CN108196574A - Unmanned plane continuation of the journey judgment method, device and computer storage media - Google Patents
Unmanned plane continuation of the journey judgment method, device and computer storage media Download PDFInfo
- Publication number
- CN108196574A CN108196574A CN201810002060.5A CN201810002060A CN108196574A CN 108196574 A CN108196574 A CN 108196574A CN 201810002060 A CN201810002060 A CN 201810002060A CN 108196574 A CN108196574 A CN 108196574A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- battery
- efficiency
- information
- journey
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000005611 electricity Effects 0.000 claims description 47
- 230000007423 decrease Effects 0.000 claims description 34
- 230000036541 health Effects 0.000 claims description 25
- 230000007613 environmental effect Effects 0.000 claims description 8
- 230000000630 rising effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012384 transportation and delivery Methods 0.000 description 6
- 230000002708 enhancing effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- IWEDIXLBFLAXBO-UHFFFAOYSA-N dicamba Chemical compound COC1=C(Cl)C=CC(Cl)=C1C(O)=O IWEDIXLBFLAXBO-UHFFFAOYSA-N 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention discloses a kind of unmanned plane continuation of the journey judgment method, device and computer storage media, and the unmanned plane continuation of the journey judgment method includes：Obtain unmanned machine information, battery information and air mileage information；It is taken according to the unmanned machine information and the air mileage information acquisition air mileage；The support flight time of battery is obtained according to the unmanned machine information and the battery information；When being taken more than the air mileage support flight time, judgement battery can support unmanned plane to perform air mileage.The present invention has the effect for improving unmanned plane dispatching efficiency.
Description
Technical field
The present invention relates to unmanned plane management domains, more particularly to unmanned plane continuation of the journey judgment method, device and computer stored
Medium.
Background technology
Delivery industry is quickly grown at present.Retail commodity can generally carry out online purchase, then be delivered goods to the customers by express delivery.
Even catering industry also begins to universal order on the net, then deliver goods to the customers by express delivery.Therefore, at present to the demand of express delivery in explosion
Formula increases.
In order to meet the last one kilometer of dispatching, many dispatching websites need that a large amount of personnel is employed to be matched
It send.Dispatching person after order is connected to, walking, ride or drive by way of cargo is sent into user hand.But it dispenses
The dispatching of member can not still meet the needs of industry is to express delivery.Therefore, increase more that efficiently unmanned plane is matched in means of distribution
It send.
At present, unmanned plane generally use electrical energy drive is equipped with rechargeable battery for each unmanned plane.In order to cause
Unmanned plane can smoothly complete dispatching task, arrange to perform dispatching task after can the battery of unmanned plane be full of.
But when dispensing the unmanned plane awaited orders in website all when charging, in order to insure, meeting etc. in current process
When a most fast unmanned plane completes charging, then perform dispatching task.This can cause the dispatching efficiency of unmanned plane to reduce.
Invention content
The main object of the present invention is to provide unmanned plane continuation of the journey judgment method, device and computer storage media, it is intended to carry
High unmanned plane dispenses efficiency.
To achieve the above object, a kind of unmanned plane continuation of the journey judgment method proposed by the present invention, the unmanned plane continuation of the journey judge
Method includes：
Obtain unmanned machine information, battery information and air mileage information；
It is taken according to the unmanned machine information and the air mileage information acquisition air mileage；
The support flight time of battery is obtained according to the unmanned machine information and the battery information；
When being taken more than the air mileage support flight time, judgement battery can support unmanned plane performs to fly
Row voyage.
Optionally, it is described that packet is taken according to the unmanned machine information and the air mileage information acquisition air mileage
It includes：
According to the flying speed of the unmanned machine information and the air mileage information acquisition unmanned plane；
According to the flying distance of air mileage described in the air mileage information acquisition；
Air mileage is obtained according to the flying speed and the flying distance to take.
Optionally, the flying speed includes the rate of climb, decrease speed and horizontal flight speed；
The flying distance includes flying height and cruising range；
It is described according to the flying speed and the flying distance obtain air mileage take including：
It is obtained to rise to take and decline according to flying height, the rate of climb and decrease speed and be taken；
Cruise is obtained according to cruising range and horizontal flight speed to take；
It is taken according to the rising, decline takes and the time-consuming air mileage that obtains of cruise takes.
Optionally, described risen according to the acquisition of flying height, the rate of climb and decrease speed takes and declines time-consuming include：
Lifting height H1=∑s h is obtained according to air mileage and flying height1, falling head H2=∑s h2；Wherein, h1 and
H2 is the data of segment in flying height；
According to the rate of climb VupWith lifting height H1=∑s h1, obtain and rise time-consuming T1=∑s h1/up；
According to the decrease speed VdownWith falling head H2=∑s h2, obtain and rise time-consuming T2=∑s h2/Vdown；
It is described that time-consuming include of cruising is obtained according to cruising range and horizontal flight speed：
Cruising range S=∑ s are obtained according to air mileage, wherein s is the data of segment in cruising range；
According to the horizontal flight speed VcWith cruising range S=∑ s, obtain cruise and take T3 ∑s s/c。
Optionally, the support flight time that battery is obtained according to the unmanned machine information and the battery information wraps
It includes：
The default efficiency of the unmanned plane is obtained according to the unmanned machine information and the battery information；
Battery power is obtained according to the battery information；
The support flight time of battery is obtained according to the default efficiency and battery power.
