CN105320144A - Line setting method of unmanned aerial vehicle and unmanned aerial vehicle control system - Google Patents
Line setting method of unmanned aerial vehicle and unmanned aerial vehicle control system Download PDFInfo
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Abstract
The invention provides a line setting method of an unmanned aerial vehicle. The method comprises the steps of: obtaining coordinates of flight nodes; according to the coordinates of the flight nodes and unit power consumption of the unmanned aerial vehicle, determining a plurality of prepared flight lines of the unmanned aerial vehicle; according to a first limit electric quantity or a second limit electric quantity of the unmanned aerial vehicle and the charging time of the unmanned aerial vehicle on a flight replay point, determining the flight time corresponding to the plurality of prepared flight lines; and setting the prepared flight line shortest in flight time as the flight line. The invention further discloses an unmanned aerial vehicle control system. According to the invention, the first limit electric quantity or the second limit electric quantity of the unmanned aerial vehicle is determined, so that the charging time of the unmanned aerial vehicle is greatly shortened, and the time of the unmanned aerial vehicle for executing a flight task is further shortened.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, particularly relate to a kind of circuit establishing method and unmanned aerial vehicle control system of unmanned vehicle.
Background technology
Unmanned vehicle has a extensive future due to it, and imagination space is large, and technical development is increasingly mature, so become current hotspot gradually.It can be widely used in taking photo by plane and the field such as metering, also has some loglstics enterprises testing in addition and uses unmanned vehicle to carry out deliver goods.
But existing unmanned vehicle all uses battery as power resources, and the power reservoir capacity of existing battery is not high, weight is comparatively large, so cause general unmanned vehicle heavy burden ability less, and follow-on mission ability is poor.So when using unmanned vehicle to perform the aerial mission of longer distance, need to arrange relaying charge point to ensure completing of aerial mission.
For most long-distance flight task, the battery charging process of a long period, may extreme influence aerial mission complete effect.Therefore how can both ensure long-distance flight task, avoid again aerial mission overlong time, be a urgent problem.
In order to improve the follow-on mission ability of unmanned vehicle, application number be 201520186264.0 the electrical equipment online monitoring system based on unmanned plane provide a kind of unmanned plane monitoring system with wireless charging platform, it effectively can improve the follow-on mission ability of unmanned vehicle, but owing to specifically not monitoring the charging operations of wireless charging platform, thus the overlong time of aerial mission may be caused.
Application number is that a kind of unmanned vehicle wireless charging method of 201510176257.7 and the invention of system disclose a kind of residual electric quantity according to unmanned vehicle accumulator simultaneously, carries out charging control unmanned vehicle.It is not also specifically monitored charging operations, therefore may cause the overlong time of aerial mission equally.
Therefore, be necessary circuit establishing method and unmanned aerial vehicle control system that a kind of unmanned vehicle is provided, to solve the problem existing for prior art.
Summary of the invention
The embodiment of the present invention provides one to have ensured aerial mission, effectively can shorten again circuit establishing method and the unmanned aerial vehicle control system of the unmanned vehicle of aerial mission time; To solve the aerial mission overlong time of existing unmanned vehicle, thus affect the technical matters completing effect of aerial mission.
The embodiment of the present invention provides a kind of circuit establishing method of unmanned vehicle, and it comprises:
Obtain the coordinate of flight node, wherein said flight node comprises flight starting point, final and for providing the flight relay point of the charging service of unmanned vehicle;
According to the coordinate of described flight node and the unit power consumption amount of described unmanned vehicle, determine the preparation flight line of many described unmanned vehicles;
Limit the duration of charging of the described unmanned vehicle on electricity and described flight relay point according to the first restriction electricity or second of described unmanned vehicle, determine the flight time that many described preparation flight line are corresponding; And
The described preparation flight line the shortest used time flight time is set as flight line;
First restriction electricity of wherein said unmanned vehicle is the minimum electricity that the battery of described unmanned vehicle carries out rapid charge, and the second restriction electricity of described unmanned vehicle is the highest electricity that the battery of described unmanned vehicle carries out rapid charge.
In the circuit establishing method of unmanned vehicle of the present invention, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the next one described flight node is described flight relay point, described unmanned vehicle is charged to the time of described second restriction electricity as the described duration of charging.
In the circuit establishing method of unmanned vehicle of the present invention, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the described flight node of the next one is described final, according to the distance between current described flight node and the described flight node of the next one, determine the duration of charging of described unmanned vehicle on current described flight node.
In the circuit establishing method of unmanned vehicle of the present invention, the described duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of described unmanned vehicle, S is the distance between current described flight node and the described flight node of the next one, q1 is the unit power consumption amount of described unmanned vehicle, q2 is the unit charge volume of described unmanned vehicle, and t1 is duration of charging surplus.
In the circuit establishing method of unmanned vehicle of the present invention, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the next one described flight node is described flight relay point, according to described first restriction electricity and the distance between current described flight node and the described flight node of the next one of described unmanned vehicle, determine the duration of charging of described unmanned vehicle on current described flight node.
