CN106502269B - The setting method and module, unmanned plane of the safe return voltage of unmanned plane - Google Patents
The setting method and module, unmanned plane of the safe return voltage of unmanned plane Download PDFInfo
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- CN106502269B CN106502269B CN201611130104.XA CN201611130104A CN106502269B CN 106502269 B CN106502269 B CN 106502269B CN 201611130104 A CN201611130104 A CN 201611130104A CN 106502269 B CN106502269 B CN 106502269B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses the setting method of the safe return voltage of unmanned plane, the safety of unmanned plane to return to control method, the safe return voltage setup module of unmanned plane and unmanned plane.The setting method of the safe return voltage of the unmanned plane include: calculate unmanned plane current flight speed S and current location to starting point distance D；Time T needed for unmanned plane returns to starting point is calculated according to the distance D of the current flight speed S and the current location to starting point；It calculates safety needed for unmanned plane returns to starting point safely and returns to power P；Power P, which is returned, according to the safety calculates safe return voltage V.The safe return voltage of unmanned plane can be set dynamically in the plan of establishment of safe return voltage of the invention.
Description
Technical field
The present invention relates to unmanned air vehicle technique, in particular to the safe return voltage of unmanned plane setting method, nobody
The safety of machine returns to control method, the safe return voltage setup module of unmanned plane and unmanned plane.
Background technique
Present unmanned plane using increasingly widespread, in order to improve the safety that unmanned plane uses, the control system of unmanned plane
Certain cell voltage, which can be reserved, can allow unmanned plane to return safely, and crash etc. occurs because of undertension to avoid unmanned plane
Problem.The way of the prior art is that a fixed safe return voltage is arranged, when unmanned plane cell voltage is returned lower than this safety
When pressure of wiring back, unmanned plane will auto-returned；In order to ensure unmanned plane can be safe under underloading and the various situations of heavy duty
It returns, safe return voltage can be arranged to a higher value according to case of heavy load, this is unfavorable for improving the normal of unmanned plane
Flight time.
Summary of the invention
The purpose of the present invention is to provide a kind of technical solutions that safe return voltage is set dynamically.
According to the first aspect of the invention, a kind of setting method of the safe return voltage of unmanned plane is provided, including with
Lower step:
Calculate unmanned plane current flight speed S and current location to starting point distance D；
Unmanned plane return is calculated according to the distance D of the current flight speed S and the current location to starting point to set out
Time T needed for point, wherein
It calculates safety needed for unmanned plane returns to starting point safely and returns to power P, whereinP (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, and i (t) is battery
Transient current, t are the time；
Power P, which is returned, according to the safety calculates safe return voltage V, whereinI is average current,
Optionally, the current flight speed S for calculating unmanned plane, comprising the following steps:
Ambient temperature value and ambient pressure value are acquired during unmanned plane during flying；
The currently active power N of engine is calculated according to current environmental temperature value and current environment atmospheric pressure value, whereinN0It is engines ground effective power, Param0And Param1For engine
Calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment atmospheric pressure value, Temp0It is ground environment temperature value, TempHIt is to work as
Preceding ambient temperature value；
The current flight speed S of unmanned plane is calculated according to the currently active power N of the engine, whereinW
It is the thrust that propeller power device issues, u is propeller efficiency.
Optionally, unmanned plane is positioned by the positioning device of UAV flight, is estimated and is worked as according to positioning result
Distance D of the front position to starting point；Alternatively, according to the strength estimation of the wireless signal between unmanned plane and no-manned machine distant control equipment
Distance D of the current location to starting point out.
According to the second aspect of the invention, the safety for providing a kind of unmanned plane returns to control method, including according to aforementioned
The setting method and following steps of described in any item safe return voltages:
Judge whether the current voltage of battery is less than or equal to the safe return voltage, if the current voltage of battery is less than
Equal to the safe return voltage, then controls unmanned plane and returned automatically.