Optionally, the default efficiency includes default electricity percentage efficiency and default electricity milliampere hour efficiency；
The battery power includes battery percentage electricity and battery milliampere hour electricity；
The support flight time that battery is obtained according to the default efficiency and battery power includes：
Percentage electricity is obtained according to the default electricity percentage efficiency and battery percentage electricity and supports the flight time；
Milliampere hour electricity is obtained according to the default electricity milliampere hour efficiency and battery milliampere hour electricity and supports the flight time；
Flight time and milliampere hour electricity is supported to support that smaller value is as battery in the flight time percentage electricity
The support flight time.
Optionally, the default efficiency that the unmanned plane is obtained according to the unmanned machine information and the battery information
Including：
According to during the unmanned plane information acquisition unmanned plane zero load or standard efficiency, the unmanned plane health degree of full load, with
And unmanned plane currently bears a heavy burden information；
Battery health degree is obtained according to the battery information；
First efficiency amendment is obtained according to the standard efficiency, unmanned plane health degree, heavy burden information and battery health degree
Parameter；
Default efficiency is obtained according to the standard efficiency and the first efficiency corrected parameter.
Optionally, it is described to be included according to the standard efficiency and the default efficiency of the first efficiency corrected parameter acquisition：
According to the environmental parameter of the air mileage acquisition of information air mileage；
Second efficiency corrected parameter is obtained according to the environmental parameter；
Default efficiency is obtained according to the standard efficiency, the first efficiency corrected parameter and the second efficiency corrected parameter.
The present invention provides a kind of unmanned plane continuation of the journey judgment method, device and computer storage media, the unmanned planes to continue
Boat judgment means include：Memory, processor and nobody that is stored on the memory and can run on the processor
Machine continuation of the journey determining program, the unmanned plane continuation of the journey determining program realize the step of method as described above when being performed by the processor
Suddenly.
The present invention provides a kind of computer storage medias, which is characterized in that is stored in the computer storage media
Unmanned plane continuation of the journey determining program, the unmanned plane continuation of the journey determining program realize method as described above when being performed by the processor
Step.
Unmanned plane continuation of the journey judgment method provided by the present invention obtains air mileage by calculating and takes and support flight
Time, then to judge whether battery can support unmanned plane to perform air mileage.The judgement flow is simple, therefore the efficiency judged
It is high；And it is higher by the correctness that this method judges, therefore with the effect of enhancing unmanned plane during flying stability.Pass through we
When formula judgement battery can support that unmanned plane performs air mileage, then without again etc. to be charged, and flight boat can be directly performed
Journey so as to avoid the need for charging full of can just take off, improves the efficiency of unmanned plane dispatching.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart of unmanned plane of the present invention continuation of the journey judgment method first embodiment；
Fig. 2 is such as the flow diagram of step S102 in Fig. 1；
Fig. 3 is such as the flow diagram of step S1023 in Fig. 2；
Fig. 4 is such as the flow diagram of step S103 in Fig. 1；
Fig. 5 is such as the flow diagram of step S1033 in Fig. 4；
Fig. 6 is such as the flow diagram of step S1031 in Fig. 4；
Fig. 7 is such as the modified flow schematic diagram of step S1031 in Fig. 4；
Fig. 8 is the flying quality daily record of record and battery capacity relational graph；
Fig. 9 is the flow chart of unmanned plane of the present invention continuation of the journey one embodiment of judgment means；
Figure 10 is the flow chart of one embodiment of computer-readable medium of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of unmanned plane continuation of the journey judgment methods.
Please refer to Fig. 1, unmanned plane continuation of the journey judgment method first embodiment of the present invention.The unmanned plane continuation of the journey judgment method packet
It includes：
Step S101 obtains unmanned machine information, battery information and air mileage information.
Wherein, unmanned machine information can the weight including unmanned plane, aviator service span, unmanned plane rated power, unmanned plane volume
Determine flying speed, maximum flying speed, pre-set flight speed etc. information under load-carrying, unmanned plane rated power.Battery information can
To include the battery core quantity of battery, battery core type, current electric quantity, service life etc. message.The battery can be built in nothing
Battery in man-machine, then the battery information and unmanned machine information are binding state.Certainly, also battery can be for can with unmanned plane
The battery being provided separately replaced, so as to be needed to match unmanned plane and battery according to air mileage information.Then will
Matched unmanned plane and battery are calculated accordingly.Air mileage information can include flight starting point, air objective, fly
Walking along the street diameter, flying height, flight date etc. information.Air mileage can be generated according to dispatching order or user
Customized.