In the circuit establishing method of unmanned vehicle of the present invention, the described duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of described unmanned vehicle, Q2 is the described first restriction electricity of described unmanned vehicle, S is the distance between current described flight node and the described flight node of the next one, q1 is the unit power consumption amount of described unmanned vehicle, q2 is the unit charge volume of described unmanned vehicle, and t2 is duration of charging surplus.
In the circuit establishing method of unmanned vehicle of the present invention, described first restriction electricity is 35% of 15% to the battery electric quantity of battery Full Charge Capacity.
In the circuit establishing method of unmanned vehicle of the present invention, described second restriction electricity is 95% of 85% to the battery electric quantity of battery Full Charge Capacity.
The present invention also provides a kind of unmanned aerial vehicle control system, and it comprises:
Circuit setting server, for providing circuit to set to described unmanned vehicle;
At least one relay services station, for carrying out charging operations to described unmanned vehicle; And
Unmanned vehicle described at least one, for performing aerial mission;
Wherein said circuit setting server comprises:
Coordinate obtaining module, for obtaining the coordinate of flight node, wherein said flight node comprises flight starting point, final and for providing the flight relay point of the charging service of unmanned vehicle;
Preparation flight line determination module, for according to the coordinate of described flight node and the unit power consumption amount of described unmanned vehicle, determines the preparation flight line of many described unmanned vehicles;
Flight time computing module, for limiting the duration of charging of the described unmanned vehicle on electricity and described flight relay point according to the first restriction electricity or second of described unmanned vehicle, determines the flight time that many described preparation flight line are corresponding; And
Flight line setting module, for being set as flight line by the described preparation flight line the shortest used time flight time;
First restriction electricity of wherein said unmanned vehicle is the minimum electricity that the battery of described unmanned vehicle carries out rapid charge, and the second restriction electricity of described unmanned vehicle is the highest electricity that the battery of described unmanned vehicle carries out rapid charge.
In unmanned aerial vehicle control system of the present invention, described flight line setting module also sets the duration of charging of described unmanned vehicle at described relay services station;
Described relay services station carries out charging operations according to the corresponding described duration of charging to described unmanned vehicle.
Compared to prior art, the circuit establishing method of unmanned vehicle of the present invention and unmanned aerial vehicle control system set the first restriction electricity or the second restriction electricity of unmanned vehicle, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission; Solve the aerial mission overlong time of existing unmanned vehicle, thus affect the technical matters completing effect of aerial mission.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the first preferred embodiment of the circuit establishing method of unmanned vehicle of the present invention;
Fig. 2 is the process flow diagram of the second preferred embodiment of the circuit establishing method of unmanned vehicle of the present invention;
Fig. 3 is the structural representation of the preferred embodiment of unmanned aerial vehicle control system of the present invention;
Fig. 4 is the structural representation of the circuit setting server of the first preferred embodiment of unmanned aerial vehicle control system of the present invention;
Fig. 5 is the circuit setting server of the second preferred embodiment of unmanned aerial vehicle control system of the present invention
Structural representation;
Fig. 6 is the process flow diagram of the circuit establishing method of unmanned vehicle of the present invention and the specific embodiment of unmanned aerial vehicle control system;
Fig. 7 is the particular flow sheet of the step S604 of the circuit establishing method of unmanned vehicle of the present invention and the specific embodiment of unmanned aerial vehicle control system.
Embodiment
Please refer to graphic, wherein identical element numbers represents identical assembly, and principle of the present invention implements to illustrate in a suitable computing environment.The following description is based on the illustrated specific embodiment of the invention, and it should not be regarded as limiting the present invention not at other specific embodiment that this describes in detail.
In the following description, specific embodiments of the invention illustrate, unless otherwise stating clearly with reference to the step of the operation performed by or multi-section computing machine and symbol.Therefore, it can recognize these steps and operation, wherein have and will mention as being performed by computing machine for several times, include and handled with the computer processing unit of the electronic signal of the data in a structuring pattern by representing.These data of this manipulation transforms or the position maintained in the memory system of this computing machine, its reconfigurable or other running changing this computing machine in a manner familiar to those skilled in the art.The data structure that these data maintain is the provider location of this internal memory, and it has the particular characteristics defined by this data layout.But the principle of the invention illustrates with above-mentioned word, it is not represented as a kind of restriction, and those skilled in the art can recognize that the plurality of step of the following stated and operation also may be implemented in the middle of hardware.
The circuit establishing method of unmanned vehicle of the present invention can use various electronic equipment to implement, this electronic equipment includes but not limited to personal computer, server computer, hand-held or laptop devices, mobile device (such as mobile phone, personal digital assistant (PDA), media player etc.), multicomputer system, consumer electronic devices, small-size computer, mainframe computer, comprises the distributed computing environment of above-mentioned any system or equipment, etc.But this electronic equipment is preferably the circuit setting server of unmanned aerial vehicle control system, to carry out the setting of aerial mission to unmanned vehicle, like this can on the basis having ensured aerial mission, the effective time shortening the execution aerial mission of unmanned vehicle.
