CN107885225A

CN107885225A - Electronic unmanned plane and its intelligent power guard method

Info

Publication number: CN107885225A
Application number: CN201711111388.2A
Authority: CN
Inventors: 石仁利; 宋健宇; 陈熙
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2014-07-16
Filing date: 2014-07-16
Publication date: 2018-04-06
Anticipated expiration: 2034-07-16
Also published as: CN107861426A; CN107861426B; CN107885225B; CN104166355B; CN104166355A

Abstract

The present invention discloses a kind of intelligent power guard method of electronic unmanned plane, and this method comprises the following steps：The current residual electricity of electronic unmanned plane battery in flight is obtained in real time；The coordinate information of the current location of electronic unmanned plane is obtained in real time; the coordinate information includes the height coordinate on plane coordinates and short transverse in the horizontal plane; and the plane coordinates and height coordinate of the current location according to the electronic unmanned plane, calculate the safe electricity required for the electronic unmanned plane performs safeguard protection order in the current location；Judge whether the current residual electricity is more than the safe electricity；And when current dump energy is less than safe electricity, execution is maked a return voyage automatically.The present invention also provides a kind of electronic unmanned plane that can apply this method.

Description

Electronic unmanned plane and its intelligent power guard method

The application be the applying date on 07 16th, 2014, it is Application No. 201410339445.2, entitled " electronic The divisional application of the application for a patent for invention of unmanned plane and its intelligent power guard method ".

Technical field

The present invention relates to a kind of unmanned plane (that is, unmanned vehicle, unmanned aerial vehicle), more particularly to A kind of electronic unmanned plane and its intelligent power guard method.

Background technology

In traditional electronic unmanned plane, the electricity representation for being prompted to the battery of user only has two kinds, and one of which is The current voltage value of battery, another is the percentage of current battery charge.

If however, judging the dump energy of battery by the magnitude of voltage of battery, needing rich experience could compare The skilled state for knowing battery.It is if relatively more straight by the percentage of current battery charge come the dump energy of battery that judges The dump energy for knowing present battery seen.For two kinds of representations, when battery is in low electricity condition, or fast out of power When, corresponding warning device alarm is had, for example, the LED of feux rouges is dodged, or buzzer sends sound.

Go to judge whether battery reaches default low electricity because low electric alarm is all based on a fixed reference voltage value Pressure value, for the beginner of the similar unmanned plane taken photo by plane, when electronic unmanned plane flies to far place, basic is difficult to obtain battery Electricity alarm, while also be difficult to calculate electronic unmanned plane and flown back in current location the electricity of takeoff point needs, so as to cause Many electronic unmanned planes crash in way of making a return voyage, or, allow electronic unmanned plane to return in advance, cause the utilization rate of battery relatively low.

The content of the invention

In consideration of it, the present invention be necessary to provide a kind of intelligent power guard method of electronic unmanned plane, its can in real time, have Effect, intelligently protect electronic unmanned plane to protect electronic unmanned plane, avoid electronic unmanned plane from the accident caused by not enough power supply occur, And the utilization rate of battery can be improved.

A kind of intelligent power guard method of electronic unmanned plane, comprises the following steps：

The current residual electricity of electronic unmanned plane battery in flight is obtained in real time；

The coordinate information of the current location of electronic unmanned plane is obtained in real time, and the coordinate information includes plane in the horizontal plane Height coordinate on coordinate and short transverse, and the plane coordinates and height seat of the current location according to the electronic unmanned plane Mark, calculate the safe electricity required for the electronic unmanned plane performs safeguard protection order in the current location；

Judge whether the current residual electricity is more than the safe electricity；And

When current dump energy is less than safe electricity, execution is maked a return voyage automatically.

The intelligent power guard method of above-mentioned electronic unmanned plane at least has advantages below：

(1) the intelligent power guard method of above-mentioned electronic unmanned plane by obtaining the current location of electronic unmanned plane in real time Coordinate information, the safe electricity required for electronic unmanned plane performs safeguard protection order in the current location is calculated, works as electricity When the current residual electricity in pond is not more than safe electricity, the corresponding safeguard protection order is immediately performed, so as to real-time guard Electronic unmanned plane, electronic unmanned plane is avoided the accident caused by not enough power supply occur.

(2) the intelligent power guard method of above-mentioned electronic unmanned plane can be according to the safe electricity and battery of current location Current residual electricity, and whether automatic decision needs to perform safeguard protection order, it is not necessary to user judges according to experience, So that above-mentioned intelligent power guard method can more efficient, intelligently protect electronic unmanned plane.

(3) used by the intelligent power guard method of above-mentioned electronic unmanned plane safe electricity according to the coordinate of current location The change of information and real-time change, return or land in advance, so as to improve the utilization rate of battery in advance without electronic unmanned plane.

In one of the embodiments, the safe electricity is：The electronic unmanned plane returns safely from the current location The electricity to navigate to required for predeterminated position.

In one of the embodiments, the electronic unmanned plane makes a return voyage safely to the predeterminated position from the current location Path be following a kind of：Former flight path, the current location and the predeterminated position straight line path in the horizontal direction and Straight line path between the straight line path of vertical direction, the current location and the predeterminated position.

In one of the embodiments, the electronic unmanned plane is calculated to make a return voyage safely to described default from the current location During electricity required for position, the electronic unmanned plane chooses path of making a return voyage automatically according to preset standard, and according to selected The electronic unmanned plane described in path computing that makes a return voyage makes a return voyage safely to the electricity required for the predeterminated position from the current location.

In one of the embodiments, the preset standard includes following at least one：Consumption electricity is minimum, and make a return voyage stroke Most short, speed change number is minimum.

In one of the embodiments, the preset standard is minimum for consumption electricity, calculates the electronic unmanned plane from institute State current location and make a return voyage safely to the step of electricity required for the predeterminated position and further comprise：

The electronic unmanned plane is calculated respectively to make a return voyage to need during the predeterminated position from the current location along different paths The consumption electricity wanted；

Calculate the different paths and correspond to the required electricity that makes a return voyage, wherein the electricity that makes a return voyage includes the path pair of making a return voyage The consumption electricity answered, and the minimum path of electricity is maked a return voyage as path of making a return voyage described in selection automatically.

In one of the embodiments, the electronic unmanned plane makes a return voyage safely to the predeterminated position from the current location Path automatically setting, or, be set by the user.

In one of the embodiments, the electronic unmanned plane is calculated to make a return voyage safely to described default from the current location The step of electricity required for position, further comprises：

Total electricity and the flight time of the battery are obtained, calculates electric quantity consumption of the battery in the case of current flight Speed；

According to the current location and the coordinate information of the predeterminated position, the electronic unmanned plane is calculated from described current Make a return voyage to the horizontal range and terrain clearance of the predeterminated position position；

According to the horizontal range and the terrain clearance, calculate the electronic unmanned plane from the current location make a return voyage to Time required for the predeterminated position；

According to electric quantity consumption speed of the battery in the case of current flight and the electronic unmanned plane from described current Position was maked a return voyage to the time required for the predeterminated position, is calculated the electronic unmanned plane and is maked a return voyage from the current location to described Electricity required for predeterminated position.