Step S102 takes according to the unmanned machine information and the air mileage information acquisition air mileage.
Wherein it is possible to beginning and end and flight path in air mileage information obtain air mileage
Then distance can be then obtained further according to the flying speed in unmanned machine information from cruising flight required between origin-to-destination
Time, then along with the time of takeoff and landing, you can obtain air mileage and take.It, can about the time of takeoff and landing
With the time for being a preset set time or being calculated according to the speed of flying height and raising and lowering.
Step S103 obtains the support flight time of battery according to the unmanned machine information and the battery information.
Wherein it is possible to the information such as rated power in the unmanned machine information, default efficiency, then further according to battery
How long battery milliampere hour information in information can support unmanned plane normal operation to calculate.It is of course also possible to according to institute
It states in unmanned machine information, is counted by historical data, in the efficiency situation and battery information under pre-set flight speed
How long battery milliampere hour information can point out unmanned plane normal operation to calculate.
Step S104, when being taken more than the air mileage support flight time, judgement battery can support nothing
Man-machine execution air mileage.
The present embodiment obtains air mileage by calculating and takes and support the flight time, then to judge that battery whether can
Enough unmanned plane is supported to perform air mileage.The judgement flow is simple, therefore judges efficient；And judged by this method
Correctness is higher, therefore with the effect of enhancing unmanned plane during flying stability.Judge that battery can support nobody by the method
When machine performs air mileage, then without again etc. to be charged, and air mileage can be directly performed, so as to avoid the need for being full of
It can just take off, improve the efficiency of unmanned plane dispatching.
Incorporated by reference to referring to Fig. 2, optionally, the step S102, according to the unmanned machine information and the air mileage
Information acquisition air mileage take including：
Step S1021, according to the flying speed of the unmanned machine information and the air mileage information acquisition unmanned plane.
Wherein, the flying speed is sets in program, used speed during for performing the secondary air mileage, and
The not maximum speed of unmanned plane, rated power speed or economic pace.Certainly, which is necessary for one correctly
Value, the numerical value that unmanned plane is able to carry out, so that unmanned plane can work normally.Specifically, the flying speed can basis
Relevant information in air mileage information is formulated.Specifically, the cargo of such as dispatching is frangible valuables, then fly
Speed will use careful flying speed；Or the fresh food that the cargo of the dispatching is freezing, then flying speed will be using fast
The flying speed that speed is sent to；Or the cargo of the dispatching is usual articles, then flying speed will be using economic flying speed.
Step S1022, according to the flying distance of air mileage described in the air mileage information acquisition.
Flying distance in air mileage can carry out calculating acquisition according to physical planning path.
Step S1023 obtains air mileage according to the flying speed and the flying distance and takes.
The present embodiment by obtaining unmanned machine information and air mileage information, obtains so as to quick and accurate calculating
Unmanned plane required air mileage takes when being executed.
Incorporated by reference to referring to Fig. 3, optionally, the flying speed includes the rate of climb, decrease speed and horizontal flight speed.
Such as：
Careful flying speed：
Rise speed limit 3m/s, climb acceleration 1m/s2；
Horizontal flight speed limit 10m/s, horizontal acceleration 3m/s2；
Decline speed limit 2m/s, decline acceleration 1m/s2；
And during liftoff 5 meters of height, decrease speed is reduced to 0.5m/s, and during liftoff 2 meters of height, decrease speed is reduced to 0.2m/s,
Ensure landing safety.
The flying speed of rapid delivery：
Rise speed limit 8m/s, climb acceleration 3m/s2；
Horizontal flight speed limit 40m/s, horizontal acceleration 10m/s2；
Decline speed limit 6m/s, decline acceleration 3m/s2；
And during liftoff 10 meters of height, decrease speed is reduced to 1m/s, and during liftoff 5 meters of height, decrease speed is reduced to 0.5m/s, protects
Card landing safety.
The speed of economy flight：
Rise speed limit 5m/s, climb acceleration 2m/s2；
Horizontal flight speed limit 25m/s, horizontal acceleration 6m/s2；
Decline speed limit 4m/s, decline acceleration 2m/s2；
And during liftoff 10 meters of height, decrease speed is reduced to 1m/s, and during liftoff 5 meters of height, decrease speed is reduced to 0.5m/s, protects
Card landing safety.
The flying distance includes flying height and cruising range.
For example, flying height is 50 meters, cruising range is calculated according to specific flight path.In order to be convenient for being
Unmanned plane plans course line, can plan the unmanned plane of synchronized cruising flight in the same direction to same flying height.
The step S1023, according to the flying speed and the flying distance obtain air mileage take including：
Step S10231 is obtained according to flying height, the rate of climb and decrease speed and is risen time-consuming and decline time-consuming.
Step S10232 obtains cruise according to cruising range and horizontal flight speed and takes.