Please refer to Fig. 1, Fig. 1 is the process flow diagram of the first preferred embodiment of the circuit establishing method of unmanned vehicle of the present invention.The circuit establishing method of the unmanned vehicle of this preferred embodiment comprises:
Step S101, obtains the coordinate of flight node;
Step S102, according to the flight coordinate of node and the unit power consumption amount of unmanned vehicle, determines the preparation flight line of many unmanned vehicles;
Step S103, according to the first restriction electricity of unmanned vehicle and the duration of charging of the unmanned vehicle on relay point that flies, determines the flight time that many preparation flight line are corresponding;
Step S104, is set as flight line by the preparation flight line the shortest used time flight time.
The following detailed description of the circuit assignment procedure of the circuit establishing method of the unmanned vehicle of this preferred embodiment.
In step S101, circuit setting server obtains the coordinate of flight node, here flight node comprises flight starting point, final and flight relay point, wherein fly relay point can provide charging service to unmanned vehicle, with ensure unmanned vehicle can from flight starting point continue flight to final.Forward step S102 to subsequently.
In step s 102, the coordinate of the flight node that circuit setting server obtains according to step S101, and the unit power consumption amount of unmanned vehicle, determine the preparation flight line of many unmanned vehicles.Here the unit power consumption amount of unmanned vehicle is that unmanned vehicle is with the power consumption of specific speed flying unit time, calculate unmanned vehicle at two power consumption flown between node that fly according to the unit power consumption gauge of unmanned vehicle, perform aerial mission to ensure that the battery electric quantity of unmanned vehicle can be supported between two flight nodes.
Be interconnected by multiple adjacent flight node like this thus determine the preparation flight line of many unmanned vehicles.Forward step S103 to subsequently.
In step s 103, circuit setting server, according to the duration of charging of the unmanned vehicle on the first restriction electricity of unmanned vehicle and flight relay point, determines the flight time that many preparation flight line are corresponding.Here the first restriction electricity of unmanned vehicle is the minimum electricity that the battery of unmanned vehicle carries out rapid charge.This first restriction electricity is generally 35% of 15% to the battery electric quantity of battery Full Charge Capacity.Here flight time comprises the flight time of unmanned vehicle between flight node and the duration of charging on certain flight node, and namely unmanned vehicle arrives the mistiming of the time that time of final and unmanned vehicle fly from starting point of flying.
Because battery charging comprises low current charge, constant-current charge, constant-voltage charge and complete charge.When battery electric quantity is less than the minimum electricity of battery, generally adopt low current charge, the unit charge volume of low current charge is less.When battery electric quantity is greater than the minimum electricity of battery, general mode such as rapid charge such as employing constant-current charge and constant-voltage charge etc., the unit charge volume of constant-current charge and constant-voltage charge is larger.Complete charge is because battery electric quantity is by saturated, and as adopted large current charge cell voltage may be caused too high and heating loss, therefore adopt low current charge that battery electric quantity is reached capacity equally, the unit charge volume of complete charge is less equally.
Therefore in the preferred embodiment, circuit setting server carrys out the charging operations of monitoring battery by the first restriction electricity arranging unmanned vehicle, thus ensure that the unit charge volume of charging operations.It is specially:
When next one flight node is for flight relay point, according to the first restriction electricity and distance between current flight node and the described flight node of the next one of unmanned vehicle, determine the duration of charging of unmanned vehicle on current described flight node.
Circuit setting server only need to ensure unmanned vehicle fly the next one flight node time electricity be the first restriction electricity, the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, Q2 is the first restriction electricity of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of described aircraft, and t2 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Because the duration of charging in flight time of determining in this step is the duration of charging of quick-charge state, the duration of charging of unmanned vehicle on flight node therefore can be greatly reduced.
When next one flight node is final, according to current flight node and next distance of flying between node, determine the duration of charging of unmanned vehicle on current flight node.Namely, when next flight node is final, circuit setting server only needs to ensure that unmanned vehicle has the electricity of flight to final, and the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of unmanned vehicle, t1 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Owing to not being arranged on the first restriction electricity that final will keep unmanned vehicle here, when namely unmanned vehicle flight is to final, the first restriction electricity can not be kept.Therefore can shorten the overall flight time of unmanned vehicle further, and ensure that the normal execution of aerial mission.Forward step S104 to subsequently.In step S104, the preparation flight line the shortest used time flight time determined in step S103 is set as flight line by circuit setting server.
So namely, complete the circuit assignment procedure of the circuit establishing method of the unmanned vehicle of this preferred embodiment.The circuit establishing method of the unmanned vehicle of this preferred embodiment is by setting the minimum electricity of unmanned vehicle, the charging operations of unmanned vehicle is all completed under quick-charge state, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission.