In one of the embodiments, the electronic unmanned plane makes a return voyage to needed for the predeterminated position from the current location The electricity wanted includes the electricity required for calculating the horizontal range and the electricity required for the calculating terrain clearance, the water Flat to include the first reserved electricity apart from required electricity, the electricity required for the terrain clearance includes the second reserved electricity.

In one of the embodiments, the predeterminated position is one in the flight path of the electronic unmanned plane record Position coordinates, calculate the electronic unmanned plane and maked a return voyage safely to the electricity required for the predeterminated position from the current location Step further comprises：

According to the travel information of the coordinate information and former flight path of the current location and the predeterminated position, meter The electronic unmanned plane is calculated to make a return voyage to total distance of the predeterminated position from the current location along the former flight path；

Maked a return voyage according to the electronic unmanned plane from the current location along the former flight path to the predeterminated position Total distance, calculate the electronic unmanned plane and maked a return voyage from the current location along the former flight path to needed for the predeterminated position The time wanted；

According to electric quantity consumption speed of the battery in the case of current flight and the electronic unmanned plane from described current Position is maked a return voyage to the time required for the predeterminated position along the former flight path, is calculated the electronic unmanned plane and is worked as from described Maked a return voyage along the former flight path to the electricity required for the predeterminated position front position.

In one of the embodiments, the electronic unmanned plane from the current location along the former flight path make a return voyage to Electricity required for the predeterminated position includes reserved electricity.

In one of the embodiments, the mesh that the predeterminated position is the takeoff point of the electronic unmanned plane or user specifies Punctuate.

In one of the embodiments, the current residual electricity of the battery subtracts for the real surplus electricity of the battery Electricity after default electricity, compensation of the default electricity as the calculation error of the safe electricity.

In one of the embodiments, the method that the current residual electricity of the battery passes through AD Acquisition Circuit collection voltages And/or the method for amperometric measurement electric current obtains.

In one of the embodiments, automatic obstacle-avoiding during the electronic unmanned plane makes a return voyage automatically.

In one of the embodiments, when the electronic unmanned plane declines, in multiple preset height speed changes.

The current residual electricity of the battery subtracts the electricity after default electricity for the real surplus electricity of the battery, Compensation of the default electricity as the calculation error of the safe electricity.

(4) the intelligent power guard method of above-mentioned electronic unmanned plane is provided with two different grades of alarm electricity, electronic Unmanned plane directly land from current location required for electricity for one-level alarm electricity, electronic unmanned plane from current location make a return voyage to Electricity required for the predeterminated position is secondary alarm electricity, according to different grades of alarm electricity, selects different safety to protect Shield measure, for example, when the current residual electricity of battery reached one-level alarm electricity, then it is straight can to automatically control electronic unmanned plane Connect from current location and land, so as to take emergency safeguard measure to electronic unmanned plane, when the current residual electricity of battery reaches Secondary alarm electricity has been arrived, then can select to automatically control electronic unmanned plane and return immediately, or has continued normal flight, to enter one Step improves the utilization ratio of battery.

(5) the intelligent power guard method of above-mentioned electronic unmanned plane is provided with two different grades of alarm electricity, electronic Electricity required for unmanned plane directly lands from current location is one-level alarm electricity, and preferentially judges the electricity of electronic unmanned plane Whether the electricity in pond has reached one-level alarm electricity, to improve the electricity control efficiency of electronic unmanned plane.

The coordinate information of the current location of electronic unmanned plane is obtained in real time, and according to the described current of the electronic unmanned plane The coordinate information of position and the coordinate information of predeterminated position, calculate the electronic unmanned plane from the current location make a return voyage to Electricity required for the predeterminated position, the coordinate information include the height on plane coordinates and short transverse in the horizontal plane Spend coordinate；

Current dump energy is obtained in real time, and the current residual electricity of the battery is the real surplus electricity of the battery Subtract the electricity after default electricity, compensation of the default electricity as the calculation error of the safe electricity.

A kind of electronic unmanned plane, including：

Electric quantity detecting circuit, for obtaining the current residual electricity of electronic unmanned plane battery in flight in real time；

Position sensor, for obtaining the coordinate information of current location of the electronic unmanned plane in flight in real time, the coordinate Information includes the height coordinate on plane coordinates and short transverse in the horizontal plane；

Memory, the coordinate information of the predeterminated position for storing the electronic unmanned plane；And

Controller, connected with the position sensor and memory communication, the controller is used for according to the electricity The plane coordinates and the coordinate information of height coordinate and the predeterminated position of the current location of dynamic unmanned plane, calculate institute The safe electricity required for electronic unmanned plane performs safeguard protection order in the current location is stated, and it is current surplus with battery Remaining electricity is compared；

Wherein, when current dump energy is less than safe electricity, execution is maked a return voyage automatically.

Above-mentioned electronic unmanned plane at least has advantages below：

(1) position sensor of above-mentioned electronic unmanned plane can obtain the coordinate letter of the current location of electronic unmanned plane in real time Breath, controller can obtain the coordinate information of the current location of electronic unmanned plane in real time, and calculate electronic unmanned plane described Current location performs the safe electricity required for safeguard protection order, when the current residual electricity of battery is not more than safe electricity When, controller is immediately performed the corresponding safeguard protection order, so as to the electronic unmanned plane of real-time guard, avoids electronic unmanned plane There is the accident caused by not enough power supply.

(2) controller of above-mentioned electronic unmanned plane can be according to the current residual electricity of the safe electricity and battery of current location Amount, and whether automatic decision needs to perform safeguard protection order, it is not necessary to user judges according to experience, so that on Intelligent protection function can be had with automatic protection by stating electronic unmanned plane.

(3) position sensor of above-mentioned electronic unmanned plane can obtain the coordinate letter of the current location of electronic unmanned plane in real time Breath, safe electricity real-time change according to the change of the coordinate information of current location, returns or carries in advance without electronic unmanned plane Preceding landing, so as to improve the utilization rate of battery.

(4) controller of above-mentioned electronic unmanned plane can implement two different grades of electricity alarms, current when battery When dump energy can only meet to make a return voyage to predeterminated position, continue flight forward and will appear from the possibility that electronic unmanned plane can not make a return voyage, Controller can be set according to user, automatic to implement function of making a return voyage, or continue normal flight；When the current residual electricity of battery When can only meet to drop to ground, controller will implement automatic landing function.

In one of the embodiments, the position sensor includes at least one in GPS sensor and height sensor Kind.

In one of the embodiments, the height sensor includes barometertic altimeter, laser altimeter, radio altitude At least one of meter, ultrasonic height meter, image distance measuring sensor.

In one of the embodiments, the controller includes being used for the current location according to the electronic unmanned plane Plane coordinates and required for the coordinate information of height coordinate and the predeterminated position calculates the electronic unmanned plane safeguard protection Safe electricity computing unit and for judging the current residual electricity of the battery and the ratio of the safe electricity size Compared with device；

Or the controller includes the plane coordinates and height for the current location according to the electronic unmanned plane The coordinate information of degree coordinate and the predeterminated position calculates the safe electricity required for the electronic unmanned plane safeguard protection and sentenced The current residual electricity of the battery of breaking and the microprocessor of the safe electricity size.