Step S10233 takes according to the rising, decline takes and the time-consuming air mileage that obtains of cruise takes.
The present embodiment, it is time-consuming by the way that air mileage to be specifically subdivided into rising, decline and take, cruise is time-consuming, thus will be high
Movement and horizontal direction on degree are moved apart calculating, then taken to obtain flight by the rate of climb and decrease speed, into
And take more accurate effect with the air mileage obtained.
Optionally, the step S10233, according to flying height, the rate of climb and decrease speed obtain rise take and under
Include during consumption reduction：
Lifting height H1=∑s h is obtained according to air mileage and flying height1, falling head H2=∑s h2；Wherein, h1 and
H2 is the data of segment in flying height.
According to the rate of climb VupWith lifting height H1=∑s h1, obtain and rise time-consuming T1=∑s h1/up。
According to the decrease speed VdownWith falling head H2=∑s h2, obtain and rise time-consuming T2=∑s h2/Vdown。
Wherein, raising and lowering process is divided into multiple segments, is calculated stage by stage further according to raising and lowering speed.With
For ascent stage, flying height is 100 meters, can will rise distance and be divided into 2 50 meters；And with the speed of above-mentioned economic flight
It spends to fly, then：
First 50 meters are at the uniform velocity 3.33m/s, then need 15s；
Second 50 meters are at the uniform velocity 3.33m/s, then need 15s；
Therefore, ascent stage needs in total：30 seconds.Certainly, if dividing uphill process thinner, such as it is with 10 meters
Unit or 1 meter are unit etc., then the time required to can obtaining more accurate ascent stage.
Correspondingly, the decline stage needs in total：Since speed limit is lower and the slow of terminal stage lowers process, need
30 seconds or more are wanted, can specifically be calculated according to relevant parameter.
It is described that time-consuming include of cruising is obtained according to cruising range and horizontal flight speed：
Cruising range S=∑ s are obtained according to air mileage, wherein s is the data of segment in cruising range.
According to the horizontal flight speed VcWith cruising range S=∑ s, obtain cruise and take T3 ∑s s/c。
For example, level cruise mission phase assumes the rectilinear flight that total kilometrage is 10km, then need：404.17 the second.Accordingly
, if level cruise includes turning, turning can be considered into calculating, so as to obtain by way of segment is divided to calculate
Obtain the more accurate flight time.
The present embodiment, by air mileage being split as multiple small distances, then calculate taking for each small distance, so as to
Enough situations such as calculating to acceleration, so that it is more accurate to take calculating.
Incorporated by reference to referring to Fig. 4, the step S103, battery is obtained according to the unmanned machine information and the battery information
The support flight time include：
Step S1031 obtains the default efficiency of the unmanned plane according to the unmanned machine information and the battery information.
For example, motor type and rated power in unmanned machine information etc., further according to total electricity in battery information
Amount, battery core parameter information etc. are searched the default unit energy when unmanned plane matches the battery in presetting database and are supported
Flight time, so as to obtain default efficiency.
Step S1032 obtains battery power according to the battery information.
Step S1033 obtains the support flight time of battery according to the default efficiency and battery power.
The present embodiment by obtaining the default efficiency of unmanned plane, then can understand unmanned plane in flight course, unit energy
Amount supports the time of flight；Again by obtaining the electric energy of battery, then the support flight time for obtaining battery can be calculated.The calculating
Flow is relatively simple, and more can accurately obtain support flight time when battery is mounted on corresponding unmanned plane.
Optionally, the default efficiency includes default electricity percentage efficiency and default electricity milliampere hour efficiency.
The battery power includes battery percentage electricity and battery milliampere hour electricity.
Incorporated by reference to referring to Fig. 5, the step S1033, the support of battery is obtained according to the default efficiency and battery power
Flight time includes：
Step S10331 obtains percentage electricity branch according to the default electricity percentage efficiency and battery percentage electricity
Hold the flight time.
Step S10332 obtains milliampere hour electricity branch according to the default electricity milliampere hour efficiency and battery milliampere hour electricity
Hold the flight time.
Step S10333 supports the percentage electricity smaller in flight time and milliampere hour electricity support flight time
It is worth the support flight time as battery.
Such as：The time t1 that default 1% electricity can be run, the time t2 that default 1 milliampere hour can be run.
Battery capacity percentage p1, battery milliampere hour m1 are read before taking off.
Then percentage electricity supports that the flight time is time_pct=t1*p1, and milliampere hour electricity supports that the flight time is
Time_mah=t2*m1.
Then the support flight time of current battery charge is time_flight=min (time_pct, time_mah)
The present embodiment calculates the support flight time of battery by two dimensions of percentage electricity and milliampere hour electricity,
So as to the more accurate support flight time for obtaining battery.Battery is avoided in the non-uniform situation interference of certain stage power down
Flight calculates.