Please refer to Fig. 2, Fig. 2 is the process flow diagram of the second preferred embodiment of the circuit establishing method of unmanned vehicle of the present invention.The circuit establishing method of the unmanned vehicle of this preferred embodiment comprises:
Step S201, obtains the coordinate of flight node;
Step S202, according to the flight coordinate of node and the unit power consumption amount of unmanned vehicle, determines the preparation flight line of many unmanned vehicles;
Step S203, according to the second restriction electricity of unmanned vehicle and the duration of charging of the unmanned vehicle on relay point that flies, determines the flight time that many preparation flight line are corresponding;
Step S204, is set as flight line by the preparation flight line the shortest used time flight time.
Step S101 in first preferred embodiment of the circuit establishing method of the step S201 of this preferred embodiment and the specific implementation process of step S202 and above-mentioned unmanned vehicle and the description in step S102 same or similar, specifically refer to the step S101 in the first preferred embodiment of the circuit establishing method of above-mentioned unmanned vehicle and the associated description in step S102.
In step S203, circuit setting server, according to the duration of charging of the unmanned vehicle on the second restriction electricity of unmanned vehicle and flight relay point, determines the flight time that many preparation flight line are corresponding.Here the second restriction electricity of unmanned vehicle is the highest electricity that the battery of unmanned vehicle carries out rapid charge.This second restriction electricity is generally 97% of 85% to the battery electric quantity of battery Full Charge Capacity.Here flight time comprises the flight time of unmanned vehicle between flight node and the duration of charging on certain flight node, and namely unmanned vehicle arrives the mistiming of the time that time of final and unmanned vehicle fly from starting point of flying.
Therefore in the preferred embodiment, circuit setting server carrys out the charging operations of monitoring battery by the second restriction electricity arranging unmanned vehicle, thus ensure that the unit charge volume of charging operations.It is specially: when next one flight node is for flight relay point, unmanned vehicle can be charged to time as the duration of charging of the second restriction electricity, i.e. the duration of charging of constant-current charging phase and constant voltage charging phase.
Because the duration of charging in flight time of determining in this step is the duration of charging of quick-charge state, the duration of charging of unmanned vehicle on flight node therefore can be greatly reduced.
When next one flight node is final, according to current flight node and next distance of flying between node, determine the duration of charging of unmanned vehicle on current flight node.Namely, when next flight node is final, circuit setting server only needs to ensure that unmanned vehicle has the electricity of flight to final, and the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of unmanned vehicle, t1 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Owing to the battery of unmanned vehicle not being charged to the second restriction electricity here, therefore can shorten the overall flight time of unmanned vehicle further, and ensure that the normal execution of aerial mission.Forward step S204 to subsequently.
In step S204, the preparation flight line the shortest used time flight time determined in step S203 is set as flight line by circuit setting server.
So namely, complete the circuit assignment procedure of the circuit establishing method of the unmanned vehicle of this preferred embodiment.The circuit establishing method of the unmanned vehicle of this preferred embodiment limits electricity by second of setting unmanned vehicle, the charging operations of unmanned vehicle is all completed under quick-charge state, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission.
The present invention also provides a kind of unmanned aerial vehicle control system, please refer to Fig. 3, Fig. 3 is the structural representation of the preferred embodiment of unmanned aerial vehicle control system of the present invention, and this unmanned aerial vehicle control system 30 comprises circuit setting server 31, at least one relay services station 32, at least one unmanned vehicle 33.Circuit setting server 31 is for providing circuit to set to unmanned vehicle; Relay services station 32 is for carrying out charging operations to unmanned vehicle; Unmanned vehicle 33 is for performing aerial mission.
Please refer to Fig. 4, Fig. 4 is the structural representation of the circuit setting server of the first preferred embodiment of unmanned aerial vehicle control system of the present invention.This circuit setting server 40 comprises coordinate obtaining module 41, preparation flight line determination module 42, flight time computing module 43 and flight line setting module 44.
Coordinate obtaining module 41 is for obtaining the coordinate of flight node, and the node that wherein flies comprises flight starting point, final and for providing the flight relay point of the charging service of unmanned vehicle.Preparation flight line determination module 42, for according to the flight coordinate of node and the unit power consumption amount of unmanned vehicle, determines the preparation flight line of many unmanned vehicles.Flight time computing module 43, for according to the first restriction electricity of unmanned vehicle and the duration of charging of the unmanned vehicle on relay point that flies, determines the flight time that many preparation flight line are corresponding.Flight line setting module 44 is for being set as flight line by the preparation flight line the shortest used time flight time.Wherein the first restriction electricity of unmanned vehicle is the minimum electricity that the battery of unmanned vehicle carries out rapid charge.
When the circuit setting server 40 of the unmanned vehicle of this preferred embodiment uses, first coordinate obtaining module 41 obtains the coordinate of flight node, here flight node comprises flight starting point, final and flight relay point, wherein fly relay point can provide charging service to unmanned vehicle, with ensure unmanned vehicle can from flight starting point continue flight to final.