In one of the embodiments, the electric quantity detecting circuit is AD Acquisition Circuit and/or galvanometer.

In one of the embodiments, the battery be automatic detection self residual electricity intelligent battery, the control Device connects with intelligent battery communication and obtains the current residual electricity of the intelligent battery.

In one of the embodiments, the safe electricity returns safely including the electronic unmanned plane from the current location Navigate to the electricity required for the predeterminated position.

In one of the embodiments, when the battery the current residual electricity no more than the electronic unmanned plane from The current location make a return voyage safely electricity to required for predeterminated position when, the controller performs from the current location automatically Directly landing order.

In one of the embodiments, the safe electricity also includes the electronic unmanned plane from current location safety The electricity to make a return voyage to required for predeterminated position, when the current residual electricity of the battery is more than the electronic unmanned plane from institute Current location is stated to make a return voyage safely electricity to required for predeterminated position and straight from the current location more than the electronic unmanned plane When connecing the electricity required for landing, the controller control electronic unmanned plane continues normal flight.

In one of the embodiments, in addition to reminding module, the controller connect with reminding module communication, when The current residual electricity of the battery is more than the electricity required for the electronic unmanned plane directly lands from the current location Amount and no more than the electronic unmanned plane maked a return voyage safely from the current location electricity to required for predeterminated position when, it is described Controller controls the reminding module to send the cue for whether performing and making a return voyage to the predeterminated position.

In one of the embodiments, the electronic unmanned plane also includes being used to detect around the electronic unmanned plane in advance If whether there is the sensor of barrier in scope, when the sensor detects that the surrounding of the electronic unmanned plane is default In the range of when barrier be present, the controller automatically make a return voyage path by planning.

In one of the embodiments, the sensor includes infrared distance sensor, ultrasonic distance-measuring sensor, image At least one of distance measuring sensor, laser range sensor, microwave radar range sensor.

In one of the embodiments, the electronic unmanned plane makes a return voyage safely to the predeterminated position from the current location Path set automatically by the controller, or, be set by the user.

In one of the embodiments, the controller automatically setting make a return voyage path when, the controller according in advance be marked with It is accurate to choose path of making a return voyage automatically and safe from the current location according to the selected electronic unmanned plane described in path computing that makes a return voyage Make a return voyage to the electricity required for the predeterminated position.

Brief description of the drawings

Fig. 1 is the flow chart of the intelligent power guard method of the electronic unmanned plane of embodiments of the present invention one；

Fig. 2 is that the electricity required for safety returns is calculated in the intelligent power guard method of the electronic unmanned plane shown in Fig. 1 Flow chart；

Fig. 3 is that the electricity required for safe falling is calculated in the intelligent power guard method of the electronic unmanned plane shown in Fig. 1 Flow chart；

Fig. 4 is the flow chart of the intelligent power guard method of the electronic unmanned plane of embodiments of the present invention two；

Fig. 5 is calculating and deterministic process in the intelligent power guard method of the electronic unmanned plane of embodiments of the present invention two Flow chart；

Fig. 6 is the principle schematic of the electronic unmanned plane of embodiments of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.

The disclosure provides a kind of intelligent power guard method of electronic unmanned plane, and it is according to the voltage and/or electric current of battery Electronic unmanned plane is calculated etc. information can continue the time (current residual electricity of battery) of flight, while can be according to electronic The current state of unmanned plane, it is (safe to calculate the time that electronic unmanned plane is performed in current location required for safeguard protection order Electricity), the comprehensive information of the two, corresponding safeguard measure is performed automatically, avoids the not enough power supply for awing occurring because of battery Caused accident.

In wherein some embodiments, the electronic unmanned plane can be single rotor unmanned aircraft, or more rotations Wing unmanned vehicle, for example, four rotor unmanned aircrafts, six rotor unmanned aircrafts, or fixed-wing unmanned vehicle, Etc..

In wherein some embodiments, the safe electricity can be needed for electronic unmanned plane directly lands from current location The electricity wanted, or electronic unmanned plane makes a return voyage to the electricity required for destination (HOME points) from current location, can also The electricity required for safety device is opened for the electronic unmanned plane, for example, release a parachute or airbag opening, Huo Zhewei The synthesis of various ways.Certainly, in the present invention, it is not limited to above-mentioned various modes, or other modes, for example, described Safe electricity can also be the electricity required for electronic unmanned plane drops to safe altitude from current location.

The different definition of the corresponding safe electricity, then the corresponding safeguard protection order is performed, for example, the safety Electricity is the electricity required for electronic unmanned plane directly lands from current location, then the safeguard protection order is immediately from current The order that position is directly landed；The safe electricity is the electricity that electronic unmanned plane is maked a return voyage from current location to required for predeterminated position Amount, then the safeguard protection order is to return to the order of predeterminated position from current location immediately；The safe electricity is described Electronic unmanned plane opens the time needed described in safety device, then the safeguard protection order is to open the safety device immediately Order.

It should be noted that the judgment mode of the safe electricity can be used alone, above-mentioned a variety of sides can also be combined Formula uses, for example, the safe electricity includes the electricity and electronic required for electronic unmanned plane directly lands from current location The electricity that unmanned plane makes a return voyage to required for predeterminated position from current location, then judgment mode be：

(a) electricity required for the current residual electricity of battery is directly landed no more than electronic unmanned plane from current location When, it is immediately performed the order directly landed from current location；

(b) when the current residual electricity of battery be more than electricity required for electronic unmanned plane directly lands from current location, And no more than electronic unmanned plane maked a return voyage from current location electricity to required for predeterminated position when, be immediately performed and make a return voyage to default position The order put；

(c) when the current residual electricity of battery is maked a return voyage to required for predeterminated position more than electronic unmanned plane from current location During electricity, then continue normal flight.

In wherein some embodiments, the predeterminated position that electronic unmanned plane makes a return voyage can be takeoff point, or user The place specified.Certainly, in the present invention, the predeterminated position that electronic unmanned plane makes a return voyage is not limited to above-mentioned place, or its His place, for example, when electronic unmanned plane is mounted with the sensor of the geographical appearance on detection ground, electronic unmanned plane makes a return voyage pre- If position can be the optimal level point chosen automatically.

In wherein some embodiments, the safe electricity of the electronic unmanned plane, which " continuous " can circulate, to be obtained, sentences It is disconnected, until performing safeguard protection order.The safe electricity of the electronic unmanned plane can also " the interval scheduled time " circulation Obtain, judge, until safeguard protection order is performed, for example, at interval of 5 seconds circulation primaries.

In wherein some embodiments, " performing safeguard protection order " can be that electronic unmanned plane performs protection life automatically Order, user can also be prompted by reminding module, user controls electronic unmanned plane to perform the guarded command again.

In wherein some embodiments, the current electric quantity of battery can be the charge value of actual measurement gained, or The charge value of actual measurement gained subtracts the charge value after reserved electricity.