Incorporated by reference to referring to Fig. 6, optionally, the step S1031, according to the unmanned machine information and the battery information
The default efficiency for obtaining the unmanned plane includes：
Step S10311, according to during the unmanned plane information acquisition unmanned plane zero load or the standard efficiency of full load, nobody
Machine health degree and unmanned plane currently bear a heavy burden information.
Step S10312 obtains battery health degree according to the battery information.
Step S10313 obtains the according to the standard efficiency, unmanned plane health degree, heavy burden information and battery health degree
One efficiency corrected parameter.
Step S10314 obtains default efficiency according to the standard efficiency and the first efficiency corrected parameter.
For example, unmanned plane zero load efficiency includes：Percentage electricity efficiency 1min/1% and milliampere hour electricity efficiency 0.33s/
mAh.The numerical value is is tested the test result obtained using the new battery of health and the new unmanned plane of health.
Unmanned plane health degree：Using 2 years, health degree 70%；The health degree can be used according to the service life of unmanned plane
The driving motor time limit, if repair etc. carries out inductive statistics.
Battery health degree：Battery life 1 year, charging times 1500 times, 70%/20000mAh of current electric quantity, health degree
70%.
Heavy burden information includes：Load-carrying 5kg solid bodies.
Then further according to tabling look-up or default calculation formula, the first efficiency corrected parameter is obtained.
Such as：Unmanned plane health degree 70%, the correction value that unmanned plane individual is obtained by calculating is 0.91.
Battery life 1 year, charging times 1500 times, 70%/20000mAh of current electric quantity obtain the battery by calculating
Correction value is 0.85；
Load-carrying 5kg solid bodies, correction value when load-carrying 5kg solids are obtained by calculating are 0.77；
Therefore, it is 1.60 that summary correction value, which obtains final correction value, then the default efficiency obtained is：Percentage electricity
Efficiency 0.59min/1% and milliampere hour electricity efficiency 0.2s/mAh.
The present embodiment, by preset standard efficiency, and by standard efficiency, unmanned plane health degree, battery health degree with
And heavy burden information, it is current so as to more accurately calculate current unmanned plane cooperation to obtain the first efficiency corrected parameter
Default efficiency during battery.So that the assessment of entire battery durable is more accurate.
In order to so that corrected parameter is more accurate, periodic maintenance can be carried out to corrected parameter.Such as：
Please refer to Fig. 8, the battery capacity time changing curve and flying quality of record-setting flight voyage in the process of implementation
Daily record.
Then go out various items further according to the battery capacity time changing curve of record and flying quality daily record regression fit
The efficiency corrected parameter of reality is more approached under part.
For example, in the present embodiment, return to obtain a certain internal battery unmanned plane by test data, about milliampere hour electricity
Measure the following relationship of efficiency and load-carrying weight：
S_per_mah=f (weight)=a*weight+b,
Wherein, s_per_mah：Per milliampere hour can the flight time, unit s；
A=-0.000150933321b=0.2404020744；
weight：Load-carrying, unit g.
Incorporated by reference to referring to Fig. 7, in another embodiment, in the step S1031, the increase that can also improve is joined by environment
It counts further to correct default efficiency.It is specific as follows in another embodiment：
Step S20311, according to during the unmanned plane information acquisition unmanned plane zero load or the standard efficiency of full load and
Unmanned plane currently bears a heavy burden information.
Step S20312 obtains battery health degree according to the battery information.
Step S20313 obtains the first efficiency amendment ginseng according to the standard efficiency, heavy burden information and battery health degree
Number.
Above-mentioned steps are identical with previous embodiment, specifically please refer to above-described embodiment.
Step S20314, according to the environmental parameter of the air mileage acquisition of information air mileage.
Wherein, environmental parameter can include：The wind speed Vf of there and then, three-dimensional wind direction angle [alpha], pneumatic parameter P, rainfall
Hr, environment temperature T etc..
Second efficiency corrected parameter is obtained according to the environmental parameter.
Default efficiency is obtained according to the standard efficiency, the first efficiency corrected parameter and the second efficiency corrected parameter.
The present embodiment by preset standard efficiency, and by standard efficiency, battery health degree and heavy burden information, comes
Obtain the first efficiency corrected parameter；Further, by obtaining environmental parameter, for example, wind speed, wind direction, temperature, whether rain etc. letters
It ceases to obtain the second efficiency corrected parameter；So as to more accurately calculate current unmanned plane cooperation present battery, and
Default efficiency when under the present circumstances.So that the assessment of entire battery durable is more accurate.
According to the example of the present embodiment, the label of above-mentioned steps is not used to limit the priority of each step in the present embodiment
Sequentially, the number of each step is intended merely to allow the general label progress for quoting step when describing each step convenient
Reference, as long as the sequence that each step performs, which does not influence the logical relation of the present embodiment, represents claimed in the application
Within the scope of.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to be realized by hardware, but very much
In the case of the former be more preferably embodiment.Based on such understanding, technical scheme of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software product, which is stored in a storage
In medium (such as ROM/RAM, magnetic disc, CD), used including some instructions so that a station terminal equipment (can be mobile phone, calculate
Machine, server, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
Please refer to Fig. 9, unmanned plane continuation of the journey one embodiment of judgment means of the present invention.