According to the third aspect of the invention we, a kind of safe return voltage setup module of unmanned plane is provided, including following
Unit:
Flying speed computing unit, for calculating the current flight speed S of unmanned plane；
Flying distance computing unit, the distance D for calculating current location to starting point；
Time of return computing unit, for according to the current flight speed S and the current location to starting point away from
Time T needed for unmanned plane returns to starting point is calculated from D, wherein
Safety returns to power calculation unit, returns to power P for calculating safety needed for unmanned plane returns to starting point safely,
Wherein,P (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, and i (t) is
Battery transient current, t are the time；
Safe return voltage computing unit calculates safe return voltage V for returning to power P according to the safety, whereinI is average current,
Optionally, the flying speed computing unit, based on according to current environmental temperature value and current environment atmospheric pressure value
Calculate the currently active power N of engine, whereinN0It is that engines ground has
Imitate power, Param0And Param1For engine calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment atmospheric pressure value,
Temp0It is ground environment temperature value, TempHIt is current environmental temperature value；Nothing is calculated according to the currently active power N of the engine
Man-machine current flight speed S, whereinW is the thrust that propeller power device issues, and u is propeller efficiency.
Optionally, the flying distance computing unit, for estimating current location to out according to unmanned plane positioning result
The distance D for sending out point, alternatively, going out current location according to the strength estimation of the wireless signal between unmanned plane and no-manned machine distant control equipment
To the distance D of starting point.
According to the fourth aspect of the invention, the safety for providing a kind of unmanned plane returns to control module, including according to aforementioned
Described in any item safe return voltage setup modules and control module:
The control module, for judging whether the current voltage of battery is less than or equal to the safe return voltage, if
The current voltage of battery is less than or equal to the safe return voltage, then controls unmanned plane and returned automatically.
According to the fifth aspect of the invention, a kind of unmanned plane is provided, including is returned according to aforementioned described in any item safety
Return control module.
Optionally, the unmanned plane further includes locating module and drive system control module；
Positioning result for positioning to unmanned plane, and is sent to the safety and returns to control by the locating module
Molding block；
The safety returns to control module, when being less than or equal to the safe return voltage for the current voltage in battery,
The drive system control module is controlled, is returned automatically with controlling unmanned plane.
The peace of unmanned plane can be set dynamically in the plan of establishment of safe return voltage of the invention according to the state of unmanned plane
Full return voltage, to optimize the unmanned plane longest flight time.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the flow chart of the setting method of the safe return voltage of unmanned plane provided in an embodiment of the present invention.
Fig. 2 shows the block diagrams of the setup module of the safe return voltage of unmanned plane provided in an embodiment of the present invention.
Fig. 3 shows the block diagram of the control system of unmanned plane provided in an embodiment of the present invention.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Illustrate the setting method of the safe return voltage of unmanned plane provided in an embodiment of the present invention with reference to Fig. 1.In unmanned plane
In flight course, battery instantaneous voltage v (t) and battery transient current i (t) are recorded in real time, the safe return voltage of unmanned plane
Setting method the following steps are included:
101, calculate unmanned plane current flight speed S and current location to starting point distance D.
102, unmanned plane is calculated according to the distance D of the current flight speed S and the current location to starting point to return
Time T needed for starting point, wherein
103, it calculates safety needed for unmanned plane returns to starting point safely and returns to power P, whereinP (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, and i (t) is battery
Transient current, t are the time.
104, power P is returned to according to the safety and calculates safe return voltage V, whereinI is average current,
It in one embodiment, can be sharp during unmanned plane during flying in order to calculate the current flight speed S of unmanned plane
The ambient temperature value and ambient pressure value of environment, step 101 calculate unmanned plane where the devices such as sensor acquisition unmanned plane
Current flight speed S includes the following steps 1011-1012:
1011, the currently active power N of engine is calculated according to current environmental temperature value and current environment atmospheric pressure value, whereinN0It is engines ground effective power, Param0And Param1For engine
Calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment atmospheric pressure value, Temp0It is ground environment temperature value, TempHIt is to work as
Preceding ambient temperature value.
1012, the current flight speed S of unmanned plane is calculated according to the currently active power N of the engine, whereinW is the thrust that propeller power device issues, and u is propeller efficiency.
In one embodiment, step 101 calculating unmanned plane current location, can be by nobody to the distance D of starting point
Machine carry positioning device unmanned plane is positioned, according to positioning result estimate current location to starting point distance D.?
In another embodiment, step 101 calculating unmanned plane current location, can be according to unmanned plane and nobody to the distance D of starting point
The strength estimation of wireless signal between machine remote control equipment goes out current location to the distance D of starting point, for example, according to unmanned plane with
The strength estimation of WIFI signal between no-manned machine distant control equipment goes out current location to the distance D of starting point.