In wherein some embodiments, the current electric quantity of battery can use voltage measurement method, electric current can also be used to survey Amount method.Certainly, in the present invention, the current electric quantity of battery is not limited to above-mentioned measuring method, or other measuring methods, For example, voltage and current comprehensive measurement method.

In wherein some embodiments, the electronic unmanned plane makes a return voyage safely to the predeterminated position from the current location Path be following a kind of：Former flight path, the current location and the predeterminated position straight line path in the horizontal direction and Straight line path between the straight line path of vertical direction, the current location and the predeterminated position.

The electronic unmanned plane makes a return voyage safely to the path automatically setting of the predeterminated position from the current location, or Person, it is set by the user.

In wherein some embodiments, electronic unmanned plane directly land from current location required for electricity and electronic The electricity that unmanned plane makes a return voyage to required for predeterminated position from current location, can according to the average power consumption speed of battery with from Current location directly landing required time, the time maked a return voyage from current location to required for predeterminated position calculate and obtained, It can be obtained according to other modes, for example, the average electricity consumed according to the unit height in the case of current flight, unit level The average electricity of distance consumption and horizontal range and terrain clearance and the reserved electricity to be maked a return voyage from current location to predeterminated position Calculate and obtain.

Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.

Referring to Fig. 1, the intelligent power guard method of the electronic unmanned plane of embodiments of the present invention one, it includes as follows Step：

Step S11, the current residual electricity of battery is obtained in real time.

The current residual electricity detection mode of battery have it is a variety of, for example, the current residual electricity of battery pass through AD collection electricity The method of road collection voltages and/or the method for amperometric measurement electric current obtain.

In one of the embodiments, using voltage acquisition method.The electricity of battery refers to the total electrical charge that battery can be output Summation, generally represented with AH units, the voltage at Sampling device both ends can be gathered by AD Acquisition Circuit, and Sampling device be electrically connected The negative pole circuit of battery is connected on, and the size of current flow is calculated according to relations I=U/R of voltage and electric current.Electricity and electricity The relation of stream is Q=I × T.Controller can regularly gather the signal, for example, gathered once every the t times, then electric discharge or The variable quantity of electricity is Q1=∑s I × t in charging process, it is assumed that the original electricity of battery is Q0, then current electric quantity is Q=Q1+Q0. If the total capacity of battery is QALL, the percentage of current electric quantity is P=QALL/Q.

In other embodiments, current acquisition method can be used.Current acquisition method can directly be gathered by galvanometer Electric current on sample device, the current electric quantity of battery is then calculated according to the relation of electricity and electric current.

In other embodiments, electric current, voltage integrated acquisition method can be used.Battery is gathered by AD Acquisition Circuit to export Voltage on end, and the electric current on Sampling device is gathered by galvanometer, then calculate battery according to Q=Pt=UIt relation Current electric quantity.

Step S12, the coordinate information of the current location of electronic unmanned plane is obtained in real time, and according to the current of electronic unmanned plane The coordinate information of position and the coordinate information of predeterminated position, calculate electronic unmanned plane and perform safeguard protection order institute in current location The safe electricity needed.

Safe electricity can have different definition, for example, safe electricity can be that electronic unmanned plane is safe from current location The electricity to make a return voyage to required for predeterminated position, or electronic unmanned plane directly lands required electricity from current location, Can also be that the electricity that current location is maked a return voyage safely to required for predeterminated position directly lands with electronic unmanned plane from current location The synthesis of required electricity.

For the safe electricity of different definition, then corresponding safeguard protection order is performed.For example, when safe electricity is electronic Unmanned plane maked a return voyage safely from current location electricity to required for predeterminated position when, safeguard protection order is makes a return voyage to default immediately The order of position；Electricity required for safe electricity directly lands for electronic unmanned plane from current location, safeguard protection order For the order directly landed from current location immediately.

Safe electricity has different calculations according to different definition.For example, as shown in Fig. 2 when safe electricity is electricity Dynamic unmanned plane maked a return voyage safely from current location electricity to required for predeterminated position when, calculate electronic unmanned plane and pacify from current location It is complete make a return voyage to required for predeterminated position electricity the step of further comprise：

Step S12a, total electricity and the flight time of battery are obtained, calculate electricity of the battery in the case of current flight and disappear Consume speed.

Typically there is the coordinate letter of the total electricity of storage battery, flight time and takeoff point in the memory of electronic unmanned plane Breath, the consumption electricity of battery can be calculated according to the total electricity of battery and flight time.The consumption electricity of battery and flight time It is mutually corresponding relation, for example, at interval of the scheduled time, corresponding consumption electricity will be calculated.

Specifically in the present embodiment, the mode of " repeatedly measurement is averaged " is taken to calculate the electric quantity consumption speed of battery, So as to relatively accurately obtain electric quantity consumption speed of the battery in the case of current flight.For example, the battery is current The electric quantity consumption speed under flight progress by be spaced preset time Δ t and repeatedly measurement average acquisition, wherein the N preset time Δ t electric quantity consumption speed be (Q1-Qn)/n* Δs t, Q1 be battery total electricity, Qn be interval n-th it is pre- If the current residual electricity of the battery detected after time Δ t.In other words, it is spaced first preset time Δ t electric quantity consumption Speed be (Q1-Q2)/Δ t, Q1 be battery total electricity, Q2 be spaced first preset time Δ t after detect battery work as Preceding dump energy；The second Δ t of preset time 2 in interval electric quantity consumption speed is the Δ t of (Q1-Q3)/2, the 3rd preset time 3 Electric quantity consumption speed corresponding to Δ t and the above can with the like.Preset time Δ t can be set according to different situations, For example, preset time Δ t can be 5 seconds.

Step S12b, according to current location and the coordinate information of predeterminated position, calculate electronic unmanned plane and returned from current location Navigate to the horizontal range and terrain clearance of predeterminated position.

The coordinate information of current location and predeterminated position can be learnt by GPS sensor, height sensor etc..Due to learning The coordinate information of current location and predeterminated position, therefore current location can be calculated according to coordinate information make a return voyage to default position The horizontal range and terrain clearance put.

For example, in one of the embodiments, the coordinate information of predeterminated position can be previously stored in electronic unmanned plane In memory, or directly inputted by user；The plane coordinates of current location in the horizontal plane can be obtained by GPS sensor Know, calculate the electronic unmanned plane of calculating in the plane coordinates of horizontal plane according to predeterminated position and current location makes a return voyage from current location To the horizontal range of predeterminated position.The height coordinate of current location in the vertical direction can be learnt by distance measuring sensor, example Such as, laser range sensor etc., can be learnt according to the height coordinate of predeterminated position and current location in the vertical direction electronic Unmanned plane makes a return voyage to the terrain clearance of predeterminated position from current location.