The unmanned plane continuation of the journey judgment means 2000 include：Memory 2100, processor 2200 and it is stored in the storage
On device 2100 and the unmanned plane continuation of the journey determining program 2300 that can be run on the processor 2200, unmanned plane continuation of the journey judge
The step of method as described in above-mentioned each embodiment is realized when program 2300 is performed by the processor 2200.
Specific steps may refer to above-described embodiment, and details are not described herein.
The present embodiment obtains air mileage by calculating and takes and support the flight time, then to judge that battery whether can
Enough unmanned plane is supported to perform air mileage.The judgement flow is simple, therefore judges efficient；And judged by this method
Correctness is higher, therefore with the effect of enhancing unmanned plane during flying stability.Judge that battery can support nobody by the method
When machine performs air mileage, then without again etc. to be charged, and air mileage can be directly performed, so as to avoid the need for being full of
It can just take off, improve the efficiency of unmanned plane dispatching.
Please refer to Figure 10, one embodiment of computer-readable medium of the present invention.
Unmanned plane continuation of the journey determining program 3100 is stored in the computer storage media 3000, the unmanned plane continuation of the journey is sentenced
The step of disconnected program 3100 realizes the method as described in above-mentioned each embodiment when being performed by the processor.
Specific steps may refer to above-described embodiment, and details are not described herein.
The present embodiment obtains air mileage by calculating and takes and support the flight time, then to judge that battery whether can
Enough unmanned plane is supported to perform air mileage.The judgement flow is simple, therefore judges efficient；And judged by this method
Correctness is higher, therefore with the effect of enhancing unmanned plane during flying stability.Judge that battery can support nobody by the method
When machine performs air mileage, then without again etc. to be charged, and air mileage can be directly performed, so as to avoid the need for being full of
It can just take off, improve the efficiency of unmanned plane dispatching.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or device institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), used including some instructions so that a station terminal (can be mobile phone, computer services
Device, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
The embodiment of the present invention is described above in conjunction with attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned specific embodiment is only schematical rather than restricted, those of ordinary skill in the art
Under the enlightenment of the present invention, present inventive concept and scope of the claimed protection are not being departed from, can also made very much
Form, these are belonged within the protection of the present invention.
Claims (10)
- The judgment method 1. a kind of unmanned plane is continued a journey, which is characterized in that the unmanned plane continuation of the journey judgment method includes：Obtain unmanned machine information, battery information and air mileage information；It is taken according to the unmanned machine information and the air mileage information acquisition air mileage；The support flight time of battery is obtained according to the unmanned machine information and the battery information；When being taken more than the air mileage support flight time, judgement battery can support unmanned plane to perform flight and navigate Journey.
- The judgment method 2. unmanned plane as described in claim 1 is continued a journey, which is characterized in that it is described according to the unmanned machine information with And the air mileage information acquisition air mileage take including：According to the flying speed of the unmanned machine information and the air mileage information acquisition unmanned plane；According to the flying distance of air mileage described in the air mileage information acquisition；Air mileage is obtained according to the flying speed and the flying distance to take.
- The judgment method 3. unmanned plane as claimed in claim 2 is continued a journey, which is characterized in that the flying speed includes upper raising speed Degree, decrease speed and horizontal flight speed；The flying distance includes flying height and cruising range；It is described according to the flying speed and the flying distance obtain air mileage take including：It is obtained to rise to take and decline according to flying height, the rate of climb and decrease speed and be taken；Cruise is obtained according to cruising range and horizontal flight speed to take；It is taken according to the rising, decline takes and the time-consuming air mileage that obtains of cruise takes.
- The judgment method 4. unmanned plane as claimed in claim 3 is continued a journey, which is characterized in that described according to flying height, upper raising speed Degree and decrease speed, which obtain to rise to take and decline to take, to be included：Lifting height H1=∑s h is obtained according to air mileage and flying height1, falling head H2=∑s h2；Wherein, h1 and h2 are equal Data for segment in flying height；According to the rate of climb VupWith lifting height H1=∑s h1, obtain and rise time-consuming T1=∑s h1/Vup；According to the decrease speed VdownWith falling head H2=∑s h2, obtain and rise time-consuming T2=∑s h2/Vdown；It is described that time-consuming include of cruising is obtained according to cruising range and horizontal flight speed：Cruising range S=∑ s are obtained according to air mileage, wherein s is the data of segment in cruising range；According to the horizontal flight speed VcWith cruising range S=∑ s, obtain cruise and take T3 ∑s s/Vc。
- 5. such as Claims 1-4 any one of them unmanned plane continuation of the journey judgment method, which is characterized in that described according to the nothing The support flight time that man-machine information and the battery information obtain battery includes：The default efficiency of the unmanned plane is obtained according to the unmanned machine information and the battery information；Battery power is obtained according to the battery information；The support flight time of battery is obtained according to the default efficiency and battery power.