Then the coordinate of the flight node that flight line determination module 42 obtains according to coordinate obtaining module is prepared, and the unit power consumption amount of unmanned vehicle, determine the preparation flight line of many unmanned vehicles.Here the unit power consumption amount of unmanned vehicle is that unmanned vehicle is with the power consumption of specific speed flying unit time, calculate unmanned vehicle at two power consumption flown between node that fly according to the unit power consumption gauge of unmanned vehicle, perform aerial mission to ensure that the battery electric quantity of unmanned vehicle can be supported between two flight nodes.
Be interconnected by multiple adjacent flight node like this thus determine the preparation flight line of many unmanned vehicles.
Flight time computing module 43 is according to the duration of charging of the unmanned vehicle on the first restriction electricity of unmanned vehicle and flight relay point subsequently, determines the flight time that many preparation flight line are corresponding.Here the first restriction electricity of unmanned vehicle is the minimum electricity that the battery of unmanned vehicle carries out rapid charge.This minimum electricity is generally 35% of 15% to the battery electric quantity of battery Full Charge Capacity.Here flight time comprises the flight time of unmanned vehicle between flight node and the duration of charging on certain flight node, and namely unmanned vehicle arrives the mistiming of the time that time of final and unmanned vehicle fly from starting point of flying.
Because battery charging comprises low current charge, constant-current charge, constant-voltage charge and complete charge.When battery electric quantity is less than the minimum electricity of battery, generally adopt low current charge, the unit charge volume of low current charge is less.When battery electric quantity is greater than the minimum electricity of battery, general mode such as rapid charge such as employing constant-current charge and constant-voltage charge etc., the unit charge volume of constant-current charge and constant-voltage charge is larger.Complete charge is because battery electric quantity is by saturated, and as adopted large current charge cell voltage may be caused too high and heating loss, therefore adopt low current charge that battery electric quantity is reached capacity equally, the unit charge volume of complete charge is less equally.
Therefore in the preferred embodiment, flight time computing module 43 carrys out the charging operations of monitoring battery by the first restriction electricity arranging unmanned vehicle, thus ensure that the unit charge volume of charging operations.It is specially:
When next one flight node is for flight relay point, flight time computing module 43, according to the first restriction electricity and distance between current flight node and the described flight node of the next one of unmanned vehicle, determines the duration of charging of unmanned vehicle on current described flight node.
Flight time computing module 43 only need to ensure unmanned vehicle fly the next one flight node time electricity be the first restriction electricity, the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, Q2 is the first restriction electricity of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of described aircraft, and t2 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Because the duration of charging in the flight time that flight time computing module 43 is determined is the duration of charging of quick-charge state, the duration of charging of unmanned vehicle on flight node therefore can be greatly reduced.
When next one flight node is final, flight time computing module 43, according to current flight node and next distance of flying between node, determines the duration of charging of unmanned vehicle on current flight node.Namely, when next flight node is final, flight time computing module 43 only needs to ensure that unmanned vehicle has the electricity of flight to final, and the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of unmanned vehicle, t1 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Owing to not being arranged on the first restriction electricity that final will keep unmanned vehicle here, when namely unmanned vehicle flight is to final, the first restriction electricity can not be kept.Therefore can shorten the overall flight time of unmanned vehicle further, and ensure that the normal execution of aerial mission.
Used time flight time of being determined by flight time computing module 43 of last flight line setting module 44 the shortest preparation flight line is set as flight line.
So namely, complete the circuit assignment procedure of the circuit setting server 40 of the unmanned vehicle of this preferred embodiment.The duration of charging that relay services station 32 is determined according to the flight time computing module 43 of circuit setting server 31 subsequently carries out charging operations to unmanned vehicle 33.
The circuit setting server of the unmanned vehicle of this preferred embodiment limits electricity by first of setting unmanned vehicle, the charging operations of unmanned vehicle is all completed under quick-charge state, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission.
Please refer to Fig. 5, Fig. 5 is the structural representation of the circuit setting server of the second preferred embodiment of unmanned aerial vehicle control system of the present invention.This circuit setting server 50 comprises coordinate obtaining module 51, preparation flight line determination module 52, flight time computing module 53 and flight line setting module 54.
On the basis of the first preferred embodiment, the flight time computing module 53 of this preferred embodiment, for limiting the duration of charging of the unmanned vehicle on electricity and described flight relay point according to second of unmanned vehicle, determines the flight time that many preparation flight line are corresponding.Wherein the second restriction electricity of unmanned vehicle is the highest electricity that the battery of unmanned vehicle carries out rapid charge.
When the circuit setting server 50 of the unmanned vehicle of this preferred embodiment uses, first coordinate obtaining module 51 obtains the coordinate of flight node, here flight node comprises flight starting point, final and flight relay point, wherein fly relay point can provide charging service to unmanned vehicle, with ensure unmanned vehicle can from flight starting point continue flight to final.