In another embodiment, the coordinate information of predeterminated position can be previously stored in the memory of electronic unmanned plane It is interior, or directly inputted by user；The plane coordinates of current location in the horizontal plane can be learnt by GPS sensor, according to The plane coordinates of current location and predeterminated position in the horizontal plane, calculate the electronic unmanned plane of calculating and maked a return voyage from current location to pre- If the horizontal range of position.The height coordinate of current location in the vertical direction can be learnt by height sensor, for example, gas Altimeter, radio altimeter etc. are pressed, according to current location and the height coordinate of predeterminated position in the vertical direction, you can learn Terrain clearance of the current location to predeterminated position.If predeterminated position is not takeoff point, for example, predeterminated position is user's reset Position, can also be using the terrain clearance of current location to takeoff point when the position that be reset as current location to user Terrain clearance.

Step S12c, according to horizontal range and terrain clearance, calculate electronic unmanned plane and maked a return voyage from current location to default position Put the required time.

Time described in electronic unmanned plane during flying needed for horizontal range, can be according to the horizontal range and electronic unmanned plane Rate calculations during horizontal flight are drawn, i.e. horizontal range required time=horizontal range/horizontal flight speed.It is electronic nobody During machine horizontal flight, usually fly at a constant speed, for example, electronic unmanned plane can be with the speed horizontal flight of 8 meter per seconds.

Electronic unmanned plane declines the time needed for the terrain clearance, can be according to the terrain clearance and electronic unmanned plane Rate calculations during decline are drawn, i.e. terrain clearance required time=terrain clearance/descending flight speed.Under electronic unmanned plane During drop, in multiple preset height speed changes.For example, in one of the embodiments, it is default that the multiple preset height includes first Height and the second preset height, uniform descent was to first preset height before this, then gradually slowed down and drop to described second Preset height, finally at the uniform velocity land again.For example, when electronic unmanned plane declines, first drop to 15 meters of height with the speed of 2 meter per seconds Degree, then, then drops to 5 meters of height, and gradually decelerate to 0.5 meter per second, finally, then is at the uniform velocity landed with 0.5 meter per second.

It should be noted that first preset height and second preset height can be according to electronic unmanned planes The distance measuring sensor sensing carried is learnt, for example, radio distance-measuring sensor, laser range sensor etc., can also be by user It is previously set according to the total height of decline.

Step S12d, according to electric quantity consumption speed of the battery in the case of current flight and electronic unmanned plane from current location The time maked a return voyage to required for predeterminated position, calculate the electricity that electronic unmanned plane is maked a return voyage from current location to required for predeterminated position Amount.

Maked a return voyage by electric quantity consumption speed of the battery in the case of current flight and electronic unmanned plane from current location to default The product between time required for position, you can learn that electronic unmanned plane makes a return voyage to required for predeterminated position from current location Electricity, i.e. the institute's subfam. Spiraeoideae that makes a return voyage=electric quantity consumption speed * (the time required to terrain clearance required time+horizontal range).

As shown in figure 3, when safe electricity is the electricity required for electronic unmanned plane directly lands from current location, calculating is electric The step of moving the electricity required for unmanned plane directly lands from current location further comprises：

Step S12a ', the coordinate information of the total electricity of battery, flight time and takeoff point is obtained, calculate battery and working as Electric quantity consumption speed under preceding flight progress.

Step S12b ', according to current location and the coordinate information of takeoff point, electronic unmanned plane is calculated from current location to The terrain clearance of flying spot.

Specifically in the present embodiment, current location can be learnt to the terrain clearance of takeoff point, example by height sensor Such as, barometertic altimeter etc., and the terrain clearance of current location to takeoff point is reached into ground terrain clearance as current location.

Step S12c ', according to terrain clearance, calculate electronic unmanned plane and directly land from current location the required time.

It should be noted that first preset height and second preset height can be according to electronic unmanned planes The distance measuring sensor sensing carried is learnt, for example, laser range sensor etc., total height thing that can also be by user according to decline First set.

Step S12d ', according to electric quantity consumption speed of the battery in the case of current flight and electronic unmanned plane from present bit The time directly required for landing is put, calculates the electricity required for electronic unmanned plane directly lands from current location.

Directly landed from current location institute by electric quantity consumption speed of the battery in the case of current flight and electronic unmanned plane Product between the time needed, you can learn that electronic unmanned plane directly lands required electricity from current location, i.e. directly The time required to declining institute's subfam. Spiraeoideae=electric quantity consumption speed * terrain clearances.

It should be noted that electronic unmanned plane makes a return voyage safely from current location electricity to required for predeterminated position and Electronic unmanned plane directly lands required electricity from current location, is not limited to above-mentioned computational methods, can also use its other party Method, for example, in the electricity required for calculating electronic unmanned plane and directly landing from current location, distance measuring sensor can be used to survey Current location is measured to the actual height on ground, the required electricity that directly lands from current location is calculated according to the actual height； A position coordinates in the flight path that the predeterminated position records for the electronic unmanned plane, calculating electronic unmanned plane When making a return voyage from current location to predeterminated position, it can be returned along former flight path and calculate what is actually returned according to former flight path Total distance.

For example, in one of the embodiments, when the predeterminated position is the flight path of the electronic unmanned plane record In a position coordinates, calculate the electronic unmanned plane and maked a return voyage safely to required for the predeterminated position from the current location Electricity the step of further comprise：

In another embodiment, the straight line path when return path between the current location and the predeterminated position Footpath, calculate the electronic unmanned plane and make a return voyage safely to the step of electricity required for the predeterminated position from the current location One step includes：

According to the current location and the coordinate information of the predeterminated position, the electronic unmanned plane is calculated from described current Air line distance of the position to the predeterminated position；

According to the electronic unmanned plane from the current location to the air line distance of the predeterminated position, calculate described electronic Unmanned plane is from the current location along the time required for straight line path to the predeterminated position；

According to electric quantity consumption speed of the battery in the case of current flight and the electronic unmanned plane from described current Position is maked a return voyage to the time required for the predeterminated position along the straight line path, calculates the electronic unmanned plane from described current Maked a return voyage along the straight line path to the electricity required for the predeterminated position position.

In addition, when electronic unmanned plane is maked a return voyage safely to predeterminated position from current location, electronic unmanned plane can be according to default Standard is chosen automatically makes a return voyage path, and maked a return voyage safely from current location according to the selected electronic unmanned plane of path computing of making a return voyage to Electricity required for predeterminated position.The electronic unmanned plane makes a return voyage safely to the path of the predeterminated position from the current location Can be：Former flight path, the current location and the predeterminated position straight line path in the horizontal direction and in vertical direction Straight line path, the straight line path between the current location and the predeterminated position etc..Preset standard can be：Consumption electricity Amount is minimum, and the stroke that makes a return voyage is most short, and speed change number is minimum etc..Preset standard can be one, can also two or more.

For example, in wherein one is implemented, the preset standard is minimum for consumption electricity, then calculates the electronic unmanned plane Being maked a return voyage safely to the step of electricity required for the predeterminated position from the current location includes：

Further, for the margin of error during compensation calculation, and the electronic unmanned plane is pacified from the current location Make a return voyage entirely to the electricity required for the predeterminated position except described make a return voyage consumes electricity corresponding to path, in addition to reserved electricity Amount.

Electricity and the electronic nothing maked a return voyage safely to required for predeterminated position from current location for calculating electronic unmanned plane Caused error during the man-machine required electricity that directly lands from current location, can be compensated using reserved electricity. In other words, the electricity that electronic unmanned plane makes a return voyage safely to required for predeterminated position from current location can reserve predetermined electricity, That is, make a return voyage electricity obtained by institute's subfam. Spiraeoideae=calculating+reserved electricity；Electronic unmanned plane directly lands required electricity from current location Amount can also reserve predetermined electricity, i.e. the electricity obtained by institute's subfam. Spiraeoideae=calculating that directly lands+reserved electricity.

For example, in one of the embodiments, maked a return voyage safely to predeterminated position from current location when calculating electronic unmanned plane During required electricity, the electronic unmanned plane makes a return voyage to the electricity required for the predeterminated position from the current location and included Calculate the electricity required for the horizontal range and calculate electricity required for the terrain clearance, required for the horizontal range Electricity include the first reserved electricity, the electricity required for the terrain clearance includes the second reserved electricity.For example, horizontal range Required electricity can reserve 2% electricity, i.e. the electricity that the first reserved electricity is 2%, the electricity required for terrain clearance 2% electricity can be reserved, i.e. the electricity that the second reserved electricity is 2%.

In another embodiment, required for calculating the electronic unmanned plane and directly landing from the current location During electricity, the electricity required for the electronic unmanned plane directly lands from the current location includes reserved electricity.For example, this is pre- Stay the electricity that electricity can be 2%.

In another embodiment, the electronic unmanned plane is calculated to return from the current location along the former flight path When navigating to electricity required for the predeterminated position, the electronic unmanned plane returns from the current location along the former flight path Navigate includes reserved electricity to the electricity required for the predeterminated position.For example, the reserved electricity can be 2% electricity.

Furthermore it is possible to the electricity after the real surplus electricity of battery is subtracted into default electricity is as current residual electricity Amount, compensation of the default electricity as the calculation error of the safe electricity, i.e. current residual electricity=reality of the battery Border dump energy-default the electricity.For example, the real surplus electricity of battery can reserve 10% electricity.

Step S13, judges whether the current residual electricity of battery is more than safe electricity.

In one of the embodiments, when safe electricity is that electronic unmanned plane makes a return voyage safely to predeterminated position from current location During required electricity, then electricity and battery that electronic unmanned plane is maked a return voyage safely from current location to required for predeterminated position are judged Current residual electricity magnitude relationship.

In another embodiment, when safe electricity is the electricity required for electronic unmanned plane directly lands from current location When, then judge electronic unmanned plane directly land from current location required for electricity and battery current residual electricity size close System.

In another embodiment, when safe electricity makes a return voyage safely to default position including electronic unmanned plane from current location Electricity and electronic unmanned plane required for putting directly land from current location required electricity when, then judge battery ought Electricity and the electronic nothing that preceding dump energy makes a return voyage safely to required for predeterminated position with electronic unmanned plane from current location respectively Magnitude relationship between the man-machine required electricity that directly lands from current location.

Step S14, if the current residual electricity of battery is not more than safe electricity, it is immediately performed corresponding safeguard protection life Order.

In one of the embodiments, if the current residual electricity of battery is maked a return voyage safely to default position no more than current location When putting required electricity, then the order maked a return voyage to predeterminated position is immediately performed.

In another embodiment, if the current residual electricity of battery is direct from current location no more than electronic unmanned plane Landing required for electricity when, then be immediately performed the order directly landed from current location.

(3) the safe electricity employed in the intelligent power guard method of above-mentioned electronic unmanned plane is according to the seat of current location Mark information change and real-time change, return without electronic unmanned plane or land in advance in advance, so as to improve the utilization rate of battery.

Also referring to Fig. 4 and Fig. 5, the intelligent power guard method of the electronic unmanned plane of embodiments of the present invention two, Comprise the following steps：

Step S21, the current residual electricity of battery is obtained in real time.

Step S22, the coordinate information of the current location of electronic unmanned plane is obtained in real time, and according to the current of electronic unmanned plane The coordinate information of position and the coordinate information of predeterminated position, calculate required for electronic unmanned plane directly lands from current location The electricity that electricity and electronic unmanned plane are maked a return voyage from current location to required for predeterminated position.

The electricity that electronic unmanned plane makes a return voyage safely to required for predeterminated position from current location is calculated, and calculates electronic nothing The method of the man-machine required electricity that directly lands from current location, can use the intelligent power protection side with embodiment one Identical method in method, in this not go into detail.

It should be noted that predeterminated position can be the takeoff point of electronic unmanned plane, or the target that user specifies Point.

Step S23, judges whether current residual electricity is more than required for electronic unmanned plane directly lands from current location Electricity.

Now, safe electricity of the electricity as electronic unmanned plane required for electronic unmanned plane directly lands from current location One-level alarm electricity.Therefore, first determine whether current residual electricity directly lands more than electronic unmanned plane from current location Required electricity, it is easy in crash time effectively protect electronic unmanned plane.

Step S24, the required electricity if current residual electricity is directly landed no more than electronic unmanned plane from current location, The order directly landed from current location is then performed automatically.

Safe electricity of the electricity as electronic unmanned plane required for directly landing from current location due to electronic unmanned plane One-level alarm electricity, when battery current residual electricity be less than be equal to one-level alarm electricity when, typically set electronic unmanned plane " automatic " execution safeguard protection order, so as to more effectively protect electronic unmanned plane.

Step S25, if current residual electricity is more than the electricity required for electronic unmanned plane directly lands from current location, Judge whether current residual electricity is more than the electricity that electronic unmanned plane is maked a return voyage from current location to required for predeterminated position.

Now, peace of the electronic unmanned plane from the electricity that current location is maked a return voyage to required for predeterminated position as electronic unmanned plane The secondary alarm electricity of full electricity.Therefore, in the case where being unsatisfactory for one-level alarm electricity, then whether current residual electricity is judged The electricity to be maked a return voyage more than electronic unmanned plane from current location to required for predeterminated position, in order to further improve the utilization of battery Rate.

Step S26, if current residual electricity is maked a return voyage to required for predeterminated position more than electronic unmanned plane from current location Electricity, then continue normal flight.

Safety electricity of the electronic unmanned plane from the electricity that current location is maked a return voyage to required for predeterminated position as electronic unmanned plane The secondary alarm electricity of amount, when the current residual electricity of battery is more than secondary alarm electricity, electronic unmanned plane can continue just Often flight.

Further, methods described also includes step S27, if the current residual electricity is not more than the electronic unmanned plane Maked a return voyage from the current location to the electricity required for the predeterminated position, then it is automatic to perform the life maked a return voyage to the predeterminated position Order, or, prompt the user whether to perform the order maked a return voyage to the predeterminated position.

Peace due to electronic unmanned plane from the electricity that current location is maked a return voyage to required for predeterminated position as electronic unmanned plane The secondary alarm electricity of full electricity, now, electronic unmanned plane can ignore two level in the case where being unsatisfactory for one-level alarm electricity Alarm electricity, continues normal flight, in order to further improve the utilization rate of battery.For example, if current residual electricity is not more than The electricity that electronic unmanned plane makes a return voyage to required for predeterminated position from current location, it can prompt the user whether that execution is maked a return voyage to default The order of position, in order to which user is selected according to actual conditions.