- The judgment method 6. unmanned plane as claimed in claim 5 is continued a journey, which is characterized in that the default efficiency includes default electricity Percentage efficiency and default electricity milliampere hour efficiency；The battery power includes battery percentage electricity and battery milliampere hour electricity；The support flight time that battery is obtained according to the default efficiency and battery power includes：Percentage electricity is obtained according to the default electricity percentage efficiency and battery percentage electricity and supports the flight time；Milliampere hour electricity is obtained according to the default electricity milliampere hour efficiency and battery milliampere hour electricity and supports the flight time；Flight time and milliampere hour electricity is supported to support that smaller value is as the branch of battery in the flight time percentage electricity Hold the flight time.
- The judgment method 7. unmanned plane as claimed in claim 6 is continued a journey, which is characterized in that it is described according to the unmanned machine information with And the default efficiency of the battery information acquisition unmanned plane includes：According to during the unmanned plane information acquisition unmanned plane zero load or standard efficiency, the unmanned plane health degree of full load, Yi Jiwu Man-machine current heavy burden information；Battery health degree is obtained according to the battery information；First efficiency corrected parameter is obtained according to the standard efficiency, unmanned plane health degree, heavy burden information and battery health degree；Default efficiency is obtained according to the standard efficiency and the first efficiency corrected parameter.
- The judgment method 8. unmanned plane as claimed in claim 7 is continued a journey, which is characterized in that described according to the standard efficiency and the One efficiency corrected parameter obtains default efficiency and includes：According to the environmental parameter of the air mileage acquisition of information air mileage；Second efficiency corrected parameter is obtained according to the environmental parameter；Default efficiency is obtained according to the standard efficiency, the first efficiency corrected parameter and the second efficiency corrected parameter.
- The judgment means 9. a kind of unmanned plane is continued a journey, which is characterized in that the unmanned plane continuation of the journey judgment means include：Memory, place It manages device and is stored in the unmanned plane continuation of the journey determining program that can be run on the memory and on the processor, the unmanned plane Continuation of the journey determining program is realized when being performed by the processor such as the step of method described in any item of the claim 1 to 8.
- 10. a kind of computer storage media, which is characterized in that unmanned plane continuation of the journey is stored in the computer storage media and is judged Program, the unmanned plane continuation of the journey determining program are realized when being performed by the processor as described in any item of the claim 1 to 8 The step of method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810002060.5A CN108196574B (en) | 2018-01-02 | 2018-01-02 | Unmanned aerial vehicle endurance judgment method and device and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810002060.5A CN108196574B (en) | 2018-01-02 | 2018-01-02 | Unmanned aerial vehicle endurance judgment method and device and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108196574A true CN108196574A (en) | 2018-06-22 |
| CN108196574B CN108196574B (en) | 2021-11-09 |
Family
ID=62588065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810002060.5A Active CN108196574B (en) | 2018-01-02 | 2018-01-02 | Unmanned aerial vehicle endurance judgment method and device and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108196574B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109508037A (en) * | 2018-12-28 | 2019-03-22 | 滨州学院 | A kind of unmanned plane assisted charging system |
| CN111625013A (en) * | 2019-02-27 | 2020-09-04 | 杭州海康机器人技术有限公司 | Energy estimation method and device for unmanned aerial vehicle to execute flight mission |
| CN113484765A (en) * | 2021-08-03 | 2021-10-08 | 广州极飞科技股份有限公司 | Method and device for determining duration of unmanned aerial vehicle, processing equipment and medium |
| CN113485421A (en) * | 2021-07-05 | 2021-10-08 | 上海狮尾智能化科技有限公司 | Unmanned aerial vehicle flight inspection method, system, equipment and medium |
| CN113741541A (en) * | 2021-09-28 | 2021-12-03 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle flight control method, device, system, equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359284A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Petrol-electric hybrid four-rotor unmanned aerial vehicle |
| EP2664539A1 (en) * | 2012-05-17 | 2013-11-20 | The Boeing Company | A method of and apparatus for extending the operation of an unmanned aerial vehicle |
| 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 |
| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN205120933U (en) * | 2015-09-17 | 2016-03-30 | 杨珊珊 | Duration monitoring system and unmanned vehicles with accuse platform flies thereof |
| CN105539843A (en) * | 2015-12-03 | 2016-05-04 | 杨珊珊 | Electric unmanned plane and cruising ability estimating method thereof |
