CN102166930A - Hovercar - Google Patents

Abstract

The invention discloses a flying car. The present invention includes a car body structure, a power group and an integrated control system. The car body structure includes a car body, a chassis, and passively driven wheels, and the power group includes a power supply, four independent power devices, four electronic governors and four steering gears; Each power unit includes a ducted propeller and an electric motor to drive it; the input ends of the four electronic governors are connected to the integrated control system, and the output ends of each electronic governor are connected to an electric motor to control The rotational speed of the electric motor; the input ends of the four steering gears are all connected to the integrated control system, and each steering gear controls the angle of the ducted propeller through a rotating shaft fixedly connected to the duct of a ducted propeller. The present invention can also include an image recognition automatic obstacle surmounting control system. Compared with the prior art, the present invention has the advantages of being dual-purpose for air and land, without using wheels to drive the engine, automatically identifying obstacles from the air, and taking off and landing without increasing the area.

Description

a flying car

technical field

The invention relates to a vehicle, in particular to a flying car.

Background technique

Present ground automobile all is to drive automobile wheel by engine through transmission mechanism, travels on the ground. Airplanes and helicopters can fly in the air, but they are expensive, consume a lot of fuel, consume high carbon, and have complex driving techniques. Airplanes also need airport runways, which are not suitable for ordinary transportation.

Automobile is a mature technology, but as a "one-dimensional" means of transportation that must travel along the road, traffic congestion is the most troublesome problem in road traffic under the increasing number of modern traffic vehicles, and the existing automobile technology is difficult to solve this problem. For this reason, in recent years, people at home and abroad have proposed combining existing automobile technology and aviation technology to develop a "flying car" that can be used for both air and land. To provide the lift needed for the car to lift into the air. For example, the Terrafugia Company of the United States has recently launched a "flying car" that plans to go on the market next year. Its structure is that both sides of a conventional car are equipped with wings, and two vertical tails and an elevator are installed at the rear, which is similar in shape to a conventional aircraft. Although the wings of this flying car can be folded to reduce the width and area occupied on the road, the length of the wings expanded is about 5-7 times the width, so it is almost impossible to take off and land on the busy road.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the defect that existing flying cars cannot take off and land on busy roads, and provide a flying car that can take off and land on roads without increasing the area of the car, and can fly like a helicopter in the air. flying car.

The present invention adopts the following technical solutions to solve the above-mentioned technical problems:

A flying car, including a car body structure, a power pack and an integrated control system, the car body structure includes a car body, a chassis, and passively driven wheels, and it is characterized in that the power pack includes a power supply and four independent power devices, four An electronic governor and four steering gears; four independent power units are respectively installed on the front and rear sides of the body, and each power unit includes a ducted propeller and an electric motor to drive it; the four electronic governors The input terminals of each electronic governor are connected with the integrated control system, and the output terminals of each electronic governor are connected with a motor to control the speed of the motor; the input terminals of the four steering gears are connected with the integrated control system, Each steering gear controls the angle of a ducted propeller through a rotating shaft fixedly connected to the duct of the ducted propeller.

Ducted propeller, also known as ducted fan propeller, refers to a propulsion device in which a duct is arranged around the free propeller. Its principle is similar to that of an airplane wing. The motion of the propeller is decomposed into horizontal motion and rotational motion. The main resistances in the motion of the propeller include air friction resistance, pressure difference resistance, induced resistance and interference resistance. The speed at the tip is the highest, the induced resistance is relatively large, and the impact on the external airflow causes great noise, which is the main reason for the low power efficiency of the free propeller. After installing the duct, because the blade tip is restricted by the duct, the impact noise is small, the induced resistance is reduced, and the efficiency is greatly improved. Under the same power consumption, the ducted propeller can generate greater thrust than the free propeller with the same diameter; at the same time, due to the surrounding effect of the duct, it has the advantages of compact structure, low aerodynamic noise, and good safety in use. It is increasingly used in aircraft design.

Further, the flying car of the present invention also includes an image recognition automatic obstacle surmounting control system, the image recognition automatic obstacle surmounting control system includes a front-view camera, a down-view camera, a laser scanning radar and an image recognition module installed on the head of the car; The image recognition module includes a video decoding unit and a microprocessor, and the video decoding unit decodes the video image analog signal into a digital signal and transmits it to the microprocessor, and the microprocessor compares the video image digital signal and the laser ranging information Analyze and send the analyzed road condition information to the integrated control system. Through the above image recognition automatic obstacle control system, the flying car of the present invention can accurately identify road condition information such as road environment, obstacle characteristics, obstacle distance, etc. Road blocking; bridge breaks, etc.), control the flying car to automatically fly over obstacles.