Based on above-mentioned intelligent power guard method, the present invention, which also provides one kind, can apply above-mentioned intelligent power guard method Electronic unmanned plane.Describe the concrete structure of the electronic unmanned plane of embodiment of the present invention in detail below in conjunction with accompanying drawing.

Referring to Fig. 6, the electronic unmanned plane 100 of embodiments of the present invention, including position sensor 110, memory 120 and controller 130.

Position sensor 110, the coordinate information of the current location for obtaining electronic unmanned plane 100 in real time.Position sensing Device 110 includes at least one of GPS sensor and height sensor.Height sensor includes barometertic altimeter, laser elevation At least one of meter, radio altimeter, ultrasonic height meter, image distance measuring sensor.

For example, specific, position sensor 110 includes GPS sensor 111 and barometertic altimeter 113 in the present embodiment, leads to The horizontal coordinate that GPS sensor 111 learns current location is crossed, the height coordinate of current location is learnt by barometertic altimeter 113. In other embodiments, position sensor 110 includes GPS sensor, and the GPS sensor can sense the water of current location simultaneously Flat coordinate and height coordinate.

Memory 120, the coordinate information of the predeterminated position for storing electronic unmanned plane 100.For example, memory 120 can Think SD storage cards, storage hard disk etc..

It should be noted that when predeterminated position is not takeoff point, memory is additionally operable to store rising for electronic unmanned plane 100 The coordinate information of flying spot.

Controller 130, connected with position sensor 110 and memory communication, controller 130 is used for according to electronic unmanned plane The coordinate information of 100 current location and the coordinate information of predeterminated position, calculate electronic unmanned plane 100 and perform peace in current location Safe electricity required for full guard order, and compared with the current residual electricity of battery 140.

Wherein, when the current residual electricity of battery 140 is not more than safe electricity, controller 130 performs corresponding safety Guarded command.

Safe electricity includes following at least one：Electronic unmanned plane 100 is maked a return voyage safely from current location to predeterminated position institute The electricity needed, electronic unmanned plane 100 directly land required electricity from current location, and electronic unmanned plane 100 opens safety Electricity required for device.Safeguard protection order correspondingly includes following at least one：Make a return voyage immediately to the order of predeterminated position, The order directly landed from current location immediately, the order of safety device is opened immediately.

For example, in the illustrated embodiment, safe electricity makes a return voyage safely to pre- including electronic unmanned plane 100 from current location If the electricity required for position.When the current residual electricity of battery 140 is returned safely no more than electronic unmanned plane 100 from current location Navigate electricity to required for predeterminated position when, controller 130 performs automatically directly to land order from current location.

It should be noted that the current residual electricity of the battery 140 can be the real surplus electricity of the battery 140 Subtract the electricity after default electricity, compensation of the default electricity as the calculation error of the safe electricity.

Further, safe electricity also makes a return voyage safely to needed for predeterminated position including electronic unmanned plane 100 from current location The electricity wanted, when the current residual electricity of battery 140 is maked a return voyage safely to predeterminated position more than electronic unmanned plane 100 from current location When required electricity and the electricity being more than required for electronic unmanned plane 100 directly lands from current location, controller 130 is controlled Make electronic unmanned plane 100 and continue normal flight.

When the current residual electricity of battery 140 is more than the electricity required for electronic unmanned plane 100 directly lands from current location Amount and no more than electronic unmanned plane 100 maked a return voyage safely from current location electricity to required for predeterminated position when, controller 130 Corresponding safeguard protection order can be selectively performed, or, corresponding safeguard protection order is performed automatically.

For example, in the illustrated embodiment, further, when the current residual electricity of battery 140 is more than electronic unmanned plane 100 directly land from current location required for electricity and maked a return voyage safely to pre- from current location no more than electronic unmanned plane 100 If during electricity required for position, controller 130 performs the order maked a return voyage to predeterminated position automatically.

In other embodiments, electronic unmanned plane 100 also includes reminding module, and controller 130 connects with reminding module communication Connect, when the current residual electricity of battery 140 be more than the electricity required for electronic unmanned plane 100 directly lands from current location and Maked a return voyage safely from current location no more than electronic unmanned plane 100 electricity to required for predeterminated position when, the control of controller 130 carries Show that module sends the cue for whether performing and making a return voyage to predeterminated position.

Now, user is immediately performed the order maked a return voyage to predeterminated position according to the cue of reminding module selection, still Cancel the order maked a return voyage to predeterminated position, continue normal flight.

The structure of reminding module can design according to different demands, for example, reminding module can be aobvious on remote control Display screen, it can directly will be prompted to presentation of information on a display screen, or, reminding module is the warning lamps such as red LED, passes through warning Lamp is flashed to reach the function of prompting.

Further, the electronic unmanned plane 100 also includes being used to detect presetting model around the electronic unmanned plane 100 It whether there is the sensor (not shown) of barrier in enclosing, when the sensor is detected around the electronic unmanned plane 100 When barrier in preset range be present, the controller plans path of making a return voyage automatically.For example, the sensor can be infrared distance measurement Sensor, ultrasonic distance-measuring sensor, image distance measuring sensor, laser range sensor, microwave radar range sensor etc..

Further, when execution is maked a return voyage to during the order of the predeterminated position, the controller 130 controls the electronic nothing Man-machine 100 return along former flight path, or the path of making a return voyage planned automatically along the controller 130 returns, described to avoid Barrier.

It should be noted that the electronic unmanned plane 100 makes a return voyage safely to the predeterminated position from the current location Path is following a kind of：Former flight path, the current location and the predeterminated position straight line path in the horizontal direction and The straight line path of vertical direction, the straight line path between the current location and the predeterminated position.

The electronic unmanned plane 100 makes a return voyage safely to the path of the predeterminated position by controller from the current location 130 automatic settings, or, it is set by the user.The controller 130 automatically setting make a return voyage path when, the basis of controller 130 Preset standard chooses path of making a return voyage automatically, and is pacified according to the selected electronic unmanned plane 100 of path computing of making a return voyage from current location The full electricity to make a return voyage to required for predeterminated position.For example, the preset standard includes following at least one：It is minimum to consume electricity, The stroke that makes a return voyage is most short, and speed change number is minimum.

The concrete structure of controller 130 can design according to different needs, for example, specifically in the illustrated embodiment, Controller 130 includes microprocessor 131, and the microprocessor 131 is used to be believed according to the coordinate of the current location of electronic unmanned plane 100 The coordinate information of breath and predeterminated position calculates the safe electricity required for the electronic safeguard protection of unmanned plane 100 and judges battery 140 Current residual electricity and safe electricity size microprocessor 131.

In other embodiments, controller 130 includes the coordinate information for being used for the current location according to electronic unmanned plane 100 And the coordinate information of predeterminated position calculates the computing unit of the safe electricity required for the electronic safeguard protection of unmanned plane 100, and For judging the current residual electricity of battery 140 and the comparator of safe electricity size.For example, computing unit can be microprocessor Device, calculator circuit etc..