On the basis of the setting method of the safe return voltage of above-mentioned unmanned plane, the invention also provides a kind of unmanned planes
Safety return to control method, judge whether the current voltage of battery is less than or equal to the safe return voltage, if battery
Current voltage is less than or equal to the safe return voltage, then controls unmanned plane and returned automatically.That is, working as cell voltage
When less than or equal to safe return voltage, it just will start unmanned plane during flying and return to protection mechanism, control unmanned plane is returned automatically.
In one embodiment, the unmanned plane current location that can be provided according to locating module, plans unmanned plane return path, for example,
It plans that unmanned plane keeps level height to fly to starting point position, the obstacle avoidance algorithm avoiding obstacles of unmanned plane is utilized on the way, in nothing
When man-machine arrival starting point overhead, then controls unmanned plane and drop to ground.
It to those skilled in the art, can be real by way of hardware mode, software mode or software and hardware combining
The setting method of the safe return voltage of existing aforementioned unmanned plane and the safety of unmanned plane return to control method.Based on same invention structure
Think, the setup module of the safe return voltage of unmanned plane provided in an embodiment of the present invention is illustrated with reference to Fig. 2.
The setup module of the safe return voltage of unmanned plane, including with lower unit:
Flying speed computing unit 11, for calculating the current flight speed S of unmanned plane
Flying distance computing unit 12, the distance D for calculating current location to starting point；
Time of return computing unit 13, for arriving starting point according to the current flight speed S and the current location
Distance D calculates time T needed for unmanned plane returns to starting point, wherein
Safety returns to power calculation unit 14, returns to power for calculating safety needed for unmanned plane returns to starting point safely
P, whereinP (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, i (t)
It is battery transient current, t is the time；
Safe return voltage computing unit 15 calculates safe return voltage V for returning to power P according to the safety,
In,I is average current,
In one embodiment, flying speed computing unit 11, for according to current environmental temperature value and current environment gas
Pressure value calculates the currently active power N of engine, whereinN0It is engine
Ground effective power, Param0And Param1For engine calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment gas
Pressure value, Temp0It is ground environment temperature value, TempHIt is current environmental temperature value；According to the currently active power N meter of the engine
Calculate the current flight speed S of unmanned plane, whereinW is the thrust that propeller power device issues, and u is propeller effect
Rate.
In one embodiment, flying distance computing unit 12, for estimating present bit according to unmanned plane positioning result
The distance D of starting point is set, alternatively, going out to work as according to the strength estimation of the wireless signal between unmanned plane and no-manned machine distant control equipment
Distance D of the front position to starting point.
The invention also provides a kind of safety to return to control module, setup module and control including above-mentioned safe return voltage
Molding block, the control module, for judging whether the current voltage of battery is less than or equal to the safe return voltage, if electric
The current voltage in pond is less than or equal to the safe return voltage, then controls unmanned plane and returned automatically.
Based on the same inventive concept, the control system of unmanned plane provided in an embodiment of the present invention is illustrated with reference to Fig. 3, including is driven
Dynamic system control module 21, control management module 22, flight control modules 23, safety return to control module 24, locating module
25, communication module 26 and sensor module 27.
Drive system control module 21 drives propeller to act, to control unmanned plane for controlling the motor of unmanned plane
Such as the operation such as accelerated, slowed down, turned round, go up to the air or landed.
Positioning result for positioning to unmanned plane, and is sent to safety and returns to control module by locating module 25
24。
WIFI module 26, for being communicated with no-manned machine distant control equipment, safety, which returns to control module 24, can use nothing
The strength estimation of the man-machine WIFI signal between no-manned machine distant control equipment goes out the current location of unmanned plane to the distance of starting point
D。
Sensor module 27 may include temperature sensor and baroceptor, by ambient temperature value and ambient pressure value
It is sent to safety and returns to control module 24.
Flight control modules 23 are that system is set in master control of the unmanned plane under normal flight mode, under normal flight mode,
Flight control modules 23 control drive system control module 21 by control management module 22, to control motor to drive
Propeller movement.