Furthermore, the integrated control system includes a manual driving mechanism and an automatic control mechanism; the manual driving mechanism includes a manual steering wheel and a wheel steering mechanism connected with the manual steering wheel, a manual command keyboard and a display screen; the automatic control mechanism Including a microprocessor and a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer, a barometric altimeter, a GPS/Beidou satellite receiver connected to the microprocessor signal respectively; an automatic control mechanism input terminal and the image recognition module and The laser scanning radar is connected to receive image recognition data and laser ranging data; the output end of the automatic control mechanism is connected to the four electronic governors and four steering gears in the power group, and sends control instructions to the power group. With the above-mentioned technical scheme, driving on the ground can be mainly driven manually, and the rear two ducted propellers in the power group turn axially to the horizontal direction to generate forward thrust; the manual steering wheel can control the wheel steering mechanism to change direction; in order to save electricity , when driving on the ground, the first two ducted propellers may not work. Air flight is mainly based on automatic control, supplemented by manual driving; the automatic control mechanism is composed of three-axis gyroscope, three-axis accelerometer, three-axis magnetometer, barometric altimeter, microcomputer processor and its circuit. Sensor signals and power packs are used to control the attitude, position, speed and heading of the car during flight.

The flying car of the present invention uses a power device including ducted propellers and electric motors to provide the power required for driving on the road and flying into the air. While realizing dual-purpose use by air and land, it solves the problem that the existing technology cannot operate on busy roads. The defect of ups and downs; the present invention further realizes the control mode combining automatic control driving and manual control driving through the comprehensive control system including manual driving mechanism, automatic control mechanism and image recognition automatic obstacle surmounting control system, and can automatically identify and judge road conditions, So as to realize automatic crossing of obstacles. Compared with the prior art, the present invention has the following advantages:

1. It can drive on the road surface like a conventional car;

2. It can take off and land from the ground without increasing the vehicle area;

3. Able to fly in the air like a helicopter;

4. It can automatically identify the obstacles in front of the car, fly over them before taking off, and then land and drive.

Description of drawings

Fig. 1 is the overall composition block diagram of the flying car of the present invention;

Figure 2 is a schematic diagram of the overall layout of the flying car of the present invention, in which figure (a) is the main view, and figure (b) is a top perspective view;

Fig. 3 is a schematic diagram of the driving force of the flying car of the present invention, wherein picture (a) is a schematic diagram of force when driving on land, and picture (b) is a schematic diagram of force when flying;

Fig. 4 is a schematic diagram of the power plant structure of the flying car of the present invention, where (a) is the main view, (b) is the right view, and (c) is the right perspective view;

Fig. 5 is the control block diagram of the power pack of the flying car of the present invention;

Fig. 6 is a block diagram of the integrated control system of the flying car of the present invention;

Fig. 7 is a composition block diagram of the image recognition automatic obstacle surmounting control system of the flying car of the present invention;

Fig. 8 is a schematic diagram of the image recognition obstacle principle and perspective calculation in the image recognition automatic obstacle surmounting control system of the present invention, in which figure (a) is a perspective view, and figure (b) is a geometric relationship diagram of the perspective principle;

Fig. 9 is a control schematic diagram of the flying car of the present invention to automatically overcome obstacles.

Detailed ways

The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

The overall composition of the flying car of the present invention is shown in Figure 1, including a car body frame, a power pack, an integrated control system and an image recognition automatic obstacle-crossing control system. The car body structure includes the body, chassis and passively driven wheels; the power pack includes the power supply and four independent power devices, four electronic governors and four steering gears; the four independent power devices are respectively installed on the front and rear sides of the car body , each power unit includes a ducted propeller and an electric motor that drives it to run, and its structure is shown in Figure 4. The input terminals of the four electronic governors are connected with the integrated control system, and the output terminals of each electronic governor are connected with a motor to control the speed of the motor; the input terminals of the four steering gears are connected with the integrated control system, Each steering gear controls the angle of a ducted propeller through a rotating shaft fixedly connected to the duct of the ducted propeller. The control block diagram of the power group is shown in Figure 5. The motor in the power unit of the flying car of the present invention is preferably a brushless motor, which can improve the efficiency of power output and reduce noise, and accordingly the electronic governor adopts a brushless electronic governor. The power supply adopts the relatively mature lithium battery at present, which can reduce the cost of the whole vehicle and improve the versatility of the equipment while ensuring large energy storage.

