft is in the first position The angle relative to the vehicle body is different when in the first position and when in the second position.
一种飞行汽车，其特征在于，包括处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求19至24中任一项所述的飞行汽车的操纵方法。A flying car, characterized in that it includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor, claim 19 is realized. The operation method of the flying car described in any one of to 24.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求19至24中任一项所述的飞行汽车操纵方法。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it realizes the flying car manipulation according to any one of claims 19 to 24 method.