| CN106919186A (en) * | 2017-04-21 | 2017-07-04 | 南京模幻天空航空科技有限公司 | Unmanned vehicle flight control operation method and device |
| CN106951650A (en) * | 2017-03-28 | 2017-07-14 | 南京信息工程大学 | Unmanned plane endurance assessment system |
| EP3196125A1 (en) * | 2014-07-16 | 2017-07-26 | SZ DJI Technology Co., Ltd. | Electric unmanned aerial vehicle and intelligent electric quantity protection method therefor |
-
2018
- 2018-01-02 CN CN201810002060.5A patent/CN108196574B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2664539A1 (en) * | 2012-05-17 | 2013-11-20 | The Boeing Company | A method of and apparatus for extending the operation of an unmanned aerial vehicle |
| CN103359284A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Petrol-electric hybrid four-rotor unmanned aerial vehicle |
| 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 |
| EP3196125A1 (en) * | 2014-07-16 | 2017-07-26 | SZ DJI Technology Co., Ltd. | Electric unmanned aerial vehicle and intelligent electric quantity protection method therefor |
| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN205120933U (en) * | 2015-09-17 | 2016-03-30 | 杨珊珊 | Duration monitoring system and unmanned vehicles with accuse platform flies thereof |
| CN105539843A (en) * | 2015-12-03 | 2016-05-04 | 杨珊珊 | Electric unmanned plane and cruising ability estimating method thereof |
| CN106951650A (en) * | 2017-03-28 | 2017-07-14 | 南京信息工程大学 | Unmanned plane endurance assessment system |
| CN106919186A (en) * | 2017-04-21 | 2017-07-04 | 南京模幻天空航空科技有限公司 | Unmanned vehicle flight control operation method and device |
Non-Patent Citations (2)
| Title |
|---|
| 万钢等: "《无人机测绘技术及应用》", 31 December 2015 * |
| 李委明: "《数量关系模块宝典》", 31 March 2014 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109508037A (en) * | 2018-12-28 | 2019-03-22 | 滨州学院 | A kind of unmanned plane assisted charging system |
| CN111625013A (en) * | 2019-02-27 | 2020-09-04 | 杭州海康机器人技术有限公司 | Energy estimation method and device for unmanned aerial vehicle to execute flight mission |
| CN111625013B (en) * | 2019-02-27 | 2023-04-25 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle flight task execution energy prediction method and device |
| CN113485421A (en) * | 2021-07-05 | 2021-10-08 | 上海狮尾智能化科技有限公司 | Unmanned aerial vehicle flight inspection method, system, equipment and medium |
| CN113484765A (en) * | 2021-08-03 | 2021-10-08 | 广州极飞科技股份有限公司 | Method and device for determining duration of unmanned aerial vehicle, processing equipment and medium |
| CN113484765B (en) * | 2021-08-03 | 2024-04-09 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle endurance time determining method, unmanned aerial vehicle endurance time determining device, processing equipment and medium |
| CN113741541A (en) * | 2021-09-28 | 2021-12-03 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle flight control method, device, system, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108196574B (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108196574A (en) | Unmanned plane continuation of the journey judgment method, device and computer storage media | |
| CN108407633B (en) | A kind of electric bus electric charging station optimizing operation method | |
| CN102542395B (en) | A kind of emergency materials dispatching system and computing method | |
| CN108229886A (en) | Unmanned plane delivery management method, apparatus and computer storage media | |
| CN109447338B (en) | Intelligent logistics cloud management system based on big data | |
| CN109795371A (en) | Electric vehicle charging based reminding method and device based on mobile terminal route planning | |
| CN109583770A (en) | Vehicle dispatching method and device | |
| JP6499939B2 (en) | Secondary battery charge state estimation method | |
| CN108973744A (en) | Storage battery exchanging system, computer program medium, management servomechanism and accumulator cell management method | |
| CN109936128A (en) | A kind of dynamic need response method under scale electric car access conditions | |
| CN107862403A (en) | A kind of the outbound sequence dispatching method and system of unmanned plane goods to be dispensed | |
| CN113220765B (en) | Data organization method for retail terminal cost control data warehouse | |
| CN115330275B (en) | Echelon utilization method and device for retired battery | |
| CN110341952A (en) | A kind of unmanned plane delivery system, energy consumption optimization method and unmanned plane | |
| Wei et al. | Optimal control of plug-in hybrid electric vehicles with market impact and risk attitude | |
| CN112801336A (en) | Freight regulation and control method for combined loading | |
| US20230124457A1 (en) | Automatic bidding system and automatic bidding method for power trading | |
| WO2022009718A1 (en) | Information processing method, and information processing system | |
| CN110322183A (en) | A kind of logistics control center based on GIS | |
| CN110414875B (en) | Capacity data processing method and device, electronic equipment and computer readable medium | |
| CN111738666A (en) | Self-matching system of logistics carrier | |
| CN114881558B (en) | Express delivery method and device based on unmanned aerial vehicle and vehicle cooperation and electronic equipment | |
| US20230009568A1 (en) | Systems and methods for accelerated computations in data-driven energy management systems | |
| US11936190B1 (en) | Controller for a portable microgrid system and methods of use | |
| CN110689289A (en) | Travel cost calculation method, device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |