CN105334865A - Battery monitor-based flight control method and flight control device - Google Patents
Battery monitor-based flight control method and flight control device Download PDFInfo
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Abstract
The invention provides a flight control method based on battery monitor. The method is used for controlling the flight of an unmanned aerial vehicle. The method comprises the following steps: acquiring current remained power of the battery, current position and current height of an unmanned aerial vehicle according to the first set interval time; calculating the minimum electricity of flight according to the current position and the destination location of the unmanned aerial vehicle; calculating the minimum electricity of landing according to the current height of the unmanned aerial vehicle; calculating the first flight threshold electricity of the unmanned aerial vehicle according to the minimum electricity of flight and minimum electricity of landing; and comparing the first flight threshold electricity with the current remained electricity, and prompting a user to make a return voyage or land when the current remained electricity is less than or equal to the first flight threshold electricity. The invention further provides a battery monitor based flight control device. The device and the method can be used for well improving the flight efficiency of an unmanned aerial vehicle and avoiding occurrence of power down.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, particularly relate to a kind of flight control method based on electricity monitoring and flight control assemblies.
Background technology
Unmanned vehicle has started to enter consumer level market, but due to problems such as the volume that is limited to unmanned vehicle and load-carryings, the flying power of unmanned vehicle is subject to some restrictions all the time.
The processing mode of the managing electric quantity problem of the unmanned vehicle of prior art is still very simple and crude, specifically, the threshold value estimated in advance based on one exactly, when electricity reaches this threshold value time, unmanned vehicle will remind operating personnel to carry out operation of making a return voyage, and this threshold value normally rule of thumb gets.
In actual use procedure, the experience of user and the flying power difference of unmanned vehicle, the setting of threshold value is very subjective, if threshold value setting is excessive, the efficiency that unmanned vehicle may be caused to finish the work reduces greatly; If it is too small that threshold value is arranged, then may cause unmanned vehicle power down aloft and fall.
Application number be 201510159932.5 a kind of rotor wing unmanned aerial vehicle based on APM platform implementation method of independently continuing a journey disclose after unmanned plane detects self electric quantity deficiency, open the pattern finding charging pile, it is not enough that it does not disclose the self electric quantity specifically how judging unmanned plane.
Therefore, be necessary to provide a kind of flight control method based on electricity monitoring and flight control assemblies, ensure unmanned vehicle under any circumstance, damage can not be caused because of electricity reason, to solve the problem existing for prior art.
Summary of the invention
The embodiment of the present invention provides a kind of can carry out real-time judge to the battery electric quantity of unmanned vehicle preferably, and can better improve unmanned vehicle flight efficiency and avoid power down phenomenon to occur based on electricity monitoring flight control method and flight control assemblies; It is improper to arrange with the power threshold solved in existing flight control method and flight control assemblies, causes the flight efficiency of unmanned vehicle lowly or easily to occur the technical matters that power down phenomenon occurs.
The embodiment of the present invention provides a kind of flight control method based on electricity monitoring, and the flight for unmanned vehicle controls, and wherein said flight control method comprises:
Set interval time by first, obtain the current residual electricity of the battery of described unmanned vehicle, current location and present level;
According to described current location and the destination locations of described unmanned vehicle, calculate the minimum electricity of flight;
According to the described present level of described unmanned vehicle, calculate the minimum electricity of landing;
According to the minimum electricity of described flight and the minimum electricity of described landing, calculate the first flight threshold power of described unmanned vehicle; And
Described first flight threshold power and described current residual electricity are contrasted, when described current residual electricity is less than or equal to described first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
In the flight control method based on electricity monitoring of the present invention, the described described current location according to described unmanned vehicle and destination locations, the step calculating the minimum electricity of flight is specially:
Calculate the described current location of described unmanned vehicle and the air line distance of destination locations; And
Fly unit power consumption amount according to described air line distance and the flat of described unmanned vehicle, calculate the minimum electricity of described flight.
In the flight control method based on electricity monitoring of the present invention, described flight control method also comprises step:
Set interval time by second, calculate the flat of described unmanned vehicle and fly unit power consumption amount.
In the flight control method based on electricity monitoring of the present invention, the flat step flying unit power consumption amount of the described unmanned vehicle of described calculating is specially:
Calculate flat in nearest setting-up time of described unmanned vehicle and fly unit power consumption amount.
In the flight control method based on electricity monitoring of the present invention, described according to the minimum electricity of described flight and the minimum electricity of described landing, the step calculating the first flight threshold power of described unmanned vehicle is specially:
According to the minimum electricity of described flight, the minimum electricity of described landing and the default electricity that floats, calculate the first flight threshold power of described unmanned vehicle.
In the flight control method based on electricity monitoring of the present invention, describedly pressed for first setting interval time, also comprise after obtaining the step of the current residual electricity of the battery of described unmanned vehicle, current location and present level:
Judge whether described unmanned vehicle is in dropout state;
As described in unmanned vehicle be in as described in dropout state, then according to the described present level of described unmanned vehicle, calculate landing minimum electricity;
According to the minimum electricity of described landing, calculate the second flight threshold power of described unmanned vehicle; And
Described second flight threshold power and described current residual electricity are contrasted, when described current residual electricity is greater than described second flight threshold power, carries out hover operation; When described current residual electricity is less than or equal to described second flight threshold power, carry out landing operation.
In the flight control method based on electricity monitoring of the present invention, described according to the minimum electricity of described landing, the step calculating the second flight threshold power of described unmanned vehicle is specially:
According to the minimum electricity of described landing and the default electricity that floats, calculate the second flight threshold power of described unmanned vehicle.
The embodiment of the present invention also provides a kind of flight control assemblies based on electricity monitoring, and the flight for unmanned vehicle controls, and wherein said flight control assemblies comprises:
Battery parameter acquisition module, for setting interval time by first, obtains the current residual electricity of the battery of described unmanned vehicle, current location and present level;
Fly minimum electricity computing module, for according to the described current location of described unmanned vehicle and destination locations, calculates the minimum electricity of flight;
Land minimum electricity computing module, for the described present level according to described unmanned vehicle, calculates the minimum electricity of landing;
First flight threshold power computing module, for according to the minimum electricity of described flight and the minimum electricity of described landing, calculates the first flight threshold power of described unmanned vehicle; And
Reminding module, for described first flight threshold power and described current residual electricity being contrasted, when described current residual electricity is less than or equal to described first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
In the flight control assemblies based on electricity monitoring of the present invention, first flight threshold power computing module, specifically for according to the minimum electricity of described flight, the minimum electricity of described landing and the default electricity that floats, calculates the first flight threshold power of described unmanned vehicle.
In the flight control assemblies based on electricity monitoring of the present invention, described flight control assemblies also comprises:
Condition judgment module, for judging whether described unmanned vehicle is in dropout state;
Second flight threshold power computing module, for according to the minimum electricity of described landing, calculates the second flight threshold power of described unmanned vehicle; And
Operational module, for described second flight threshold power and described current residual electricity being contrasted, when described current residual electricity is greater than described second flight threshold power, carries out hover operation; When described current residual electricity is less than or equal to described second flight threshold power, carry out landing operation.
Compared to prior art, flight control method based on electricity monitoring of the present invention and flight control assemblies are by detecting in real time the current residual electricity of the battery of unmanned vehicle, current location and present level, real-time judge can be carried out to the battery electric quantity of unmanned vehicle, and reasonable regulations is carried out to the power threshold of unmanned vehicle, thus better can improve the flight efficiency of unmanned vehicle and avoid power down phenomenon to occur; The power threshold solved in existing flight control method and flight control assemblies arranges improper, causes the flight efficiency of unmanned vehicle lowly or easily to occur the technical matters that power down phenomenon occurs.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the first preferred embodiment of the flight control method based on electricity monitoring of the present invention;
Fig. 2 is the process flow diagram of the second preferred embodiment of the flight control method based on electricity monitoring of the present invention;
Fig. 3 is the structural representation of the first preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention;
Fig. 4 is the structural representation of the second preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention;
Fig. 5 is the structural representation of the minimum electricity computing module of flight of the second preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention.
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.
Flight control method based on electricity monitoring of the present invention can use various types of unmanned vehicle to implement, to improve the flight efficiency of unmanned vehicle and to avoid the generation of unmanned vehicle power down phenomenon.
Please refer to Fig. 1, Fig. 1 is the process flow diagram of the first preferred embodiment of the flight control method based on electricity monitoring of the present invention.The flight control method based on electricity monitoring of this preferred embodiment can use the flight controller of above-mentioned unmanned vehicle to implement.This flight control method comprises:
Step S101, sets interval time by first, obtains the current residual electricity of the battery of unmanned vehicle, current location and present level;
Step S102, according to current location and the destination locations of unmanned vehicle, calculates the minimum electricity of flight;
Step S103, according to unmanned vehicle, present level, calculates the minimum electricity of landing;
Step S104, according to the minimum electricity of flight and the minimum electricity that lands, calculates the first flight threshold power of unmanned vehicle;
Step S105, contrasts the first flight threshold power and current residual electricity, and when current residual electricity is less than or equal to described first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
The following detailed description of the idiographic flow of each step of the flight control method based on electricity monitoring of this preferred embodiment.
In step S101, flight controller sets interval time by pre-set first, periodically obtains the current residual electricity of the battery of unmanned vehicle, the current location of unmanned vehicle and the present level of unmanned vehicle.Here the first setting can be adjusted by user interval time as required, and can when battery is in high electricity (as more than 70%) proper extension first setting-up time interval, the first setting-up time interval is suitably shortened when battery is in low electricity (as less than 40%), with under the prerequisite ensureing unmanned vehicle safety, save the resource for carrying out data acquisition.The current location of unmanned vehicle obtains by GPS, and the present level of unmanned vehicle obtains by infrared sensor or ultrasonic sensor equal altitudes sensor.Forward step S102 to subsequently.
In step s 102, the current location of the unmanned vehicle that flight controller obtains according to step S101 and default destination locations, calculate the minimum electricity of flight of unmanned vehicle, the minimum electricity of this flight can for unmanned vehicle from current location flight to destination locations.Forward step S103 to subsequently.
In step s 103, the present level of the unmanned vehicle that flight controller obtains according to step S101, calculates the minimum electricity of landing of unmanned vehicle, and the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.Forward step S104 to subsequently.
In step S104, the minimum electricity of flight that flight controller obtains according to step S102 and the minimum electricity of landing that step S103 obtains, calculate the first flight threshold power of unmanned vehicle, namely first threshold power is flown for the minimum electricity of flight and the minimum electricity sum of landing, to ensure that unmanned vehicle can fly to destination locations and safe falling from current location.Forward step S105 to subsequently.
In step S105, the current residual electricity of the battery of the first flight threshold power that step S104 obtains by flight controller and the unmanned vehicle that step S101 obtains contrasts, as current residual electricity is greater than the first flight threshold power, unmanned vehicle carries out normal flight operations; As current residual electricity be less than or equal to the first flight threshold power time, prompting user to unmanned vehicle make a return voyage operation or landing operation.
So namely, complete the flight control procedure of the flight control method based on electricity monitoring of this preferred embodiment.
The flight control method based on electricity monitoring of this preferred embodiment is by detecting in real time the current residual electricity of the battery of unmanned vehicle, current location and present level, real-time judge can be carried out to the battery electric quantity of unmanned vehicle, and reasonable regulations is carried out to the power threshold of unmanned vehicle, thus better can improve the flight efficiency of unmanned vehicle and avoid power down phenomenon to occur.
Please refer to Fig. 2, Fig. 2 is the process flow diagram of the second preferred embodiment of the flight control method based on electricity monitoring of the present invention.The flight control method based on electricity monitoring of this preferred embodiment can use the flight controller of above-mentioned unmanned vehicle to implement.This flight control method comprises:
Step S201, sets interval time by first, obtains the current residual electricity of the battery of unmanned vehicle, current location and present level;
Step S202, judges whether unmanned vehicle is in dropout state, as unmanned vehicle is not in dropout state, then forwards step S203 to; As unmanned vehicle is in dropout state, then forward step S208 to.