Then the coordinate of the flight node that flight line determination module 52 obtains according to coordinate obtaining module is prepared, and the unit power consumption amount of unmanned vehicle, determine the preparation flight line of many unmanned vehicles.Here the unit power consumption amount of unmanned vehicle is that unmanned vehicle is with the power consumption of specific speed flying unit time, calculate unmanned vehicle at two power consumption flown between node that fly according to the unit power consumption gauge of unmanned vehicle, perform aerial mission to ensure that the battery electric quantity of unmanned vehicle can be supported between two flight nodes.
Be interconnected by multiple adjacent flight node like this thus determine the preparation flight line of many unmanned vehicles.
Flight time computing module 53 is according to the duration of charging of the unmanned vehicle on the second restriction electricity of unmanned vehicle and flight relay point subsequently, determines the flight time that many preparation flight line are corresponding.Here the second restriction electricity of unmanned vehicle is the highest electricity that the battery of unmanned vehicle carries out rapid charge.This second restriction electricity is generally 97% of 85% to the battery electric quantity of battery Full Charge Capacity.Here flight time comprises the flight time of unmanned vehicle between flight node and the duration of charging on certain flight node, and namely unmanned vehicle arrives the mistiming of the time that time of final and unmanned vehicle fly from starting point of flying.
Therefore in the preferred embodiment, flight time computing module 53 carrys out the charging operations of monitoring battery by the second restriction electricity arranging unmanned vehicle, thus ensure that the unit charge volume of charging operations.It is specially:
When next one flight node is for flight relay point, unmanned vehicle can be charged to time as the duration of charging of the second restriction electricity, i.e. the duration of charging of constant-current charging phase and constant voltage charging phase.
Because the duration of charging in the flight time that flight time computing module 53 is determined is the duration of charging of quick-charge state, the duration of charging of unmanned vehicle on flight node therefore can be greatly reduced.
When next one flight node is final, flight time computing module 53, according to current flight node and next distance of flying between node, determines the duration of charging of unmanned vehicle on current flight node.Namely, when next flight node is final, flight time computing module 53 only needs to ensure that unmanned vehicle has the electricity of flight to final, and the concrete duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of unmanned vehicle, S is current flight node and next distance of flying between node, q1 is the unit power consumption amount of unmanned vehicle, q2 is the unit charge volume of unmanned vehicle, t1 is duration of charging surplus, and the electricity caused to avoid the electricity error of calculation calculating battery is not enough.
Owing to the battery of unmanned vehicle not being charged to the second restriction electricity here, therefore can shorten the overall flight time of unmanned vehicle further, and ensure that the normal execution of aerial mission.
Used time flight time of being determined by flight time computing module 53 of last flight line setting module 54 the shortest preparation flight line is set as flight line.
So namely, complete the circuit assignment procedure of the circuit setting server 50 of the unmanned vehicle of this preferred embodiment.The duration of charging that relay services station 32 is determined according to the flight time computing module 43 of circuit setting server 31 subsequently carries out charging operations to unmanned vehicle 33.
The circuit setting server of the unmanned vehicle of this preferred embodiment limits electricity by second of setting unmanned vehicle, the charging operations of unmanned vehicle is all completed under quick-charge state, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission.
Below by a specific embodiment, the circuit establishing method of unmanned vehicle of the present invention and the specific works principle of unmanned aerial vehicle control system are described.Please refer to Fig. 6, Fig. 6 is the process flow diagram of the circuit establishing method of unmanned vehicle of the present invention and the specific embodiment of unmanned aerial vehicle control system.This specific embodiment comprises:
Step S601, circuit setting server is resolved aerial mission.
Step S602, circuit setting server obtains the flight node data in aerial mission, and as flight node comprises flight starting point A, flight relay point B, flight relay point C and final D, the distance of flight starting point A and final C is 20 kilometers.Flight relay point B and flight relay point C is all arranged between flight starting point A and final C, and flight relay point B is 10 kilometers with the distance of flight starting point A, and flight relay point C is 8 kilometers with the distance of flight starting point A.
In step S603, circuit setting server obtains preparation flight line, and suppose that unmanned vehicle can non-stop flight 25 minutes when speed 9m/s here, the extreme flight distance of this unmanned vehicle is 13.5 kilometers.Unmanned vehicle has to pass through flight relay point B or flight relay point C by the starting point A to final D that flies.Therefore obtain ABD and ACD two and prepare flight line.
In step S604, circuit setting server estimates the overall flight time of every bar preparation flight line, and this entirety flight time comprises the duration of charging on node flight time and flight node.
In step S605, because after unmanned vehicle arrival flight relay point B, battery dump energy is 27% of battery Full Charge Capacity, lower than the first restriction electricity (setting the first restriction electricity is here 35%) of unmanned vehicle.And battery dump energy is 37% of battery Full Charge Capacity after unmanned vehicle arrival flight relay point C, higher than the first restriction electricity of unmanned vehicle.Duration of charging in ABD preparation flight line in the overall flight time comprises time of low current charge, and therefore the overall flight time of ABD preparation flight line is longer.And the duration of charging in ACD preparation flight line in the overall flight time is the time of rapid charge, therefore the overall flight time of ACD preparation flight line is shorter.Determine that ACD preparation flight line is flight line in this step.
In step S606, export the flight node of ACD flight line, and the duration of charging that unmanned vehicle continues a C is awing provided, because the next one flight node of flight relay point C is final D, therefore awing the continue charge capacity of a C of unmanned vehicle only need meet unmanned vehicle from flight relay point C flight to final D, namely unmanned vehicle only needs charge to battery Full Charge Capacity 90% can fly to final D from flight relay point C, do not need the first restriction electricity 35% retaining unmanned vehicle when unmanned vehicle being charged to the highest electricity 95% or ensure final D.
The flight line that such unmanned vehicle can export according to step S606 and duration of charging perform aerial mission.
Wherein in step s 604, estimate the step of the overall flight time of preparation flight line as shown in Figure 7, Fig. 7 is the particular flow sheet of the step S604 of the circuit establishing method of unmanned vehicle of the present invention and the specific embodiment of circuit setting server.It comprises:
Step S701, selects next flight node;
Step S702, judges whether next flight node is final, if next one flight node is final, then forwards step S703 to; If next one flight node is not final, is flight relay point, then forwards step S704 to.
Step S703, if next one flight node is final, then determines node flight time and the duration of charging of final, and the duration of charging here does not need the second restriction electricity or the first restriction electricity of considering unmanned vehicle.Forward step S705 to subsequently.
Step S704, if next one flight node is flight relay point, then determine node flight time and the duration of charging of next flight node, the duration of charging here need to consider the second restriction electricity (as directly the battery electric quantity of unmanned vehicle charged to the second restriction electricity at this flight node) of unmanned vehicle or unmanned vehicle the first restriction electricity (as to ensure the next one fly node time unmanned vehicle battery electric quantity be higher than the first restriction electricity).To carry out in the duration of charging feeding back to step S705 simultaneously, forward step S701 to subsequently.
Step S705, added up to node flight time and duration of charging, obtained the overall flight time.
Step S706, exports the overall flight time.
What so namely complete the overall flight time of preparation flight line estimates process.
The circuit establishing method of unmanned vehicle of the present invention and circuit set the first restriction electricity or the second restriction electricity of server settings unmanned vehicle, thus substantially reduce the duration of charging of unmanned vehicle, and then shorten the time that unmanned vehicle performs aerial mission; Solve the aerial mission overlong time of existing unmanned vehicle, thus affect the technical matters completing effect of aerial mission.
" assembly ", " module ", " system ", " interface ", " process " etc. are usually intended to refer to computer related entity as used herein the term: the combination of hardware, hardware and software, software or executory software.Such as, assembly can be but be not limited to be run process on a processor, processor, object, can perform application, the thread performed, program and/or computing machine.By diagram, run application on the controller and this both controller can be assembly.One or more assembly can have in the process and/or thread that are to perform, and assembly and/or can be distributed between two or more computing machines on a computing machine.
There is provided herein the various operations of embodiment.In one embodiment, described one or more operations can form the computer-readable instruction that one or more computer-readable medium stores, and it will make computing equipment perform described operation when being performed by electronic equipment.The order describing some or all of operation should not be interpreted as implying what these operations were necessarily sequentially correlated with.It will be appreciated by those skilled in the art that the alternative sequence of the benefit with this instructions.And, should be appreciated that not all operation must exist in each embodiment provided in this article.
And word used herein " preferably " means to be used as example, example or illustration.Any aspect that Feng Wen is described as " preferably " or design need not be interpreted as than other aspects or design more favourable.On the contrary, the use of word " preferably " is intended to propose concept in a concrete fashion.Term "or" as used in this application is intended to the "or" that means to comprise and the "or" of non-excluded.That is, unless otherwise or clear from the context, " X uses A or B " means any one that nature comprises arrangement.That is, if X uses A; X uses B; Or X uses both A and B, then " X uses A or B " is met in aforementioned arbitrary example.
And although illustrate and describe the disclosure relative to one or more implementation, those skilled in the art are based on to the reading of this instructions and accompanying drawing with understand and will expect equivalent variations and amendment.The disclosure comprises all such amendments and modification, and is only limited by the scope of claims.Especially about the various functions performed by said modules (such as element, resource etc.), term for describing such assembly is intended to the random component (unless otherwise instructed) corresponding to the appointed function (such as it is functionally of equal value) performing described assembly, even if be not structurally equal to the open structure of the function performed in exemplary implementations of the present disclosure shown in this article.In addition, although special characteristic of the present disclosure relative in some implementations only one be disclosed, this feature can with can be such as expect and other Feature Combinations one or more of other favourable implementations for given or application-specific.And, " comprise " with regard to term, " having ", " containing " or its distortion be used in embodiment or claim with regard to, such term is intended to comprise " to comprise " similar mode to term.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.Above-mentioned each device or system, can perform the method in correlation method embodiment.
In sum; although the present invention discloses as above with preferred embodiment; but above preferred embodiment is also not used to limit the present invention; those of ordinary skill in the art; without departing from the spirit and scope of the present invention; all can do various change and retouching, the scope that therefore protection scope of the present invention defines with claim is as the criterion.
Claims (10)
1. a circuit establishing method for unmanned vehicle, is characterized in that, comprising: the coordinate obtaining flight node, and wherein said flight node comprises flight starting point, final and for providing the flight relay point of the charging service of unmanned vehicle;
According to the coordinate of described flight node and the unit power consumption amount of described unmanned vehicle, determine the preparation flight line of many described unmanned vehicles;
Limit the duration of charging of the described unmanned vehicle on electricity and described flight relay point according to the first restriction electricity or second of described unmanned vehicle, determine the flight time that many described preparation flight line are corresponding; And
The described preparation flight line the shortest used time flight time is set as flight line;
First restriction electricity of wherein said unmanned vehicle is the minimum electricity that the battery of described unmanned vehicle carries out rapid charge, and the second restriction electricity of described unmanned vehicle is the highest electricity that the battery of described unmanned vehicle carries out rapid charge.
2. the circuit establishing method of unmanned vehicle according to claim 1, is characterized in that, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the next one described flight node is described flight relay point, described unmanned vehicle is charged to the time of described second restriction electricity as the described duration of charging.
3. the circuit establishing method of unmanned vehicle according to claim 1, is characterized in that, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the described flight node of the next one is described final, according to the distance between current described flight node and the described flight node of the next one, determine the duration of charging of described unmanned vehicle on current described flight node.
4. the circuit establishing method of unmanned vehicle according to claim 3, is characterized in that, the described duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of described unmanned vehicle, S is the distance between current described flight node and the described flight node of the next one, q1 is the unit power consumption amount of described unmanned vehicle, q2 is the unit charge volume of described unmanned vehicle, and t1 is duration of charging surplus.
5. the circuit establishing method of unmanned vehicle according to claim 1, is characterized in that, the duration of charging of the described unmanned vehicle on described flight relay point is determined by following steps:
When the next one described flight node is described flight relay point, according to described first restriction electricity and the distance between current described flight node and the described flight node of the next one of described unmanned vehicle, determine the duration of charging of described unmanned vehicle on current described flight node.
6. the circuit establishing method of unmanned vehicle according to claim 5, is characterized in that, the described duration of charging can be represented by the formula:
Wherein T is the duration of charging, Q1 is the current electric quantity of the battery of described unmanned vehicle, Q2 is the described first restriction electricity of described unmanned vehicle, S is the distance between current described flight node and the described flight node of the next one, q1 is the unit power consumption amount of described unmanned vehicle, q2 is the unit charge volume of described unmanned vehicle, and t2 is duration of charging surplus.
7. the circuit establishing method of unmanned vehicle according to claim 1, is characterized in that, described first restriction electricity is 35% of 15% to the battery electric quantity of battery Full Charge Capacity.
8. the circuit establishing method of unmanned vehicle according to claim 2, is characterized in that, described second restriction electricity is 95% of 85% to the battery electric quantity of battery Full Charge Capacity.
9. a unmanned aerial vehicle control system, is characterized in that, comprising:
Circuit setting server, for providing circuit to set to described unmanned vehicle;
At least one relay services station, for carrying out charging operations to described unmanned vehicle; And
Unmanned vehicle described at least one, for performing aerial mission;
Wherein said circuit setting server comprises:
Coordinate obtaining module, for obtaining the coordinate of flight node, wherein said flight node comprises flight starting point, final and for providing the flight relay point of the charging service of unmanned vehicle;
Preparation flight line determination module, for according to the coordinate of described flight node and the unit power consumption amount of described unmanned vehicle, determines the preparation flight line of many described unmanned vehicles;
Flight time computing module, for limiting the duration of charging of the described unmanned vehicle on electricity and described flight relay point according to the first restriction electricity or second of described unmanned vehicle, determines the flight time that many described preparation flight line are corresponding; And
Flight line setting module, for being set as flight line by the described preparation flight line the shortest used time flight time;
First restriction electricity of wherein said unmanned vehicle is the minimum electricity that the battery of described unmanned vehicle carries out rapid charge, and the second restriction electricity of described unmanned vehicle is the highest electricity that the battery of described unmanned vehicle carries out rapid charge.
10. unmanned aerial vehicle control system according to claim 9, is characterized in that, described flight line setting module also sets the duration of charging of described unmanned vehicle at described relay services station;
Described relay services station carries out charging operations according to the corresponding described duration of charging to described unmanned vehicle.
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