Safety returns to control module 24, for setting safe return voltage according to preceding method dynamic, and when battery
When current voltage is less than or equal to safe return voltage, drive system control module is controlled by control management module 22
21, it is returned automatically with controlling unmanned plane.Safety returns to control module 24, can also utilize the positioning knot of locating module 25
Fruit plans return path, so that unmanned plane can return safely；
The plan of establishment of safe return voltage of the invention and unmanned plane return to safely scheme, and unmanned plane can be set dynamically
Safe return voltage, when the current voltage of battery be less than or equal to safe return voltage when, control unmanned plane returned automatically,
It so on the one hand not only can achieve low voltage safety and returned to protection mechanism, but also the unmanned plane longest flight time can be optimized.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (8)
1. a kind of setting method of the safe return voltage of unmanned plane, which comprises the following steps:
Calculate unmanned plane current flight speed S and current location to starting point distance D；
Unmanned plane, which is calculated, according to the distance D of the current flight speed S and the current location to starting point returns to starting point institute
The time T needed, wherein
It calculates safety needed for unmanned plane returns to starting point safely and returns to power P, wherein
P (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, and i (t) is battery transient current, and t is the time；
Power P, which is returned, according to the safety calculates safe return voltage V, whereinI is average current,
Wherein, the current flight speed S for calculating unmanned plane, comprising the following steps:
Ambient temperature value and ambient pressure value are acquired during unmanned plane during flying；
The currently active power N of engine is calculated according to current environmental temperature value and current environment atmospheric pressure value, whereinN0It is engines ground effective power, Param0And Param1For engine
Calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment atmospheric pressure value, Temp0It is ground environment temperature value, TempHIt is to work as
Preceding ambient temperature value；
The current flight speed S of unmanned plane is calculated according to the currently active power N of the engine, whereinW is spiral shell
The thrust that paddle power device issues is revolved, u is propeller efficiency.
2. the method according to claim 1, wherein the positioning device by UAV flight carries out unmanned plane
Positioning, according to positioning result estimate current location to starting point distance D；Alternatively, being set according to unmanned plane and no-manned machine distant control
The strength estimation of wireless signal between standby goes out current location to the distance D of starting point.
3. a kind of safety of unmanned plane returns to control method, which is characterized in that including safety according to claim 1 or 2
The setting method and following steps of return voltage:
Judge whether the current voltage of battery is less than or equal to the safe return voltage, if the current voltage of battery is less than or equal to
The safe return voltage then controls unmanned plane and is returned automatically.
4. a kind of safe return voltage setup module of unmanned plane, which is characterized in that including with lower unit:
Flying speed computing unit, it is the currently active for calculating engine according to current environmental temperature value and current environment atmospheric pressure value
Power N, whereinN0It is engines ground effective power, Param0With
Param1For engine calibration parameter, PHIt is current environment atmospheric pressure value, P0It is ground environment atmospheric pressure value, Temp0It is ground environment temperature
Angle value, TempHIt is current environmental temperature value；The current flight speed of unmanned plane is calculated according to the currently active power N of the engine
Spend S, whereinW is the thrust that propeller power device issues, and u is propeller efficiency；
Flying distance computing unit, the distance D for calculating current location to starting point；
Time of return computing unit, based on according to the current flight speed S and the current location to the distance D of starting point
Calculate time T needed for unmanned plane returns to starting point, wherein
Safety returns to power calculation unit, returns to power P for calculating safety needed for unmanned plane returns to starting point safely,
In,P (t) is battery instantaneous power, and v (t) is battery instantaneous voltage, and i (t) is electricity
Pond transient current, t are the time；
Safe return voltage computing unit calculates safe return voltage V for returning to power P according to the safety, whereinI is average current,
5. module according to claim 4, which is characterized in that the flying distance computing unit, for according to unmanned plane
Positioning result estimates current location to the distance D of starting point, alternatively, according to the nothing between unmanned plane and no-manned machine distant control equipment
The strength estimation of line signal goes out current location to the distance D of starting point.
6. a kind of safety of unmanned plane returns to control module, which is characterized in that including safety according to claim 4 or 5
Return voltage setup module and control module:
The control module, for judging whether the current voltage of battery is less than or equal to the safe return voltage, if battery
Current voltage be less than or equal to the safe return voltage, then control unmanned plane and returned automatically.
7. a kind of unmanned plane, which is characterized in that return to control module including safety according to claim 6.
8. unmanned plane according to claim 7, which is characterized in that further include locating module and drive system control module；
Positioning result for positioning to unmanned plane, and is sent to the safety and returns to control mould by the locating module
Block；
The safety returns to control module, when being less than or equal to the safe return voltage for the current voltage in battery, to institute
It states drive system control module to be controlled, be returned automatically with controlling unmanned plane.
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| JP6395835B2 (en) * | 2014-08-08 | 2018-09-26 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | UAV battery power backup system and method |
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| CN104166355A (en) * | 2014-07-16 | 2014-11-26 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method |
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