As shown in Figure 6, the integrated control system of the present invention is composed of a manual driving mechanism and an automatic control mechanism. Adjust the connection to control the speed of the motor to control the pulling force of the ducted propeller. The input end is connected to the image recognition module to receive image recognition instructions (see Figure 5 and Figure 6); the automatic control mechanism includes a microprocessor and is respectively connected to the microprocessor signal The three-axis gyro, three-axis accelerometer, three-axis magnetometer, barometric altimeter, GPS/Beidou satellite receiver, in order to resist vibration and reduce weight, the three-axis gyro, three-axis accelerometer, three-axis magnetometer, etc. system (MEMS) chips. The attitude of the flying car in the air is automatically controlled by the three-axis gyroscope and the three-axis accelerometer; the heading of the flying car in the air is controlled by the signal analysis of the three-axis magnetometer and satellite receiver; the flight trajectory and position of the flying car in the air are controlled by the barometric altimeter, GPS/Beidou satellite receiver signal integrated to control. The automatic control mechanism is comprehensively calculated by the microcomputer processor, and the attitude, position, speed and heading control of the car during flight are realized through the fusion of various sensor signals (using Kalman filter) and power plant control. The manual driving mechanism is mainly composed of a manual steering wheel and a wheel steering mechanism. Its composition is the same as that of a conventional car, but in order to reduce the weight of the vehicle, a lightweight composite material structure is used; the artificial steering wheel can control the wheel steering mechanism to change the flying car on the ground. direction; the manual driving mechanism of the present invention also includes a manual command keyboard and a display screen associated with the automatic control mechanism, the manual command keyboard mainly controls driving speed and flight speed, and takes off and landing commands that require manual intervention; It informs the driver about the operating information of the flying car (such as speed, altitude, power consumption, attitude, real-time video images from two cameras, navigation map and driving trajectory, etc.).

The image recognition automatic obstacle surmounting control system of the present invention, as shown in Figure 7, comprises the forward-looking camera that is installed on the car head, looks down the camera, laser scanning radar and image recognition module; Described image recognition module includes video decoding unit and A microprocessor, the video decoding unit decodes the video image analog signal into a digital signal and transmits it to the microprocessor, the microprocessor analyzes the video image digital signal and laser ranging information, and analyzes the obtained road condition information Send to the integrated control system, the image recognition module uses image feature extraction, perspective geometry and other methods to analyze and judge the obstacle characteristics, distance and speed, etc., obtain road condition information and send it to the integrated control system.

Due to the realization of air flight, the structural weight of the flying car should be as light as possible, so the flying car of the present invention

Automobile, the skin of its body adopts the composite material of outer fiber layer and foam plastic sandwich; the chassis adopts the composite material of glass fiber epoxy resin panel and polyurethane sandwich; the axle of the passively driven wheel adopts glass fiber Winding structure reinforced tubular composites.

The overall layout of the present invention is as shown in accompanying drawing 2, and two ducted propellers are symmetrically arranged on both sides of the front part of the vehicle body, and the other two ducted propellers are symmetrically arranged on both sides of the rear part of the vehicle body; The installation and control of channel propellers; the front and rear wheels have no engines and drives, and they roll passively relative to the ground under the action of ducted propeller tension; front-view cameras, down-view cameras, and laser scanning radars are installed on the head of the car. The camera captures video images in real time and transmits them to the image recognition module, and displays them on the display screen at the same time, and the information obtained by the laser scanning radar is directly sent to the microprocessor for processing.

The power device of the present invention is not only a power source for driving on the ground, but also a power source for flying in the air. When the flying car is driving on the ground, as shown in Figure 3(a), the two rear ducted propellers are turned to the horizontal direction to generate forward thrust, and the wheels only roll passively; while the front two ducted propellers In the axial vertical state, it may not be started to reduce energy consumption. The change of the driving speed of the car can be realized by the driver using the "accelerator lever" to control the speed of the ESC and the motor through the automatic control mechanism.

When the flying car is flying in the air, as shown in Figure 3(b), the two rear ducted propellers are turned to the vertical and forward direction to generate lift and forward thrust, and the two front ducted propellers are started at the same time , to generate lift, and the angle can also be adjusted slightly forward, which is usually smaller than that of the rear ducted propeller. The pulling force of the designed 4 ducted propellers should be enough to lift the flying car from the ground. When flying in the air, the adjustment of the 4 ducted propellers should ensure the balance between the vertical component of the pulling force and the gravity; the flight speed is controlled by adjusting the speed and forward angle of the 4 ducted propellers.