When controller 130 obtains the current residual electricity of battery 140, battery can be detected by internal circuit in real time 140 current residual electricity, the current residual electricity of battery 140 can also be detected in real time by external circuit.It is for example, specific In the illustrated embodiment, controller 130 also includes the electric power detection electricity for being used to detect the current residual electricity of battery 140 in real time Road 133, controller 130 obtain the current residual electricity of battery 140 by electric quantity detecting circuit 133.The electric quantity detecting circuit 133 can be AD Acquisition Circuit and/or galvanometer.

In other embodiments, battery 140 is the intelligent battery of automatic detection self residual electricity, controller 130 and intelligence Energy battery communication connects and obtains the current residual electricity of intelligent battery.

Above-mentioned electronic unmanned plane 100 at least has advantages below：

(1) position sensor 110 of above-mentioned electronic unmanned plane 100 can obtain the present bit of electronic unmanned plane 100 in real time The coordinate information put, controller 130 can obtain the coordinate information of the current location of electronic unmanned plane 100 in real time, and calculate Electronic unmanned plane 100 remains in the safe electricity required for the execution safeguard protection order of the current location, current when battery 140 When remaining electricity is not more than safe electricity, controller 130 is immediately performed the corresponding safeguard protection order, so as to real-time guard electricity Dynamic unmanned plane 100, avoids electronic unmanned plane 100 from the accident caused by not enough power supply occur.

(2) controller 130 of above-mentioned electronic unmanned plane 100 can be according to the safe electricity and battery 140 of current location Current residual electricity, and whether automatic decision needs to perform safeguard protection order, it is not necessary to user judges according to experience, So that above-mentioned electronic unmanned plane 100 can have intelligent protection function with automatic protection.

(3) position sensor 110 of above-mentioned electronic unmanned plane 100 can obtain the present bit of electronic unmanned plane 100 in real time The coordinate information put, safe electricity real-time change according to the change of the coordinate information of current location, without electronic unmanned plane 100 Return or land in advance in advance, so as to improve the utilization rate of battery 140.

(4) controller 130 of above-mentioned electronic unmanned plane 100 can implement two different grades of electricity alarms, work as battery When 140 current residual electricity can only meet to make a return voyage to predeterminated position, continuation flight forward will appear from electronic unmanned plane 100 can not The possibility maked a return voyage, controller 130 can be set according to user, automatic to implement function of making a return voyage, or continue normal flight；Work as battery When 140 current residual electricity can only meet to drop to ground, controller 130 will implement automatic landing function.

It should be noted that in several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus And method, it can realize by another way.For example, device embodiment described above is only schematical, for example, The division of the module or unit, only a kind of division of logic function, can there is other dividing mode, example when actually realizing Such as multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform. Another, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, dress Put or the INDIRECT COUPLING of unit or communication connection, can be electrical, mechanical or other forms.

The unit illustrated as separating component can be or may not be physically separate, show as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.

If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are causing computer disposal Device (processor) performs all or part of step of each embodiment methods described of the present invention.And foregoing storage medium bag Include：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.

Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims

1. a kind of intelligent power guard method of electronic unmanned plane, it is characterised in that comprise the following steps：

The coordinate information of the current location of electronic unmanned plane is obtained in real time, and the coordinate information includes plane coordinates in the horizontal plane With the height coordinate in short transverse, and the plane coordinates and height coordinate of the current location according to the electronic unmanned plane, meter Calculate the safe electricity required for the electronic unmanned plane performs safeguard protection order in the current location；

2. the intelligent power guard method of electronic unmanned plane according to claim 1, it is characterised in that the safe electricity For：The electricity that the electronic unmanned plane makes a return voyage safely to required for predeterminated position from the current location.

3. the intelligent power guard method of electronic unmanned plane according to claim 2, it is characterised in that it is described it is electronic nobody It is following a kind of that machine makes a return voyage safely to the path of the predeterminated position from the current location：Former flight path, the present bit Put with predeterminated position straight line path in the horizontal direction and the straight line path in vertical direction, the current location with it is described Straight line path between predeterminated position.

4. the intelligent power guard method of the electronic unmanned plane according to Claims 2 or 3, it is characterised in that described in calculating When electronic unmanned plane is maked a return voyage safely to electricity required for the predeterminated position from the current location, the electronic unmanned plane root Path of making a return voyage is chosen automatically according to preset standard, and according to the selected electronic unmanned plane described in path computing that makes a return voyage from described current Make a return voyage safely to the electricity required for the predeterminated position position.

5. the intelligent power guard method of electronic unmanned plane according to claim 4, it is characterised in that the preset standard Including following at least one：Consumption electricity is minimum, and the stroke that makes a return voyage is most short, and speed change number is minimum.

6. the intelligent power guard method of electronic unmanned plane according to claim 4, it is characterised in that the preset standard It is minimum for consumption electricity, calculate the electronic unmanned plane and maked a return voyage safely to required for the predeterminated position from the current location The step of electricity, further comprises：

The electronic unmanned plane is calculated respectively makes a return voyage what is needed during to the predeterminated position from the current location along different paths Consume electricity；

Calculate the different paths and correspond to the required electricity that makes a return voyage, wherein the electricity that makes a return voyage includes described make a return voyage corresponding to path Electricity is consumed, and makes a return voyage the minimum path of electricity as path of making a return voyage described in selection automatically.

7. the intelligent power guard method of the electronic unmanned plane according to Claims 2 or 3, it is characterised in that described electronic Unmanned plane makes a return voyage safely to the path automatically setting of the predeterminated position from the current location, or, it is set by the user.

8. a kind of intelligent power guard method of electronic unmanned plane, it is characterised in that comprise the following steps：

The current residual electricity of the battery subtracts the electricity after default electricity for the real surplus electricity of the battery, described Default compensation of the electricity as the calculation error of the safe electricity.

9. a kind of intelligent power guard method of electronic unmanned plane, it is characterised in that comprise the following steps：

The coordinate information of the current location of electronic unmanned plane is obtained in real time, and according to the current location of the electronic unmanned plane Coordinate information and predeterminated position coordinate information, calculate the electronic unmanned plane and maked a return voyage from the current location to described Electricity required for predeterminated position, the height that the coordinate information is included on plane coordinates and short transverse in the horizontal plane are sat Mark；

Current dump energy is obtained in real time, and the current residual electricity of the battery subtracts for the real surplus electricity of the battery Electricity after default electricity, compensation of the default electricity as the calculation error of the safe electricity.

A kind of 10. electronic unmanned plane, it is characterised in that including：

Position sensor, for obtaining the coordinate information of current location of the electronic unmanned plane in flight in real time, the coordinate information Including the height coordinate on plane coordinates and short transverse in the horizontal plane；

Controller, connected with the position sensor and memory communication, the controller is used for according to the electronic nothing The plane coordinates and the coordinate information of height coordinate and the predeterminated position of the man-machine current location, calculate the electricity The safe electricity required for unmanned plane performs safeguard protection order in the current location is moved, and it is electric with the current residual of battery Amount is compared；