Step S203, calculates the current location of unmanned vehicle and the air line distance of destination locations;
Step S204, flies unit power consumption amount according to air line distance and the flat of unmanned vehicle, calculates the minimum electricity of flight;
Step S205, according to the present level of unmanned vehicle, calculates the minimum electricity of landing;
Step S206, according to the minimum electricity of flight, land minimum electricity and the default electricity that floats, and calculates the first flight threshold power of unmanned vehicle;
Step S207, contrasts the first flight threshold power and current residual electricity, and when current residual electricity is less than or equal to the first flight threshold power, prompting user carries out make a return voyage operation or landing operation;
Step S208, according to the present level of unmanned vehicle, calculates the minimum electricity of landing;
Step S209, according to the minimum electricity of landing and the default electricity that floats, calculates the second flight threshold power of unmanned vehicle;
Step S210, contrasts the second flight threshold power and current residual electricity, when current residual electricity is greater than the second flight threshold power, carries out hover operation; When current residual electricity is less than or equal to the second flight threshold power, carry out landing operation.
The following detailed description of the idiographic flow of each step of the flight control method based on electricity monitoring of this preferred embodiment.
In step s 201, flight controller sets interval time by pre-set first, periodically obtains the current residual electricity of the battery of unmanned vehicle, the current location of unmanned vehicle and the present level of unmanned vehicle.Here the first setting can be adjusted by user interval time as required, and can when battery is in high electricity (as more than 70%) proper extension first setting-up time interval, the first setting-up time interval is suitably shortened when battery is in low electricity (as less than 40%), with under the prerequisite ensureing unmanned vehicle safety, save the resource for carrying out data acquisition.The current location of unmanned vehicle obtains by GPS, and the present level of unmanned vehicle obtains by infrared sensor or ultrasonic sensor equal altitudes sensor.Forward step S202 to subsequently.
In step S202, flight controller judges whether unmanned vehicle is in dropout state, here, after dropout state refers to that flight controller completes corresponding flight operation, follow-up flight directive or flight END instruction in setting-up time, is not received.As unmanned vehicle is not in dropout state, then forward step S203 to; As unmanned vehicle is in dropout state, then forward step S208 to.
In step S203, the current location of the unmanned vehicle that flight controller obtains according to step S201 and destination locations, calculate air line distance between the two, forward step S204 to subsequently.
In step S204, the air line distance that flight controller calculates according to step S203 and the flat of unmanned vehicle fly unit power consumption amount, calculate the minimum electricity of flight, and the minimum electricity of this flight can for unmanned vehicle from current location flight to destination locations.This is put down and flies unit power consumption amount is the power consumption of unmanned vehicle in unit interval (as per minute).Flight controller can by the second setting-up time interval, calculates flat in nearest setting-up time of unmanned vehicle and fly unit power consumption, to avoid the flat fluctuation flying unit power consumption amount on the impact of the accuracy that the minimum electricity of flight calculates.Forward step S205 to subsequently.
In step S205, the present level of the unmanned vehicle that flight controller obtains according to step S201, calculates the minimum electricity of landing of unmanned vehicle, and the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.Forward step S206 to subsequently.
In step S206, the minimum electricity of landing that the minimum electricity of flight that flight controller obtains according to step S204, step S205 obtain and the default electricity that floats, calculate the first flight threshold power of unmanned vehicle, namely the first flight threshold power is the minimum electricity of flight, land minimum electricity and preset electricity sum of floating, to ensure that unmanned vehicle can from current location flight to destination locations and safe falling.The setting presetting the electricity that floats can avoid the error of calculating preferably.Forward step S207 to subsequently.
In step S207, the current residual electricity of the battery of the first flight threshold power that step S206 obtains by flight controller and the unmanned vehicle that step S201 obtains contrasts, as current residual electricity is greater than the first flight threshold power, unmanned vehicle carries out normal flight operations; As current residual electricity be less than or equal to the first flight threshold power time, prompting user to unmanned vehicle make a return voyage operation or landing operation.
In step S208, the present level of the unmanned vehicle that flight controller obtains according to step S201, calculates the minimum electricity of landing of unmanned vehicle, and the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.Forward step S209 to subsequently.
In step S209, because unmanned vehicle is in dropout state, therefore corresponding destination locations cannot be known, at this moment the minimum electricity of landing that obtains according to step S208 of flight controller and preset the electricity that floats, calculate the second flight threshold power of unmanned vehicle, namely the second flight threshold power is the minimum electricity of landing and default electricity sum of floating, to ensure that unmanned vehicle can realize safe falling.The setting presetting the electricity that floats can avoid the error of calculating preferably.Forward step S210 to subsequently.
In step S210, the current residual electricity of the battery of the second flight threshold power that step S209 obtains by flight controller and the unmanned vehicle that step S201 obtains contrasts, as current residual electricity be greater than the second flight threshold power time, flight controller controls unmanned vehicle and carries out hover operation, recovers with wait control signal; As current residual electricity be less than or equal to the second flight threshold power time, flight controller controls unmanned vehicle and carries out landing operation, in case unmanned vehicle air crash because electricity is not enough.
So namely, complete the flight control procedure of the flight control method based on electricity monitoring of this preferred embodiment.
On the basis of the first preferred embodiment, the flight control method based on electricity monitoring of this preferred embodiment, by the control signal state of unmanned vehicle, adopts different flight control strategies, further increases the flight efficiency of unmanned vehicle; And the setting presetting the electricity that floats also reduce further the generation of power down phenomenon.
The present invention also provides a kind of flight control assemblies based on electricity monitoring, please refer to Fig. 3, and Fig. 3 is the structural representation of the first preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention.The flight control assemblies based on electricity monitoring of this preferred embodiment is implemented by the first preferred embodiment of above-mentioned flight control method.Battery parameter acquisition module 31 should be comprised based on the flight control assemblies 30 of electricity monitoring, the minimum electricity computing module 32 that flies, the minimum electricity computing module 33, first that lands flew threshold power computing module 34 and reminding module 35.
Battery parameter acquisition module 31, for setting interval time by first, obtains the current residual electricity of the battery of unmanned vehicle, current location and present level; Fly minimum electricity computing module 32 for according to the current location of unmanned vehicle and destination locations, calculates the minimum electricity of flight; Land minimum electricity computing module 33 for the present level according to unmanned vehicle, calculates the minimum electricity of landing; First flight threshold power computing module 34, for according to the minimum electricity of flight and the minimum electricity that lands, calculates the first flight threshold power of unmanned vehicle; Reminding module 35 is for contrasting the first flight threshold power and current residual electricity, and when current residual electricity is less than or equal to the first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
When the flight control assemblies 30 based on electricity monitoring of this preferred embodiment works, first battery parameter acquisition module 31 sets interval time by pre-set first, periodically obtains the current residual electricity of the battery of unmanned vehicle, the current location of unmanned vehicle and the present level of unmanned vehicle.Here the first setting can be adjusted by user interval time as required, and can when battery is in high electricity (as more than 70%) proper extension first setting-up time interval, the first setting-up time interval is suitably shortened when battery is in low electricity (as less than 40%), with under the prerequisite ensureing unmanned vehicle safety, save the resource for carrying out data acquisition.The current location of unmanned vehicle obtains by GPS, and the present level of unmanned vehicle obtains by infrared sensor or ultrasonic sensor equal altitudes sensor.
The current location of the unmanned vehicle that the minimum electricity computing module 32 that flies subsequently obtains according to battery parameter acquisition module 31 and default destination locations, calculate the minimum electricity of flight of unmanned vehicle, the minimum electricity of this flight can for unmanned vehicle from current location flight to destination locations.
The present level of the unmanned vehicle that the minimum electricity computing module 33 that then lands obtains according to battery parameter acquisition module 31, calculates the minimum electricity of landing of unmanned vehicle, and the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.
The flight minimum electricity of the first flight threshold power computing module 34 according to minimum electricity computing module 32 acquisition of flight and the minimum electricity of landing of the minimum electricity computing module 33 that lands acquisition subsequently, calculate the first flight threshold power of unmanned vehicle, namely first threshold power is flown for the minimum electricity of flight and the minimum electricity sum of landing, to ensure that unmanned vehicle can fly to destination locations and safe falling from current location.
The current residual electricity of the battery of the first flight threshold power that the first flight threshold power computing module 34 obtains by last reminding module 35 and the unmanned vehicle that battery parameter acquisition module 31 obtains contrasts, as current residual electricity is greater than the first flight threshold power, unmanned vehicle carries out normal flight operations; As current residual electricity be less than or equal to the first flight threshold power time, reminding module 35 point out user to unmanned vehicle make a return voyage operation or landing operation.
So namely, complete the flight control procedure of the flight control assemblies 30 based on electricity monitoring of this preferred embodiment.
The flight control assemblies based on electricity monitoring of this preferred embodiment is by detecting in real time the current residual electricity of the battery of unmanned vehicle, current location and present level, real-time judge can be carried out to the battery electric quantity of unmanned vehicle, and reasonable regulations is carried out to the power threshold of unmanned vehicle, thus better can improve the flight efficiency of unmanned vehicle and avoid power down phenomenon to occur.
Please refer to Fig. 4, Fig. 4 is the structural representation of the second preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention.The flight control assemblies based on electricity monitoring of this preferred embodiment is implemented by the second preferred embodiment of above-mentioned flight control method.Battery parameter acquisition module 41 should be comprised based on the flight control assemblies 40 of electricity monitoring, the minimum electricity computing module 42 that flies, the minimum electricity computing module 43, first that lands flight threshold power computing module 44, reminding module 45, condition judgment module 46, second flew threshold power computing module 47 and operational module 48.
Battery parameter acquisition module 41, for setting interval time by first, obtains the current residual electricity of the battery of unmanned vehicle, current location and present level.Fly minimum electricity computing module 42 for according to the current location of unmanned vehicle and destination locations, calculates the minimum electricity of flight.Land minimum electricity computing module 43 for the present level according to unmanned vehicle, calculates the minimum electricity of landing.First flight threshold power computing module 44 is for the first flight threshold power according to the minimum electricity of flight, land minimum electricity and the default electricity that floats, calculating unmanned vehicle.Reminding module 45 is for contrasting the first flight threshold power and current residual electricity, and when current residual electricity is less than or equal to the first flight threshold power, prompting user carries out make a return voyage operation or landing operation.Condition judgment module 46 is for judging whether unmanned vehicle is in dropout state.Second flight threshold power computing module 47, for according to the minimum electricity of described landing and the default electricity that floats, calculates the second flight threshold power of unmanned vehicle.Operational module 48, for the second flight threshold power and current residual electricity being contrasted, when current residual electricity is greater than the second flight threshold power, carries out hover operation; When current residual electricity is less than or equal to the second flight threshold power, carry out landing operation.
Please refer to Fig. 5, Fig. 5 is the structural representation of the minimum electricity computing module of flight of the second preferred embodiment of the flight control assemblies based on electricity monitoring of the present invention.This flight minimum electricity computing module 42 comprises metrics calculation unit 421 and the minimum electricity computing unit 422 that flies.
Metrics calculation unit 421 is for the air line distance of the current location and destination locations that calculate unmanned vehicle.Flying minimum electricity computing unit 422 for flying unit power consumption amount according to air line distance and the flat of unmanned vehicle, calculating the minimum electricity of flight.
When the flight control assemblies 40 based on electricity monitoring of this preferred embodiment works, first battery parameter acquisition module 41 sets interval time by pre-set first, periodically obtains the current residual electricity of the battery of unmanned vehicle, the current location of unmanned vehicle and the present level of unmanned vehicle.Here the first setting can be adjusted by user interval time as required, and can when battery is in high electricity (as more than 70%) proper extension first setting-up time interval, the first setting-up time interval is suitably shortened when battery is in low electricity (as less than 40%), with under the prerequisite ensureing unmanned vehicle safety, save the resource for carrying out data acquisition.The current location of unmanned vehicle obtains by GPS, and the present level of unmanned vehicle obtains by infrared sensor or ultrasonic sensor equal altitudes sensor.
Subsequent state judge module 46 judges whether unmanned vehicle is in dropout state, after dropout state here refers to that flight controller completes corresponding flight operation, does not receive follow-up flight directive or flight END instruction in setting-up time.
As unmanned vehicle is not in dropout state, the current location of the unmanned vehicle that the metrics calculation unit 421 of the minimum electricity computing module 42 that flies obtains according to battery parameter acquisition module 41 and destination locations, calculate air line distance between the two.
The air line distance that the metrics calculation unit 422 of then flying minimum electricity computing module 42 calculates according to metrics calculation unit 421 and the flat of unmanned vehicle fly unit power consumption amount, calculate the minimum electricity of flight, the minimum electricity of this flight can for unmanned vehicle from current location flight to destination locations.This is put down and flies unit power consumption amount is the power consumption of unmanned vehicle in unit interval (as per minute).Flight controller can by the second setting-up time interval, calculates flat in nearest setting-up time of unmanned vehicle and fly unit power consumption, to avoid the flat fluctuation flying unit power consumption amount on the impact of the accuracy that the minimum electricity of flight calculates.
The present level of the unmanned vehicle that the minimum electricity computing module 43 that lands subsequently obtains according to battery parameter acquisition module 41, calculates the minimum electricity of landing of unmanned vehicle, and the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.
Then the first flight threshold power computing module 44 is according to the minimum electricity of flight of flight minimum electricity computing module 42 acquisition, the minimum electricity of landing of the minimum electricity computing module 43 that lands acquisition and the default electricity that floats, calculate the first flight threshold power of unmanned vehicle, namely the first flight threshold power is the minimum electricity of flight, land minimum electricity and preset electricity sum of floating, to ensure that unmanned vehicle can from current location flight to destination locations and safe falling.The setting presetting the electricity that floats can avoid the error of calculating preferably.
The current residual electricity of the battery of the first flight threshold power that the first flight threshold power computing module 44 obtains by last reminding module 45 and the unmanned vehicle that battery parameter acquisition module 41 obtains contrasts, as current residual electricity is greater than the first flight threshold power, unmanned vehicle carries out normal flight operations; As current residual electricity be less than or equal to the first flight threshold power time, prompting user to unmanned vehicle make a return voyage operation or landing operation.
As unmanned vehicle is in dropout state, the present level of the unmanned vehicle that the minimum electricity computing module 43 that then lands obtains according to battery parameter acquisition module 41, calculate the minimum electricity of landing of unmanned vehicle, the minimum electricity of this landing can drop to ground for unmanned vehicle from present level.
Because unmanned vehicle is in dropout state, therefore corresponding destination locations cannot be known, at this moment the second flight threshold power computing module 47 is according to the minimum electricity of landing of landing minimum electricity computing module 43 acquisition and the default electricity that floats, calculate the second flight threshold power of unmanned vehicle, namely the second flight threshold power is the minimum electricity of landing and default electricity sum of floating, to ensure that unmanned vehicle can realize safe falling.The setting presetting the electricity that floats can avoid the error of calculating preferably.
The current residual electricity of the battery of the second flight threshold power that the second flight threshold power computing module 47 obtains by last operation module 48 and the unmanned vehicle that battery parameter acquisition module 41 obtains contrasts, as current residual electricity be greater than the second flight threshold power time, operational module 48 controls unmanned vehicle and carries out hover operation, recovers with wait control signal; As current residual electricity be less than or equal to the second flight threshold power time, operational module 48 controls unmanned vehicle and carries out landing operation, in case unmanned vehicle air crash because electricity is not enough.
So namely, complete the flight control procedure of the flight control assemblies 40 based on electricity monitoring of this preferred embodiment.
On the basis of the first preferred embodiment, the flight control assemblies based on electricity monitoring of this preferred embodiment, by the control signal state of unmanned vehicle, adopts different flight control strategies, further increases the flight efficiency of unmanned vehicle; And the setting presetting the electricity that floats also reduce further the generation of power down phenomenon.
Flight control method based on electricity monitoring of the present invention and flight control assemblies are by detecting in real time the current residual electricity of the battery of unmanned vehicle, current location and present level, real-time judge can be carried out to the battery electric quantity of unmanned vehicle, and reasonable regulations is carried out to the power threshold of unmanned vehicle, thus better can improve the flight efficiency of unmanned vehicle and avoid power down phenomenon to occur; The power threshold solved in existing flight control method and flight control assemblies arranges improper, causes the flight efficiency of unmanned vehicle lowly or easily to occur the technical matters that power down phenomenon occurs.
" 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., based on a flight control method for electricity monitoring, the flight for unmanned vehicle controls, and it is characterized in that, described flight control method comprises:
Set interval time by first, obtain the current residual electricity of the battery of described unmanned vehicle, current location and present level;
According to described current location and the destination locations of described unmanned vehicle, calculate the minimum electricity of flight;
According to the described present level of described unmanned vehicle, calculate the minimum electricity of landing;
According to the minimum electricity of described flight and the minimum electricity of described landing, calculate the first flight threshold power of described unmanned vehicle; And
Described first flight threshold power and described current residual electricity are contrasted, when described current residual electricity is less than or equal to described first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
2. the flight control method based on electricity monitoring according to claim 1, is characterized in that, the described described current location according to described unmanned vehicle and destination locations, and the step calculating the minimum electricity of flight is specially:
Calculate the described current location of described unmanned vehicle and the air line distance of destination locations; And
Fly unit power consumption amount according to described air line distance and the flat of described unmanned vehicle, calculate the minimum electricity of described flight.
3. the flight control method based on electricity monitoring according to claim 2, it is characterized in that, described flight control method also comprises step:
Set interval time by second, calculate the flat of described unmanned vehicle and fly unit power consumption amount.
4. the flight control method based on electricity monitoring according to claim 2, it is characterized in that, the flat step flying unit power consumption amount of the described unmanned vehicle of described calculating is specially:
Calculate flat in nearest setting-up time of described unmanned vehicle and fly unit power consumption amount.
5. the flight control method based on electricity monitoring according to claim 1, is characterized in that, described according to the minimum electricity of described flight and the minimum electricity of described landing, and the step calculating the first flight threshold power of described unmanned vehicle is specially:
According to the minimum electricity of described flight, the minimum electricity of described landing and the default electricity that floats, calculate the first flight threshold power of described unmanned vehicle.
6. the flight control method based on electricity monitoring according to claim 1, it is characterized in that, describedly pressed for first setting interval time, also comprise after obtaining the step of the current residual electricity of the battery of described unmanned vehicle, current location and present level:
Judge whether described unmanned vehicle is in dropout state;
As described in unmanned vehicle be in as described in dropout state, then according to the described present level of described unmanned vehicle, calculate landing minimum electricity;
According to the minimum electricity of described landing, calculate the second flight threshold power of described unmanned vehicle; And
Described second flight threshold power and described current residual electricity are contrasted, when described current residual electricity is greater than described second flight threshold power, carries out hover operation; When described current residual electricity is less than or equal to described second flight threshold power, carry out landing operation.
7. the flight control method based on electricity monitoring according to claim 6, is characterized in that, described according to the minimum electricity of described landing, and the step calculating the second flight threshold power of described unmanned vehicle is specially:
According to the minimum electricity of described landing and the default electricity that floats, calculate the second flight threshold power of described unmanned vehicle.
8., based on a flight control assemblies for electricity monitoring, the flight for unmanned vehicle controls, and it is characterized in that, described flight control assemblies comprises:
Battery parameter acquisition module, for setting interval time by first, obtains the current residual electricity of the battery of described unmanned vehicle, current location and present level;
Fly minimum electricity computing module, for according to the described current location of described unmanned vehicle and destination locations, calculates the minimum electricity of flight;
Land minimum electricity computing module, for the described present level according to described unmanned vehicle, calculates the minimum electricity of landing;
First flight threshold power computing module, for according to the minimum electricity of described flight and the minimum electricity of described landing, calculates the first flight threshold power of described unmanned vehicle; And
Reminding module, for described first flight threshold power and described current residual electricity being contrasted, when described current residual electricity is less than or equal to described first flight threshold power, prompting user carries out make a return voyage operation or landing operation.
9. the flight control assemblies based on electricity monitoring according to claim 8, it is characterized in that, first flight threshold power computing module, specifically for according to the minimum electricity of described flight, the minimum electricity of described landing and the default electricity that floats, calculates the first flight threshold power of described unmanned vehicle.
10. the flight control assemblies based on electricity monitoring according to claim 7, it is characterized in that, described flight control assemblies also comprises:
Condition judgment module, for judging whether described unmanned vehicle is in dropout state;
Second flight threshold power computing module, for according to the minimum electricity of described landing, calculates the second flight threshold power of described unmanned vehicle; And
Operational module, for described second flight threshold power and described current residual electricity being contrasted, when described current residual electricity is greater than described second flight threshold power, carries out hover operation; When described current residual electricity is less than or equal to described second flight threshold power, carry out landing operation.
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