When processing the obtained real-time images, the image recognition module of the present invention includes image feature extraction, perspective geometric analysis, and judging obstacle features, distances and speeds. First, according to the color features, connected domain processing and morphological topology, process and analyze the road surface environment and "obstacle" features; then Gaussian filtering is performed on the image, and then the image is converted to the HSI color space for processing, and the histogram is extracted in the HIS space; Two criteria are proposed: 1. Set an H component level threshold h, when the value of the H component level of a certain pixel on the image on the reference histogram is less than h; 2. Set an I component level Threshold i, when the value of the I component of a certain pixel on the image on the reference histogram is less than i; extract the reference histogram for each frame of image, perform a simple OR operation on each reference histogram, and obtain the combined H and I refer to histograms, and according to the two combined reference histograms and two classification criteria, perform binarization processing, then the road surface environment features and obstacle features in the image can be obtained.

further quantitative analysis. Firstly, the image perspective analysis is performed by road traces: as shown in the geometric relationship diagram of the perspective principle in Figure 8 (b), P is the image, D is the line of sight and object distance, and d is the line of sight of the image, which can be deduced from the perspective image principle out:

It is known that the height of the front camera from the ground is h, the downward deflection angle of the front camera is α, and the distance from the object B ^' (corresponding to the actual object B) on the image to the visual center O ^' (corresponding to the intersection point O of the visual axis of the actual road surface) is H ₁ , the distance from A ^' (for the actual object A) to the visual center O ^' is H _{2 ,}

   ,    

then the included angle

,

Then the actual distance on the road surface can be obtained:

In the formula, AF is the road distance between object A and the vehicle, and BF is the road distance between object B and the vehicle. In this way, the horizontal distance of each object from the flying car at the time of image acquisition can be obtained.

Through the image analysis of the known time period, the horizontal speed of the road object relative to the flying car can be calculated from the difference. When the speed is positive, the farther away from the car is, and when the speed is negative, the closer to the car. When the calculated object distance from the car and the speed of approaching both reach the "warning value", the car will automatically take off.

The automatic obstacle surmounting control principle of the flying car of the present invention is shown in Figure 9. The flying car calculates the distance and speed of the obstacle characteristics in front through image analysis and laser ranging, and can judge the automatic rise and flight. After the flying car automatically takes off, it will fly forward in the air according to the predetermined resultant speed. The downward-looking camera monitors the conditions of objects on the road below the flying car, and the forward-looking camera monitors the conditions of the road in front of the flying car. The flying car can land automatically according to whether the road surface is "clean"; or detour from the air to land on other roads. It is also possible for the driver to monitor the display screen, manually command the landing, and continue driving on the road.

The flying car model test machine (reduced type) of the present invention has been completed, and successfully carried out the automatic recognition obstacle-crossing flight test and the ground driving test.

Claims (3)

1. A flying car, comprising a car body structure, a power pack and an integrated control system, the car body structure includes a vehicle body, a chassis, and passively driven wheels, and it is characterized in that the power pack includes a power supply and four independent power units , four electronic governors and four steering gears; four independent power units are respectively installed on the front and rear sides of the body, and each power unit includes a ducted propeller and an electric motor to drive it; the four electronic The input ends of the governors are all connected with the integrated control system, and the output ends of each electronic governor are connected with a motor to control the speed of the motor; the input ends of the four steering gears are connected with the integrated control system Each steering gear controls the angle of the ducted propeller through a rotating shaft fixedly connected to the duct of a ducted propeller. 2. Flying car as claimed in claim 1, it is characterized in that, also comprises the image recognition automatic obstacle surmounting control system, described image recognition automatic obstacle surmounting control system comprises the forward-looking camera installed on the head of the car, the down-looking camera, the laser Scanning radar and image recognition module; The image recognition module includes a video decoding unit and a microprocessor, and the video decoding unit decodes the video image analog signal into a digital signal and transmits it to the microprocessor, and the microprocessor controls the video image Analyze the digital signal and laser ranging information, and send the analyzed road condition information to the integrated control system. 3. Flying car as claimed in claim 2, it is characterized in that, described integrated control system comprises manual driving mechanism and automatic control mechanism; Command keyboard and display screen; Described automatic control mechanism comprises microprocessor and three-axis gyroscope, three-axis accelerometer, three-axis magnetometer, barometric altimeter, GPS/Beidou satellite receiver that are respectively connected with this microprocessor signal; The input end of the control mechanism is connected with the image recognition module and the laser scanning radar to receive image recognition data and laser ranging data; the output end of the automatic control mechanism is connected with four electronic governors and four steering gears in the power group, Send control commands to the power pack.

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